CN110116785B - Positioning sinking-floating type ocean detection device and detection positioning platform positioning method thereof - Google Patents
Positioning sinking-floating type ocean detection device and detection positioning platform positioning method thereof Download PDFInfo
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- CN110116785B CN110116785B CN201910364355.1A CN201910364355A CN110116785B CN 110116785 B CN110116785 B CN 110116785B CN 201910364355 A CN201910364355 A CN 201910364355A CN 110116785 B CN110116785 B CN 110116785B
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- 238000001514 detection method Methods 0.000 title claims abstract description 73
- 238000007667 floating Methods 0.000 title claims abstract description 53
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 18
- 239000002131 composite material Substances 0.000 claims description 16
- 238000013500 data storage Methods 0.000 claims description 9
- 238000005259 measurement Methods 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 5
- 230000000087 stabilizing effect Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 238000005457 optimization Methods 0.000 description 4
- 239000000523 sample Substances 0.000 description 3
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 239000003381 stabilizer Substances 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910002092 carbon dioxide Inorganic materials 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
- B63B22/04—Fixations or other anchoring arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
- B63B22/04—Fixations or other anchoring arrangements
- B63B22/08—Fixations or other anchoring arrangements having means to release or urge to the surface a buoy on submergence thereof, e.g. to mark location of a sunken object
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
- B63B2022/006—Buoys specially adapted for measuring or watch purposes
Abstract
The invention relates to a positionable sinking-floating ocean exploration device and a positioning method of an exploration positioning platform thereof. According to the rapid detection device capable of positioning ocean resources, the plurality of hydrophone units are arranged on the detection positioning platform, the upper part and the lower part of the detection positioning platform are respectively connected with the rapid floating mechanism and the bottom grabbing anchor with the acoustic positioning beacon, the position of the detection positioning platform is comprehensively and accurately positioned in three modes, the rapid floating mechanism can rapidly float, timely returns information and returns to the original position, and the rapid detection device is reused, so that deep sea detection data can be timely, accurately and economically provided.
Description
Technical Field
The invention belongs to the technical field of ocean exploration, and particularly relates to a positionable submerged ocean exploration device and a exploration positioning platform positioning method thereof.
Background
The method is a large ocean country, enhances the monitoring of ocean environment and ocean resource information, and has great strategic significance for exploring the precious ocean resources. At present, the research heat of the deep sea ocean exploration technology in China is not very remarkable, and the comprehensive understanding of the ocean field in China and the full utilization of ocean resources are greatly limited.
At present, a detection platform in the ocean field is mainly focused on various technologies such as buoys, underwater robots and the like, and among the detection devices, the buoys are one of important technical equipment for obtaining ocean environment information for people at present, and particularly play an increasing role in deep sea ocean observation. Such buoys are characterized by: the ocean information is detected and collected by the unique composition structure, and the information detected by the buoy is read by various means, so that the ocean information detection device has the characteristics of high concealment, high artificial damage resistance, flexible use, convenient operation and the like, and the deep sea buoy provides important technical support for ocean resource and environment research.
At present, the main problems facing the ocean field are: (1) Most of the deep sea measuring buoys are suspended in the sea and drift along with ocean currents, only a certain area can be schematically detected, and detection of ocean resources at specific positions is difficult to realize; (2) Most ocean survey buoys can acquire detection information after the buoys are retracted, or the buoys float slowly, generally about 0.1m/s, and it is difficult to timely transmit back deep sea detection information. For example: when the deep sea fish shoal is detected, the fishing time is lost due to the fact that information cannot be timely returned.
Disclosure of Invention
In order to solve the problems in the field of ocean exploration, the invention provides a positionable sinking-floating ocean exploration device which can accurately position a measurement point, can quickly float upwards, returns information in time and returns to an original position, is repeatedly used, and can provide deep sea exploration data in time, accurately and economically.
The technical scheme for solving the technical problems is as follows:
the utility model provides a but locating and sinking formula ocean detection device specifically includes grabs the bottom anchor, surveys positioning platform and quick floating mechanism, grab the bottom anchor and arrange in deep water grab the bottom anchor on install sound location letter, grab the bottom anchor and be connected with surveying positioning platform through compound cable, quick floating mechanism is connected with surveying positioning platform through compound cable of wire.
As the optimization of the embodiment of the invention, a first buoyancy cabin is fixedly connected in the detection positioning platform, a strander is arranged in the first buoyancy cabin, the strander is connected with a lead composite cable, and an electromagnetic sensor, a flow velocity sensor and a flow direction sensor are arranged on the detection positioning platform.
As the optimization of the embodiment of the invention, an anchor rope cabin is arranged at the middle position of the bottom of the detection positioning platform, and the bottom of the anchor rope cabin is fixedly connected with the composite rope.
As the optimization of the embodiment of the invention, the lower part of the detection positioning platform is provided with a plurality of hydrophone units, the hydrophone units are uniformly distributed on two sides of the anchor rope cabin, and the bottom of the anchor rope cabin is also provided with the hydrophone units.
As the optimization of the embodiment of the invention, the rapid floating mechanism comprises a shell, a second buoyancy cabin is arranged in the shell, and a communication antenna and a power propeller are respectively arranged at the top and the bottom of the shell.
Preferably, the shell is further provided with a control module, a data storage module and a power module, and the second buoyancy cabin is isolated from the control module, the data storage module and the power module.
Preferably, a water pressure sensor and a flow velocity measuring instrument are arranged on the inner wall of the second buoyancy chamber.
As a preferable mode of the embodiment of the invention, stabilizing plates are respectively arranged at two sides of the bottom of the shell, and the stabilizing plates are respectively arranged at two sides of the power propeller.
The embodiment of the invention also provides a precise positioning method for the detection positioning platform, which comprises the following steps:
(1) The acoustic positioning beacon sends out an acoustic signal, and after receiving the acoustic signal, the marine survey vessel determines the position of the bottom grabbing anchor;
(2) Establishing a coordinate system by taking the grab anchor as a coordinate origin;
(3) Sounding the acoustic positioning beacon, receiving the hydrophone unit at the lower part of the positioning platform, and calculating to obtain the position (x 1 ，y 1 ，z 1 )；
Based on the measurement data of the flow velocity sensor and the flow direction sensor, the position (x 2 ，y 2 ，z 2 )；
According to the positioning information of the quick floating mechanism (3) after water outletThe flow velocity data measured during the floating process, the floating starting point is obtained, namely the position (x 3 ，y 3 ，z 3 )；
(4) The three groups of data are utilized to obtain the position coordinates (x, y, z) of the detection positioning platform relative to the grab anchor by the following formula
The accurate position of the detection positioning platform in the ocean is obtained.
The invention has the following beneficial effects:
1. according to the rapid detection device capable of positioning ocean resources, the plurality of hydrophone units are arranged on the detection positioning platform, the upper part and the lower part of the detection positioning platform are respectively connected with the rapid floating mechanism and the bottom grabbing anchor with the acoustic positioning beacon, the position of the detection positioning platform is comprehensively and accurately positioned in three modes, the rapid floating mechanism can rapidly float, timely returns information and returns to the original position, and the rapid detection device is reused, so that deep sea detection data can be timely, accurately and economically provided.
2. The rapid floating mechanism can realize rapid low-noise floating, so that the large-depth detection parameters can be returned in time, the timeliness is improved, and the concealment is ensured; the quick floating device can return and be reused, so that the economic benefit is improved.
Drawings
FIG. 1 is a schematic diagram of a positionable submerged marine probe apparatus according to the present invention.
Fig. 2 is a schematic structural diagram of the rapid floating mechanism according to the present invention.
FIG. 3 is a schematic view of a positionable submerged ocean probe of the present invention floating up to the ocean surface;
FIG. 4 is a schematic drawing of the positionable submerged ocean exploration apparatus of the present invention in traction return.
In the drawings, the list of components represented by the various numbers is as follows:
1-grabbing a bottom anchor; 2-detecting and positioning platform; 3-a rapid floating mechanism; 4-acoustic localization beacons; 5-composite rope 6-wire composite cable; 7-a first buoyancy module; 8-a stranding machine; 9-electromagnetic sensors; 10-flow sensor 11-flow sensor; 12-an anchor cable cabin; 13-hydrophone units; 14-a housing; 15-a second buoyancy module; a 16-communication antenna; 17-powered propeller; 18-a control module; 19-a data storage module; 20-a power module; 21-a water pressure sensor; 22-flow rate meter; 23-stabilizing plate.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
Referring to fig. 1 to 3, the embodiment of the invention provides a positionable submerged ocean exploration device, which specifically comprises a bottom grabbing anchor 1, an exploration positioning platform 2 and a rapid floating mechanism 3, wherein the bottom grabbing anchor 1 is arranged in deep water, an acoustic positioning beacon 4 is installed on the bottom grabbing anchor 1, and the bottom grabbing anchor 1 is connected with the exploration positioning platform 2 through a composite cable 5. The bottom-grasping anchor 1 and the composite rope 5 are tied in water, so that the composite rope 5 can realize the tying effect and can also realize the signal transmission. In this embodiment. After the acoustic positioning beacon 4 is installed on the bottom grabbing anchor 1 and placed in deep water, the acoustic positioning beacon 4 emits an acoustic signal, after the acoustic signal is received by the offshore survey vessel, the position of the bottom grabbing anchor 1 can be determined, and then the acoustic positioning beacon 4 stops emitting sound. The rapid floating mechanism 3 is connected with the detection positioning platform 2 through a wire composite cable 6. The rapid floating mechanism 3 realizes timely return of the large-depth detection parameters, improves timeliness, ensures concealment, enables the rapid floating device to return, is repeatedly used, and improves benefits.
Referring to fig. 1, in the present embodiment, the probe positioning platform 2 stays in the water as a female dock for the quick ascent mechanism 3 and the bottom grabbing anchor 1. The first buoyancy cabin 7 is fixedly connected in the detection positioning platform 2, and the position of the detection positioning platform 2 in water is adjusted through the first buoyancy cabin 7. A strander 8 is arranged in the first buoyancy cabin 7, and the strander 8 is connected with the wire composite cable 6. The lead composite cable 6 can realize the mooring effect of the rapid floating mechanism 3 on the detection and positioning platform and can also realize the signal transmission. The release and recovery of the rapid floating mechanism 3 can be realized by the stranding machine 8. Referring to fig. 3 to 4, after the measurement of the detection positioning platform 2 is completed, the winch 8 is started to release the quick floating mechanism 3, the quick floating mechanism 3 quickly floats to the sea surface, and after the information is received, the quick floating mechanism 3 returns to the mother dock (namely the detection positioning platform 2) under the traction of the winch 8, and enters the next measurement state.
Referring to fig. 1, in the present embodiment, an electromagnetic sensor 9, a flow rate sensor 10, and a flow direction sensor 11 are mounted on the detection positioning stage 2. An anchor rope cabin 12 is arranged at the middle position of the bottom of the detection positioning platform 2, and the bottom of the anchor rope cabin 12 is fixedly connected with the composite rope 5. The lower part of the detection positioning platform 2 is provided with a plurality of hydrophone units 13, the hydrophone units 13 are uniformly distributed on two sides of the anchor rope cabin 12, and the bottom of the anchor rope cabin 12 is also provided with the hydrophone units 13. In the embodiment, by installing the hydrophone units 13 on the detection positioning platform 2 and the anchor cable cabin 12, the sounding of the acoustic positioning beacon 4 can be received by the hydrophone units 13, and the position of the detection positioning platform 2 relative to the grab anchor 1 can be calculated. The detection positioning platform is provided with a buoyancy cabin which has positive buoyancy, sensing devices such as an electromagnetic sensor 9, a hydrophone unit 13 and the like are used for detecting marine resource measurement data and storing the marine resource measurement data in a data storage module, and a flow velocity sensor 10 and a flow direction sensor 11 are used for measuring the flow velocity and the flow direction of the position where the detection positioning platform 2 is located.
Referring to fig. 1 to 2, in the present embodiment, the rapid floating mechanism 1 includes a housing 14, a second buoyancy chamber 15 is provided in the housing 14, and a communication antenna 16 and a power propeller 17 are provided at the top and bottom (to be understood as a head and a tail) of the housing 14, respectively. In this embodiment, the housing 14 of the quick floating mechanism 1 is in a streamline shape, and under the combined action of the buoyancy of the power propeller 17 at the tail of the housing and the buoyancy of the second buoyancy chamber 15, the quick floating of the quick floating mechanism 1 is realized, wherein the housing 14 is made of a noise-reducing and drag-reducing composite material, so that the resistance and noise in the floating process can be reduced, and a control module 18, a data storage module 19 and a power module 20 are further arranged in the housing 14, wherein the second buoyancy chamber 15 is isolated from the control module 18, the data storage module 19 and the power module 20. The power module 20 provides power for the whole rapid floating mechanism 1, the data storage module 19 stores various types of parameters measured in the ocean, and the control module 18 is used for monitoring and controlling the sizes and parameters of the second buoyancy chamber 15 and the power propeller 17 in real time. A water pressure sensor 21 and a flow rate meter 22 are provided on the inner wall of the second buoyancy chamber 15, the water pressure sensor 21 and the flow rate meter 22 being used to measure the water pressure and flow rate of the rapid buoyancy mechanism 1. On both sides of the bottom of the housing 14 are mounted stabilizer plates 23, respectively, the stabilizer plates 23 being disposed on both sides of the power pusher 17, respectively. In this embodiment, two symmetrical stabilizing plates 23 are disposed on two sides of the power propeller 17 to increase the floating stability, so that the floating speed of the rapid floating mechanism 1 reaches more than 1m/s, and the radiation noise in the floating process is less than 95 db.
Of course, in the above embodiment, the form of the detection positioning platform 2 is not specifically limited, and may be a cylindrical barrel, or may be various forms, but the device according to the above technical solution may be provided, and the installation positions of the respective components are not specifically limited, and the installation positions of the respective components may be sufficient to satisfy the above functions. In a specific arrangement, there are related embodiments in the art, where the types of sensors disposed on the detection positioning platform may be multiple types, and the types may be different in combination with different types of detection parameters, where the specific types of sensors include a temperature salt depth sensor, a water pressure sensor, an underwater carbon dioxide sensor, and the like, where the types of sensors are relatively common sensors in the existing deep sea detection field, and the arrangement manner of the sensors may be in the detection positioning platform cabin, or the sensors may be disposed on the outer side of the detection positioning platform and fully contact with the marine environment according to the requirement of sensor detection, and the arrangement of the sensors is achieved by a fixed manner.
Based on the structure of the positionable sinking-floating ocean detection device, the invention also provides a precise positioning method for the detection positioning platform, which comprises the following steps:
after the bottom grabbing anchor 1 is placed in water, the acoustic positioning beacon 4 emits an acoustic signal, the position of the bottom grabbing anchor 1 can be determined after the acoustic signal is received by the offshore survey vessel, and then the acoustic positioning beacon 4 stops emitting sound.
And establishing a coordinate system by taking the grab anchor 1 as a coordinate origin. The lower half part of the detection positioning platform is provided with 5 hydrophone units, when needed, under the action of a control mechanism, an acoustic positioning beacon sounds, and after receiving an acoustic signal by an offshore survey vessel, the position (x 1 ，y 1 ，z 1 ) The method comprises the steps of carrying out a first treatment on the surface of the According to the measurement data of the flow velocity and the flow direction sensor, the position (x) of the detection positioning platform relative to the grab anchor is calculated 2 ，y 2 ，z 2 ) The method comprises the steps of carrying out a first treatment on the surface of the According to the positioning information of the rapid floating device after water outlet and the flow velocity data measured in the floating process, a floating starting point is obtained, namely the position (x 3 ，y 3 ，z 3 ) The method comprises the steps of carrying out a first treatment on the surface of the Finally, combining the three groups of data, and obtaining the position coordinates (x, y, z) of the detection positioning platform relative to the bottom grabbing anchor by using the following formula
Since the position of the bottom grabbing anchor is determined, the position of the detection positioning platform in the ocean can be accurately determined. According to the rapid detection device capable of positioning ocean resources, the plurality of hydrophone units are arranged on the detection positioning platform, the upper part and the lower part of the detection positioning platform are respectively connected with the rapid floating mechanism and the bottom grabbing anchor with the acoustic positioning beacon, the position of the detection positioning platform is comprehensively and accurately positioned in three modes, the rapid floating mechanism can rapidly float, timely returns information and returns to the original position, and the rapid detection device is reused, so that deep sea detection data can be timely, accurately and economically provided.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (7)
1. A method for accurately positioning a detection positioning platform by adopting a positionable sinking-floating type ocean detection device is characterized in that,
the positionable sinking-floating type ocean exploration device comprises a bottom grabbing anchor (1), an exploration positioning platform (2) and a rapid floating mechanism (3), wherein the bottom grabbing anchor (1) is arranged in deep water, an acoustic positioning beacon (4) is installed on the bottom grabbing anchor (1), the bottom grabbing anchor (1) is connected with the exploration positioning platform (2) through a composite cable (5), and the rapid floating mechanism (3) is connected with the exploration positioning platform (2) through a composite cable (6); the detection positioning platform (2) is internally and fixedly connected with a first buoyancy cabin (7), a strander (8) is installed in the first buoyancy cabin (7), the strander (8) is connected with a lead composite cable (6), and the detection positioning platform (2) is provided with an electromagnetic sensor (9), a flow velocity sensor (10) and a flow direction sensor (11);
the method specifically comprises the following steps:
(1) The acoustic positioning beacon sends out an acoustic signal, and after receiving the acoustic signal, the marine survey vessel determines the position of the bottom grabbing anchor;
(2) Establishing a coordinate system by taking the grab anchor as a coordinate origin;
(3) Sounding the acoustic positioning beacon, receiving a hydrophone unit at the lower part of the positioning platform, and calculating to obtain the position (x 1, y1, z 1) of the positioning platform relative to the bottom grabbing anchor;
according to the measurement data of the flow velocity sensor and the flow direction sensor, calculating to obtain the position (x 2, y2, z 2) of the detection positioning platform relative to the grab anchor;
according to the positioning information of the rapid floating mechanism (3) after water is discharged and the flow velocity data measured in the floating process, a floating starting point is obtained, namely the position (x 3, y3, z 3) of the positioning platform relative to the bottom grabbing anchor is detected;
(4) The three groups of data are utilized to obtain the position coordinates (x, y, z) of the detection positioning platform relative to the grab anchor by the following formula
The accurate position of the detection positioning platform in the ocean is obtained.
2. The method according to claim 1, characterized in that: an anchor rope cabin (12) is arranged at the middle position of the bottom of the detection positioning platform (2), and the bottom of the anchor rope cabin (12) is fixedly connected with the composite rope (5).
3. The method according to claim 2, characterized in that: the lower part of the detection positioning platform (2) is provided with a plurality of hydrophone units (13), the hydrophone units (13) are uniformly distributed on two sides of the anchor rope cabin (12), and the bottom of the anchor rope cabin (12) is also provided with the hydrophone units (13).
4. The method according to claim 1, characterized in that: the rapid floating mechanism (3) comprises a shell (14), a second buoyancy cabin (15) is arranged in the shell (14), and a communication antenna (16) and a power propeller (17) are respectively arranged at the top and the bottom of the shell (14).
5. The method according to claim 4, wherein: and a control module (18), a data storage module (19) and a power module (20) are further arranged in the shell (14), and the second buoyancy cabin (15) is isolated from the control module (18), the data storage module (19) and the power module (20).
6. The method according to claim 4, wherein: a water pressure sensor (21) and a flow velocity measuring instrument (22) are arranged on the inner wall of the second buoyancy chamber (15).
7. The method according to claim 4, wherein: stabilizing plates (23) are respectively arranged on two sides of the bottom of the shell (14), and the stabilizing plates (23) are respectively arranged on two sides of the power propeller (17).
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| CN201910364355.1A CN110116785B (en) | 2019-04-30 | 2019-04-30 | Positioning sinking-floating type ocean detection device and detection positioning platform positioning method thereof |
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| CN110641622B (en) * | 2019-10-18 | 2022-06-28 | 上海海洋大学 | Device and method for launching buoy by unmanned ship |
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