CN110539864A - seabed flight node aircraft capable of resisting soil adsorption and working method - Google Patents
seabed flight node aircraft capable of resisting soil adsorption and working method Download PDFInfo
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- CN110539864A CN110539864A CN201910873787.5A CN201910873787A CN110539864A CN 110539864 A CN110539864 A CN 110539864A CN 201910873787 A CN201910873787 A CN 201910873787A CN 110539864 A CN110539864 A CN 110539864A
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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
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/04—Preventing hull fouling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/16—Receiving elements for seismic signals; Arrangements or adaptations of receiving elements
- G01V1/18—Receiving elements, e.g. seismometer, geophone or torque detectors, for localised single point measurements
- G01V1/181—Geophones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
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- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Ocean & Marine Engineering (AREA)
- Geology (AREA)
- Acoustics & Sound (AREA)
- Environmental & Geological Engineering (AREA)
- Automation & Control Theory (AREA)
- General Life Sciences & Earth Sciences (AREA)
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Computer Networks & Wireless Communication (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The invention belongs to the technical field of ocean exploration, and particularly relates to a submarine flight node aircraft. A soil adsorption resistant subsea flying node craft comprising: the device comprises a shell, a seismic wave detection module, an under-actuated propulsion module and an anti-adsorption frame; the under-driven propulsion module provided by the invention overcomes the limitations of the existing submarine node aircraft that the self-power-free capability is realized and the deployment and recovery efficiency is low, and 2 horizontal propellers are matched with the vertical propeller to adjust the position of the aircraft so that the aircraft can move according to a set route; the adsorption-resistant frame can prevent all devices arranged at the bottom of the shell from contacting with submarine sediments when the aircraft sits on the ground, so that the adsorption force of the submarine sediments on the aircraft is reduced; the tooth-shaped structure at the bottom of the adsorption-resistant frame can effectively increase friction force to prevent the aircraft from being impacted by ocean currents to generate displacement and influence the seismic detection precision. Meanwhile, the invention also discloses a working method of the seabed flight node aircraft capable of resisting soil adsorption.
Description
Technical Field
the invention belongs to the technical field of ocean exploration, and particularly relates to a submarine flight node aircraft.
Background
the rapid development of society has led to an increasing demand for petroleum resources, and oceans covering 70% of the earth's surface store abundant petroleum resources. Among many marine oil exploration methods, the submarine node seismic data acquisition technology has the advantages of accurate positioning, flexible deployment, high signal acquisition quality, capability of detecting deeper strata and the like due to the fact that the seismic wave detection sensors are respectively arranged on the seabed, and can independently acquire and record seismic signals, and has become a leading direction of submarine seismic exploration research. However, the existing submarine node seismic data acquisition product has no self-movement capability, and mainly floats upwards through a load-throwing gravity block (or a sinking coupling frame is unhooked) or is distributed and recovered one by one through a remote control type underwater robot, so that the distribution and recovery efficiency is low, and the large-scale networking distribution requirement of practical seismic exploration application is difficult to meet.
Disclosure of Invention
The purpose of the invention is: in order to solve the problems, the seabed flying node aircraft with soil adsorption resistance is provided, and the seabed flying node aircraft can be automatically deployed, carry out the seismic detection operation and automatically recover with the assistance of a water surface support ship.
The technical scheme of the invention is as follows: a soil adsorption resistant subsea flying node craft comprising: the device comprises a shell, a seismic wave detection module, an under-actuated propulsion module and an anti-adsorption frame;
The seismic wave detection module is arranged at the stern end at the bottom of the shell and used for monitoring and recording seismic waves reflected from a submarine stratum;
The under-actuated propulsion module comprises: 2 horizontal thrusters and 1 vertical thruster; the horizontal thrusters are symmetrically arranged on two sides of the bottom of the shell and can provide forward and reverse bidirectional thrust in the horizontal direction, and the 2 horizontal thrusters work simultaneously to control two degrees of freedom of surging and shaking of an aircraft; the vertical thruster is arranged at the bow end at the bottom of the shell and can provide vertical thrust to control the two degrees of freedom of the heave and pitch of the aircraft; the 2 horizontal propellers are matched with the 1 vertical propeller to enable the aircraft to move to a set position;
the adsorption-resistant frame is arranged at the bottom of the shell, and when the aircraft sits on the bottom, the adsorption-resistant frame is in contact with the seabed sediments, so that the contact between each device arranged at the bottom of the shell and the seabed sediments is avoided, and the adsorption force of the seabed sediments on the aircraft is further reduced; the bottom of the anti-adsorption frame is provided with a tooth-shaped structure, so that the friction force can be effectively increased, and the condition that the displacement is generated by the impact of ocean currents on the aircraft and the earthquake detection precision is influenced is avoided.
On the basis of the above solution, further, the aircraft further includes: the system comprises a comprehensive communication module, a control and navigation module and an energy module;
The energy module is connected with the control and navigation module and supplies energy to other modules through the control and navigation module; the control and navigation module is in signal connection with the comprehensive communication module, the seismic wave detection module and the under-actuated propulsion module; the control and navigation module can receive information from the seismic wave detection module and the comprehensive communication module, send a driving instruction to the under-actuated propulsion module and send the received information to the water surface support ship through the comprehensive communication module.
in the foregoing solution, specifically, the control and navigation module includes: the system comprises a computer, an attitude sensor, an inertial navigation device, a depth meter, an altimeter and a magnetic compass; wherein the attitude sensor is used for providing the deflection angle of the axis of the aircraft 3; the inertial navigation device is used for providing acceleration information when the aircraft navigates underwater or on the water; the depth meter and the height meter are respectively used for providing depth information of the position of the aircraft and height information of the aircraft from the seabed; the magnetic compass is used for providing course angle information of the aircraft;
The attitude sensor, the inertial navigation device, the depth gauge, the altimeter and the magnetic compass are in signal connection with the computer; used for sending the information gathered to the computer;
the computer is in signal connection with the horizontal thruster and the vertical thruster; the control device is used for sending control instructions to the horizontal thruster and the vertical thruster and controlling the thrust size and direction of the horizontal thruster and the vertical thruster.
in the above aspect, specifically, the geophone module includes: the system comprises three-component detection sensors, hydrophones, a seismic signal acquisition board and an atomic clock; the three-component detection sensor and the hydrophone are in signal connection with the seismic signal acquisition board; the three-component detection sensor is used for monitoring seismic wave acceleration in two mutually vertical directions on a seabed horizontal plane and seismic wave acceleration on the seabed vertical to the horizontal plane, and converts three-component acceleration information monitored in real time into electric signals through built-in piezoelectric ceramics and transmits the electric signals to the seismic signal acquisition board; the hydrophone is used for receiving sound wave signals of the aircraft on the seabed and converting the sound wave signals into electric signals to be transmitted to the seismic signal acquisition board; the atomic clock is used for accurately recording time and providing time information for the aircraft;
The seismic signal acquisition board and the atomic clock are in signal connection with the computer and used for sending the three-component acceleration information, the acoustic signals and the accurate time to the computer.
In the above-mentioned scheme, specifically, synthesize the communication module and include: the system comprises an underwater acoustic transducer, iridium satellite communication, a GPS (global positioning system) positioning system and a radio module; the underwater acoustic transducer is used for carrying out information transmission with the water surface support ship; the iridium communication is used for long-distance communication with a water surface support ship after the aircraft floats out of the water surface; the radio module is used for carrying out short-distance communication with the water surface support ship after the aircraft floats out of the water surface; the GPS positioning system is used for determining self position information after the aircraft emerges from the water surface;
the underwater acoustic transducer, the iridium satellite communication, the GPS positioning system and the radio module are in signal connection with the computer, the computer realizes self positioning through the GPS positioning system and realizes communication with the water surface support ship through the underwater acoustic transducer, the iridium satellite communication and the radio module.
In the above scheme, specifically, the energy module includes: a battery; the battery is provided with a battery charging and discharging plug; the battery is connected with the computer through a battery power-on switch, and provides energy sources required by safe navigation and operation for the aircraft.
on the basis of the above solution, further, the aircraft further includes: a deepwater pressure-resistant bin and a solid buoyancy material; the deep water pressure-resistant bin is arranged at the bottom of the shell, the solid buoyancy material is arranged in the shell, the arrangement mode enables the floating center of the aircraft to be on the upper side and the gravity center to be on the lower side, and then restoring torque can be generated to assist the aircraft to stably navigate.
On the basis of the above solution, further, the aircraft further includes: an emergency load rejection module; emergent throw year module is installed in the casing bottom, includes: a power-off electromagnet and a release mechanism; the releasing mechanism establishes signal connection with the computer; and a water leakage sensor and a circuit detection program are arranged in the computer, if the abnormality is detected, the computer sends a release instruction to the release mechanism, the release mechanism throws the power-off electromagnet out of the aircraft, and the buoyancy of the aircraft is larger than the self gravity so as to automatically float to the sea surface and wait for the recovery of the water surface support ship.
the other technical scheme of the invention is as follows: a working method of a seabed flight node aircraft capable of resisting soil adsorption comprises the following steps:
A. Throwing the aircraft into water;
B. The aircraft navigates according to the planned submergence path by adjusting 2 horizontal propellers and 1 vertical propeller carried by the aircraft;
C. after the aircraft reaches the designated position, the aircraft contacts with the seabed sediment by using an anti-adsorption frame at the bottom of the aircraft; the aircraft closes the horizontal thruster and the vertical thruster and enters a low-power-consumption mute keeping mode; the water surface support ship excites an artificial seismic source through an air gun, a seismic detection module in the aircraft monitors and records seismic waves reflected from a submarine rock stratum, and the aircraft records time and self attitude information; the tooth-shaped structure at the bottom of the anti-adsorption frame increases the friction between the aircraft and the submarine sediments;
D. After the monitoring is finished, the water surface support ship sends out a wake-up signal to the aircraft; the aircraft controls the vertical thruster to generate upward thrust and controls the 2 horizontal thrusters to provide reverse thrust, so that the aircraft is separated from the sea bottom and floats to the sea surface according to the originally planned route;
E. The aircraft communicates with the surface support vessel and waits for recovery.
Further, in the submerging process of the aircraft in the step B, the aircraft adjusts 2 horizontal propellers and 2 vertical propellers according to the course angle, the acceleration, the depth and the height information from the seabed, which are acquired in real time; meanwhile, the aircraft receives position feedback information provided by an underwater acoustic beacon baseline array carried by the water surface positioning buoy and corrects the position information of the aircraft.
Has the advantages that: the invention overcomes the limitations of the existing submarine node aircraft that the self-power-free capability is realized and the deployment and recovery efficiency is low by arranging the under-driven propulsion module, and 2 horizontal propellers are matched with the vertical propeller to adjust the position of the aircraft so that the aircraft can move according to a set route; the adsorption-resistant frame can prevent all devices arranged at the bottom of the shell from contacting with the submarine sediments when the aircraft sits on the ground, so that the adsorption force of the submarine sediments on the aircraft is reduced; the tooth-shaped structure arranged at the bottom of the adsorption-resistant frame can effectively increase friction force to prevent the aircraft from being impacted by ocean currents to generate displacement and influence the seismic detection precision. The invention has the characteristics of high deployment and recovery efficiency, strong terrain adaptability, high maneuverability, capability of being deployed in an encrypted manner and the like, and is suitable for long-term seismic data acquisition work at the seabed.
Drawings
FIG. 1 is a block diagram showing the structure of embodiment 1 of the present invention;
FIG. 2 is a schematic view showing the structure of an adsorption resistant frame in example 1 of the present invention;
FIG. 3 is a block diagram showing the structure in embodiment 2 of the present invention;
FIG. 4 is a block diagram showing the structure in embodiment 3 of the present invention;
FIG. 5 is a schematic structural view in example 3 of the present invention;
In the figure: 1-shell, 2-seismic wave detection module, 21-three-component wave detection sensor, 22-hydrophone, 23-seismic signal acquisition board, 24-atomic clock, 3-under-driven propulsion module, 31-horizontal propeller, 32-vertical propeller, 4-comprehensive communication module, 41-underwater sound transducer, 42-iridium satellite communication, 43-GPS positioning system, 44-radio module, 5-control and navigation module, 51-computer, 52-attitude sensor, 53-inertial navigation device, 54-depth meter, 55-altimeter, 56-magnetic compass, 6-emergency load rejection module, 61-power-off electromagnet, 62-release mechanism, 7-anti-adsorption frame, 71-tooth-shaped structure, 8-energy module, energy-source module, 81-battery, 82-battery power-on switch and 83-battery charging and discharging plug.
Detailed Description
Example 1, referring to fig. 1, a soil adsorption resistant subsea flying node craft comprising: the device comprises a shell 1, a seismic wave detection module 2, an under-actuated propulsion module 3 and an anti-adsorption frame 7.
the seismic wave detection module 2 is arranged at the bottom stern end of the shell 1 and is used for monitoring and recording seismic waves reflected from a submarine stratum.
the under-actuated propulsion module 3 includes: 2 horizontal thrusters 31 and 1 vertical thruster 32; the horizontal thrusters 31 are symmetrically arranged at two sides of the bottom of the shell 1, can provide forward and reverse bidirectional thrusts in the horizontal direction, and 2 horizontal thrusters 31 work simultaneously to control two degrees of freedom of surging and shaking of an aircraft; the vertical thruster 32 is arranged at the bow end at the bottom of the shell 1 and can provide vertical thrust to control the two degrees of freedom of the heave and pitch of the aircraft; the 2 horizontal thrusters 31, in cooperation with the 1 vertical thruster 32, enable the vehicle to move to a set position.
Referring to the attached drawing 2, the anti-adsorption frame 7 is annularly arranged at the bottom of the shell 1, when the aircraft sits on the ground, the anti-adsorption frame 7 is in contact with the seabed sediments, so that the devices arranged at the bottom of the shell 1 are prevented from being in contact with the seabed sediments, and the adsorption force of the seabed sediments on the aircraft is further reduced; the bottom of the anti-adsorption frame 7 is provided with a tooth-shaped structure 71, so that friction force can be effectively increased, and the phenomenon that the aircraft is impacted by ocean currents to generate displacement and the earthquake detection precision is influenced is avoided.
embodiment 2, with reference to fig. 3, the aircraft further comprises, in addition to embodiment 1: a comprehensive communication module 4, a control and navigation module 5 and an energy module 8.
The energy module 8 is connected with the control and navigation module 5, and the energy module 8 supplies energy to other modules through the control and navigation module 5; the control and navigation module 5 establishes signal connection with the comprehensive communication module 4, the seismic wave detection module 2 and the under-actuated propulsion module 3; the control and navigation module 5 is communicated with the comprehensive communication module 4, the seismic wave detection module 2 and the under-actuated propulsion module 3, and the control and navigation module 5 can receive information from the seismic wave detection module 2 and the comprehensive communication module 4, send a driving instruction to the under-actuated propulsion module 3 and send the received information to the water surface support ship through the comprehensive communication module 4.
specifically, the control and navigation module 5 includes: a computer 51, an attitude sensor 52, an inertial navigation device 53, a depth meter 54, an altimeter 55, and a magnetic compass 56; wherein attitude sensor 52 is used to provide the angle of deflection of the aircraft 3 axis; inertial navigation device 53 is used to provide acceleration information for the vehicle while navigating underwater or on the water; the depth meter 54 and the height meter 55 are respectively used for providing depth information of the position of the aircraft and height information of the aircraft from the sea bottom; the magnetic compass 56 is used for providing course angle information of the aircraft; the attitude sensor 52, the inertial navigation device 53, the depth meter 54, the altimeter 55 and the magnetic compass 56 are in signal connection with the computer 51; for sending the collected information to the computer 51; the computer 51 establishes signal connection with the horizontal thruster 31 and the vertical thruster 32; and the control device is used for sending control instructions to the horizontal thruster 31 and the vertical thruster 32 and controlling the magnitude and direction of the thrust of the horizontal thruster 31 and the vertical thruster 32.
the geophone module 2 includes: the system comprises a three-component detection sensor 21, a hydrophone 22, a seismic signal acquisition board 23 and an atomic clock 24; the three-component detection sensor 21 and the hydrophone 22 are in signal connection with the seismic signal acquisition board 23; the three-component detection sensor 21 is used for monitoring seismic wave accelerations in two mutually perpendicular directions on a seabed horizontal plane and the seabed seismic wave accelerations in the direction perpendicular to the horizontal plane, and the three-component detection sensor 21 converts three-component acceleration information monitored in real time into electric signals through built-in piezoelectric ceramics and transmits the electric signals to the seismic signal acquisition board 23; the hydrophone 22 is used for receiving acoustic signals of the aircraft on the seabed, converting the acoustic signals into electric signals and transmitting the electric signals to the seismic signal acquisition board 23; the atomic clock 24 is used for accurately recording time and providing time information for the aircraft; the seismic signal acquisition board 23 and the atomic clock 24 are in signal connection with the computer 51, and are used for sending three-component acceleration information, acoustic signals and accurate time to the computer 51.
the integrated communication module 4 includes: the underwater acoustic transducer 41, the iridium satellite communication 42, the GPS positioning system 43 and the radio module 44; the underwater acoustic transducer 41 is used for information transmission with the water surface support ship; the iridium communication 42 is used for long-distance communication with the water surface support ship after the aircraft floats out of the water surface; the radio module 44 is used for short-distance communication with the water surface support ship after the aircraft floats out of the water surface; the GPS positioning system 43 is used for determining self position information after the aircraft emerges from the water surface; the underwater acoustic transducer 41, the iridium satellite communication 42, the GPS positioning system 43 and the radio module 44 are all in signal connection with the computer 51, the computer 51 realizes self positioning through the GPS positioning system 43 and realizes communication with the water surface support ship through the underwater acoustic transducer 41, the iridium satellite communication 42 and the radio module 44.
The energy module 8 includes: a battery 81; the battery 81 is provided with a battery charging and discharging plug 83; the battery 81 is connected to the computer 51 through a battery on-board switch 82 to provide the energy needed for safe navigation and operation of the aircraft.
Embodiment 3, referring to fig. 4 and 5, in addition to embodiment 2, the aircraft further includes, in order to enhance the operation safety: an emergency load rejection module 6; emergent load rejection module 6 installs in casing 1 bottom, includes: a power-off electromagnet 61 and a release mechanism 62; the release mechanism 62 establishes a signal connection with the computer 51; the computer 51 is internally provided with a water leakage sensor and a circuit detection program, if the abnormality is detected, the computer 51 sends a release instruction to the release mechanism 62, the release mechanism 62 throws the power-off electromagnet 61 out of the aircraft, the buoyancy of the aircraft is larger than the self gravity, and then the aircraft automatically floats to the sea surface to wait for the recovery of the water surface support ship.
embodiment 4, on the basis of embodiments 1, 2 or 3, the aircraft further comprises: a deepwater pressure-resistant bin and a solid buoyancy material; the shell 1 is in a streamline design, so that the fluid resistance can be reduced; the deep water pressure-resistant bin is arranged at the bottom of the shell 1, the solid buoyancy material 8 is arranged in the shell 1, and the arrangement mode enables the floating center of the aircraft to be on the upper side and the gravity center to be on the lower side, so that restoring torque can be generated to assist the aircraft to stably sail.
embodiment 5, a method of operation of a soil adsorption resistant subsea flying node aircraft, comprising the steps of:
A. Before the acquisition of submarine seismic exploration data is started, the normal operation of each module of the aircraft is ensured, and the electric energy of the energy module 8 is enough to cover the data acquisition work; after all anti-aircraft participating in the sea and earth seismic exploration data acquisition are conveyed to the position above an exploration sea area by the water surface support ship, all the aircraft are thrown into water by the hoisting winch after the initialization processes of position correction, target setting and the like;
B. the aircraft autonomously plans a submerging path according to the launching initial position and the target laying position; the magnetic compass 56, the inertial navigation device 53 and the depth meter 55 are respectively used for recording course angle, acceleration and depth information of the aircraft and transmitting the information to the computer 51 in real time, and the computer 51 outputs control commands to the carried 2 horizontal thrusters 31 and 1 vertical thruster 32 so that the aircraft can track and navigate a planned dive path; meanwhile, the height information of the aircraft from the seabed is collected in real time through the height meter 55, so that the collision between the aircraft and the seabed and attachments thereof in the navigation process is avoided; further, the aircraft receives position feedback information provided by an underwater acoustic beacon baseline array carried by the water surface positioning buoy, and corrects the position information of the aircraft;
In this example, the specific method for the aircraft to correct the self-position information is as follows:
in the underwater acoustic beacon base line array, each underwater acoustic beacon broadcasts the GPS position and the underwater acoustic signal transmitting time, an underwater acoustic communicator carried by an aircraft can detect the arrival time of the underwater acoustic signal and decode the arrival time to obtain the current position of the underwater acoustic beacon, the geographic slant distance between a node and the acoustic beacon is obtained according to the underwater acoustic time delay and the sound velocity, and when more than three different beacons are obtained from the underwater acoustic time delay information, the underwater absolute position of the node is resolved by adopting a long baseline positioning principle;
C. After the aircraft reaches the designated position, the aircraft contacts with the seabed sediment by using the anti-adsorption frame 7 at the bottom of the aircraft, and the anti-adsorption frame 7 enables the bottom of the aircraft and each device arranged at the bottom of the market maker to keep a certain distance from the seabed sediment, so that the adsorption force of the seabed sediment on the aircraft is reduced; the aircraft closes the horizontal thruster 31 and the vertical thruster 32 and enters a low-power-consumption mute keeping mode; the water surface support ship excites an artificial seismic source through an air gun, a seismic detection module 2 in the aircraft monitors and records seismic waves reflected from a submarine rock stratum, and the aircraft records time and self attitude information; anti-adsorption frame) bottom tooth profile structure increases the friction between the aircraft and submarine sediments, and avoids the aircraft from being impacted by ocean currents to generate displacement and influence the seismic detection precision;
D. After the monitoring is finished, the water surface support ship sends out a wake-up signal to the aircraft; the aircraft controls the vertical thruster 32 to generate upward thrust and controls the 2 horizontal thrusters 31 to provide reverse thrust, the aircraft generates steering torque to overcome seabed adsorption force and further break away from the seabed, and the steering torque floats to the sea surface according to the original planned route;
E. Uploading the GPS position by the aircraft; and communicating with the water surface support ship through iridium satellite communication, and finally, intensively recovering all aircrafts by the water surface support ship.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. a soil adsorption resistant subsea flying node craft comprising: casing (1) and install in casing (1) bottom stern end's geophone package piece (2), characterized in that, the navigation ware still includes: an under-actuated propulsion module (3) and an anti-adsorption frame (7);
the under-actuated propulsion module (3) comprises: 2 horizontal thrusters (31) and 1 vertical thruster (32); the horizontal propellers (31) are symmetrically arranged at two sides of the bottom of the shell (1), and the vertical propellers (32) are arranged at the bow end of the bottom of the shell (1);
The anti-adsorption frame (7) is arranged at the bottom of the shell (1) and is used for avoiding various devices arranged at the bottom of the shell (1) from contacting with seabed sediment; the bottom of the anti-adsorption frame (7) is provided with a tooth-shaped structure (71).
2. The soil adsorption resistant subsea flying node craft of claim 1 wherein: the aircraft further comprises: the device comprises a comprehensive communication module (4), a control and navigation module (5) and an energy module (8);
energy module (8) with control and navigation module (5) are connected, control and navigation module (5) with synthesize communication module (4), seismic detection module (2) under-actuated propulsion module (3) and establish signal connection.
3. The soil adsorption resistant subsea flying node craft of claim 2 wherein: the control and navigation module (5) comprises: a computer (51), an attitude sensor (52), an inertial navigation device (53), a depth gauge (54), an altimeter (55) and a magnetic compass (56);
The attitude sensor (52), the inertial navigation device (53), the depth gauge (54), the altimeter (55) and the magnetic compass (56) are all in signal connection with the computer (51);
The computer (51) is in signal connection with the horizontal thruster (31) and the vertical thruster (32).
4. a soil adsorption resistant subsea flying node craft according to claim 3 wherein: the geophone module (2) comprises: the system comprises a three-component detection sensor (21), a hydrophone (22), a seismic signal acquisition board (23) and an atomic clock (24); wherein: the three-component detection sensor (21) and the hydrophone (22) are in signal connection with the seismic signal acquisition board (23);
the seismic signal acquisition board (23) and the atomic clock (24) are in signal connection with the computer (51).
5. the soil adsorption resistant subsea flying node craft of claim 4 wherein: the integrated communication module (4) comprises: the system comprises an underwater acoustic transducer (41), an iridium satellite communication (42), a GPS (global positioning system) positioning system (43) and a radio module (44);
the underwater acoustic transducer (41), the iridium satellite communication (42), the GPS (43) and the radio module (44) are in signal connection with the computer (51).
6. The soil adsorption resistant subsea flying node craft of claim 5 wherein: the energy module (8) comprises: a battery (81); the battery (81) is provided with a battery charging and discharging plug (83); the battery (81) is connected with the computer (51) through a battery power-on switch (82).
7. A soil adsorption resistant subsea flying node craft according to any of claims 2-6 wherein: the aircraft further comprises: a deepwater pressure-resistant bin and a solid buoyancy material; the deep water pressure-resistant cabin is arranged at the bottom of the shell (1), and the solid buoyancy material (8) is arranged in the shell (1).
8. A soil adsorption resistant subsea flying node craft according to any of claims 3-6 wherein: the aircraft further comprises: an emergency load rejection module (6); emergent throw year module (6) are installed casing (1) bottom includes: a power-off electromagnet (61) and a release mechanism (62); the release mechanism (62) establishes a signal connection with the computer (51).
9. a working method of a seabed flight node aircraft capable of resisting soil adsorption is characterized by comprising the following steps: the method comprises the following steps:
A. Throwing the aircraft into water;
B. the aircraft is made to sail according to a planned submerging path by adjusting 2 horizontal thrusters (31) and 1 vertical thruster (32) carried by the aircraft;
C. After the aircraft reaches a designated position, the aircraft contacts with seabed sediment by using an anti-adsorption frame (7) at the bottom of the aircraft; the aircraft closes the horizontal thruster (31) and the vertical thruster (32) and enters a low-power-consumption mute keeping mode; the water surface support ship excites an artificial seismic source through an air gun, and the aircraft monitors and records seismic waves reflected from a submarine rock stratum and records time and self attitude information; the tooth-shaped structure at the bottom of the anti-adsorption frame (7) increases the friction between the aircraft and the seabed sediments;
D. after the monitoring is finished, the water surface support ship sends a wake-up signal to the aircraft; the aircraft controls the vertical thruster (32) to generate upward thrust and controls the 2 horizontal thrusters (31) to provide reverse thrust, so that the aircraft is separated from the sea bottom and floats to the sea surface according to the original planned route;
E. The aircraft communicates with the surface support vessel awaiting recovery.
10. The method of operating a soil adsorption resistant subsea flying node craft as claimed in claim 9 wherein: during the submerging process of the aircraft in the step B, the aircraft adjusts the 2 horizontal thrusters (31) and the vertical thrusters (32) according to the real-time collected heading angle, acceleration, depth and height information from the sea bottom; meanwhile, the navigation device receives position feedback information provided by an underwater acoustic beacon baseline array carried by the water surface positioning buoy and corrects the position information of the navigation device.
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