CN110588926A - Underwater monitoring device and laying and recycling method - Google Patents

Underwater monitoring device and laying and recycling method Download PDF

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Publication number
CN110588926A
CN110588926A CN201910873780.3A CN201910873780A CN110588926A CN 110588926 A CN110588926 A CN 110588926A CN 201910873780 A CN201910873780 A CN 201910873780A CN 110588926 A CN110588926 A CN 110588926A
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CN
China
Prior art keywords
monitoring device
thruster
underwater
control module
vertical
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CN201910873780.3A
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Chinese (zh)
Inventor
秦洪德
刘传奇
朱仲本
邓忠超
万磊
王卓
田瑞菊
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Harbin Engineering University
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Harbin Engineering University
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Priority to CN201910873780.3A priority Critical patent/CN110588926A/en
Publication of CN110588926A publication Critical patent/CN110588926A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • 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
    • 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
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B49/00—Testing the nature of borehole walls; Formation testing; Methods or apparatus for obtaining samples of soil or well fluids, specially adapted to earth drilling or wells
    • E21B49/001—Testing the nature of borehole walls; Formation testing; Methods or apparatus for obtaining samples of soil or well fluids, specially adapted to earth drilling or wells specially adapted for underwater installations

Abstract

The invention belongs to the technical field of ocean exploration and discloses an underwater monitoring device. The two horizontal propellers and the two vertical propellers which are equipped with the underwater monitoring device can adjust the pose of the underwater monitoring device in water, so that the underwater monitoring device can accurately move to an appointed bottom-sitting position. During the distribution/recovery process of the underwater monitoring device, the water pressure changes, and the displacement volume of the air bag equipped with the underwater monitoring device changes to adjust the buoyancy. The invention also discloses a deployment and recovery method based on the underwater monitoring device, which is characterized in that the initial position coordinates of the underwater monitoring device are calibrated during deployment, and a critical water pressure value is set; the vertical propeller works to push the underwater monitoring device to submerge and float, and when the critical water pressure value is reached, the vertical propeller is closed, buoyancy adjustment is carried out through the air bag, and the underwater monitoring device achieves unpowered submerging/floating; the underwater sound positioning signal and the horizontal propeller are utilized to realize the positioning of the sitting bottom and the recovery positioning within a small error range.

Description

Underwater monitoring device and laying and recycling method
Technical Field
The invention belongs to the technical field of ocean exploration, and particularly relates to an underwater monitoring device.
Background
In the exploration process of ocean oil and gas resources, the submarine geological condition is often required to be analyzed in an artificial seismic wave mode, a monitoring device for collecting vibration signals is distributed on the seabed in a large area, artificial seismic waves are manufactured at the water surface through an air gun or explosion, echoes related to different geological characteristics are generated after the seismic waves penetrate through seabed stratums, and the echoes are collected and stored as data by the monitoring device. The recovery monitoring device processes data and can analyze the distribution condition of the seabed oil and gas resources.
In order to ensure the reliability of data, the bottom of the underwater monitoring device has certain precision requirements. However, the waves and ocean currents in the actual working environment are widely present, which may cause the position of the underwater monitoring device to deviate.
In the activities, after the underwater monitoring device is arranged, the underwater monitoring device needs to submerge and sit on the ground for a long time to execute a monitoring task, and needs to float and float on the water surface to wait for recovery, and the portable power supply is limited, and the underwater monitoring device can not be realized only by applying thrust by the working of a propeller to maintain the long-time sitting on the ground or floating. Therefore, the underwater monitoring device is equipped with a buoyancy adjustment module. However, the buoyancy regulating module which is well-established in aircrafts such as an underwater glider and the like is a system based on an oil pressure pump valve, has high cost and is not suitable for thousands of large-scale deployment occasions of underwater monitoring devices such as seabed oil and gas exploration and the like.
Disclosure of Invention
The purpose of the invention is: aiming at the problems, the underwater monitoring device which is accurate in positioning and can realize low-energy-consumption floating is provided, and the laying and recovery method of the device is provided.
The technical scheme of the invention is as follows: an underwater monitoring device comprising: the device comprises a monitoring module, a shell, a chassis, an air bag, a horizontal propeller, a vertical propeller and a control module;
the chassis is arranged at the bottom of the shell to form a non-closed shell; the monitoring module and the control module are arranged in the shell; the air bag is arranged in the shell and is not fixed;
the quantity of horizontal propeller is two, does respectively: the first horizontal thruster and the second horizontal thruster; the first horizontal thruster and the second horizontal thruster are symmetrically arranged at the left side and the right side of the shell;
the quantity of vertical propeller is two, does respectively: the first vertical thruster and the second vertical thruster are arranged on the base; the first vertical thruster and the second vertical thruster are symmetrically arranged at the front side and the rear side of the shell, and a connecting line between the first vertical thruster and the second vertical thruster is orthogonal to a connecting line between the first horizontal thruster and the second horizontal thruster;
the monitoring module, the first horizontal thruster, the second horizontal thruster, the first vertical thruster and the second vertical thruster are all in signal connection with the control module.
The monitoring module is used for executing an underwater monitoring task; the first horizontal propeller, the second horizontal propeller, the first vertical propeller and the second vertical propeller are used for adjusting the pose of the underwater monitoring device; when the underwater monitoring device submerges, the first vertical propeller and the second vertical propeller synchronously propel downwards at the same rotating speed under the control of the control module; when the underwater monitoring device floats upwards, the first vertical propeller and the second vertical propeller are synchronously pushed upwards at the maximum rotating speed under the control of the control module; when the underwater monitoring device deviates from the set position, the first horizontal propeller and the second horizontal propeller are differentially propelled under the control of the control module, so that the underwater monitoring device moves to the set position. The arrangement of the first horizontal thruster, the second horizontal thruster, the first vertical thruster and the second vertical thruster ensures that the underwater monitoring device can accurately move to a specified bottom-sitting position; in the laying/recycling process of the underwater monitoring device, the water pressure changes, the water discharging volume of the air bag changes, and the buoyancy can be adjusted, so that the underwater monitoring device can realize submergence/floating with low energy consumption.
In the above scheme, specifically, the air bag is a disc-shaped rubber closed leather bag, and the air bag can be sunken from the center of a circle to reduce the volume when the water pressure is increased, so that the wall surface of the air bag obtains larger buoyancy change with smaller deformation, and the damage caused by stress concentration due to overlarge deformation under high water pressure is avoided. The volume of the air bag in the air is set as V0The internal pressure being equal to a standard atmospheric pressure P0。
On the basis of the above scheme, further, for realizing the communication and the water pressure measurement function of the underwater monitoring device, the underwater monitoring device further comprises: the system comprises a wifi debugging module, an underwater acoustic communication module and a water pressure sensor;
the wifi debugging module and the underwater acoustic communication module are installed at the top of the shell, and the water pressure sensor is installed in the shell; the wifi debugging module, the underwater acoustic communication module and the water pressure sensor are all connected with the control module;
when the monitoring devices are unpowered to float underwater, the wifi debugging module keeps the state of being exposed to the water surface.
On the basis of the scheme, further, the water pressure sensor and the monitoring module are fixed on the chassis; the air bag is positioned above the water pressure sensor and the monitoring module. By the arrangement, the gravity center of the whole underwater monitoring device is ensured to be under, the floating center is above, and the positive floating posture is kept without overturning after the underwater monitoring device is thrown into water.
The technical scheme of the invention is as follows: a deployment and recovery method of an underwater monitoring device is based on the underwater monitoring device, and comprises the following deployment steps:
A. the underwater monitoring device is carried to an operation sea area through a ship, a worker sends the ground plane coordinates of a release point to the control module through the wifi debugging module, and the control module marks the coordinates as initial coordinates (0, 0); the staff continuously broadcasts the underwater sound positioning signal at the position of the initial coordinate (0, 0);
B. after the underwater monitoring device is placed into the sea, the underwater monitoring device is controlledThe module controls the first vertical thruster and the second vertical thruster to propel downwards at the same rotating speed; at the same time, the control module reads the measured water pressure value P (t) of the water pressure sensor in real time1) And P (t)1) And a critical water pressure value P preset in the control module1Comparing; when P (t)1)＞P1When the underwater monitoring device is in the unpowered sinking state, the control module controls the first vertical propeller and the second vertical propeller to stop working, and the underwater monitoring device enters the step C in the unpowered sinking state; if P (t)1)≤P1The control module controls the first vertical thruster and the second vertical thruster to continuously propel downwards at the same rotating speed;
C. the control module reads the broadcast underwater sound positioning signal received by the underwater sound communication module in real time and calculates the relative coordinate (x)(t)，()yt) When relative coordinate (x)(t)，()yt) When the plane distance between the first horizontal propeller and the initial coordinate (0, 0) is larger than a given error value, the control module drives the first horizontal propeller and the second horizontal propeller to carry out differential propulsion until the relative coordinate (x)(t)，()yt) The plane distance between the initial coordinate (0, 0) and the initial coordinate is zero, and the step D is carried out; otherwise, the control module drives the first horizontal thruster and the second horizontal thruster to continuously carry out differential propulsion;
D. and in the continuous time, the water pressure value read by the control module changes by less than 0.001 standard atmospheric pressure, the underwater monitoring device is considered to be seated, the control module cuts off the power of the first horizontal propeller, the second horizontal propeller, the first vertical propeller and the second vertical propeller, the monitoring module is powered on, and the underwater monitoring device starts to execute a monitoring task.
Further, in the above step B, if P (t)1)≤P1And in a continuous time P (t)1) And P1The difference value of (2) is less than 0.001 standard atmospheric pressure, then the underwater monitoring device is considered to be in an abnormal working state, the control module drives the first vertical propeller and the second vertical propeller to synchronously push upwards at the same rotating speed, and the underwater monitoring device returns to the water surface to wait for the recovery of workers.
After the underwater monitoring device completes the monitoring task, the underwater monitoring device enters a recycling step, and the recycling step comprises the following steps:
E. the control module drives the first vertical thruster and the second vertical thruster to upwards propel at the maximum rotating speed, and reads the measured water pressure value P (t) of the water pressure sensor in real time2) And P (t)2) And a critical water pressure value P preset in the control module2Comparing; meanwhile, the control module reads the broadcast underwater sound positioning signal received by the underwater sound communication module in real time and calculates the relative coordinate (x)(t)，()yt) When relative coordinate (x)(t)，()yt) When the plane distance between the first horizontal propeller and the initial coordinate (0, 0) is larger than a given error value, the control module drives the first horizontal propeller and the second horizontal propeller to carry out differential propulsion until the relative coordinate (x)(t)，()yt) The planar distance from the initial coordinate (0, 0) is zero;
F. when P (t)2)＜P2When the underwater monitoring device is used, the control module cuts off the power of the first horizontal propeller, the second horizontal propeller, the first vertical propeller and the second vertical propeller, and the underwater monitoring device floats to the water surface in an unpowered manner to wait for the recovery of workers.
Has the advantages that: the underwater monitoring device is provided with two horizontal propellers and two vertical propellers, and the pose of the underwater monitoring device can be adjusted in water, so that the underwater monitoring device can be accurately moved to an appointed bottom-sitting position. In the laying/recycling process of the underwater monitoring device, the water pressure changes, and the change of the drainage volume of the air bag provided by the invention can adjust the buoyancy.
According to the laying and recovery method, the initial position coordinates of the underwater monitoring device are calibrated, the critical water pressure value is set, the underwater monitoring device is pushed to submerge and float through the work of the vertical propeller, after the critical water pressure value is reached, the vertical propeller is closed, the buoyancy is adjusted through the air bag, and the underwater monitoring device is enabled to submerge/float without power; the underwater sound positioning signal and the horizontal propeller realize the positioning of the sitting bottom and the recovery positioning within a small error range.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the internal structure of the present invention;
FIG. 3 is a flow chart of the process performed when deploying the present invention;
FIG. 4 is a flowchart of a process performed in the recovery of the present invention;
in the figure: the system comprises a shell, a chassis, a first horizontal thruster, a second horizontal thruster, a first vertical thruster, a second vertical thruster, a control module, a monitoring module, a water pressure sensor and an air bag, wherein the shell is 1, the chassis is 2, the first horizontal thruster is 3, the second horizontal thruster is 4, the first vertical thruster is 5, the second vertical thruster is 6, the wifi debugging module is 7, the underwater acoustic communication module is 8, the control module is 9, the monitoring module is 10, and the water pressure sensor and the air.
Detailed Description
Embodiment 1, referring to fig. 1 and 2, an underwater monitoring device comprises: the device comprises a monitoring module 10, a shell 1, a chassis 2, an air bag 12, a horizontal thruster, a vertical thruster and a control module 9;
the chassis 2 is arranged at the bottom of the shell 1 to form a non-closed shell; the monitoring module 10 and the control module 9 are arranged in the shell; the air bag 12 is placed in the housing without being fixed;
the quantity of horizontal propeller is two, does respectively: a first horizontal thruster 3, a second horizontal thruster 4; the first horizontal thruster 3 and the second horizontal thruster 4 are symmetrically arranged at the left side and the right side of the shell 1;
the quantity of vertical propeller is two, does respectively: a first vertical thruster 5, a second vertical thruster 6; the first vertical thruster 5 and the second vertical thruster 6 are symmetrically arranged at the front side and the rear side of the shell 1, and a connecting line between the first vertical thruster 5 and the second vertical thruster 6 is orthogonal to a connecting line between the first horizontal thruster 3 and the second horizontal thruster 4;
the monitoring module 10, the first horizontal thruster 3, the second horizontal thruster 4, the first vertical thruster 5 and the second vertical thruster 6 are all in signal connection with the control module 9.
The monitoring module 10 is used for executing underwater monitoring tasks; the first horizontal thruster 3, the second horizontal thruster 4, the first vertical thruster 5 and the second vertical thruster 6 are used for adjusting the pose of the underwater monitoring device; when the underwater monitoring device submerges, the first vertical thruster 5 and the second vertical thruster 6 synchronously propel downwards at the same rotating speed under the control of the control module 9; when the underwater monitoring device floats upwards, the first vertical propeller 5 and the second vertical propeller 6 are synchronously propelled upwards at the maximum rotating speed under the control of the control module 9; when the underwater monitoring device deviates from the set position, the first horizontal thruster 3 and the second horizontal thruster 4 are propelled at a differential speed under the control of the control module 9, so that the underwater monitoring device moves to the set position. The arrangement of the first horizontal thruster 3, the second horizontal thruster 4, the first vertical thruster 5 and the second vertical thruster 6 ensures that the underwater monitoring device can accurately move to a specified bottom-sitting position; in the laying/recovery process of the underwater monitoring device, the water pressure changes, and the change of the drainage volume of the air bag 12 can adjust the buoyancy, so that the underwater monitoring device can realize submergence/floatation with low energy consumption.
In this example: the air bag 12 is a round cake-shaped rubber closed leather bag, and the air bag 12 can be sunken from the center of a circle to reduce the volume when the water pressure is increased, so that the wall surface of the air bag 12 obtains larger buoyancy change with smaller deformation, and the damage caused by stress concentration due to overlarge deformation under high water pressure is avoided. The volume of the air bag in the air is set as V0The internal pressure being equal to a standard atmospheric pressure P0。
Embodiment 2, on the basis of embodiment 1, further, in order to realize the communication and the water pressure measurement function of the underwater monitoring device, the underwater monitoring device further includes: the system comprises a wifi debugging module 7, an underwater acoustic communication module 8 and a water pressure sensor 11; the wifi debugging module 7 and the underwater acoustic communication module 8 are installed at the top of the shell, and the water pressure sensor 11 is installed in the shell; wifi debugging module 7, underwater acoustic communication module 8 and water pressure sensor 11 all are connected with control module 9.
Further, a water pressure sensor 11 and a monitoring module 10 are fixed on the chassis 2; the air bag 12 is positioned above the water pressure sensor 11 and the monitoring module 10. By the arrangement, the gravity center of the whole underwater monitoring device is ensured to be under, the floating center is above, and the positive floating posture is kept without overturning after the underwater monitoring device is thrown into water.
In this example, the total weight W of the underwater monitoring device is 200N, and the initial total buoyancy of the underwater monitoring device just below the water surface is B0220N, then there is a difference Δ B0When the underwater monitoring device floats without power by 20N, the wifi debugging module 7 can keep the state of being exposed out of the water surface; the wall thickness of the air bag 12 is 5mm, and the volume in the air is 0.004m3The internal pressure is a standard atmospheric pressure P0＝101.3kPa。
Embodiment 3, a deployment and recovery method of an underwater monitoring device, the method being based on the underwater monitoring device in embodiment 2, and referring to fig. 3, the deployment method comprises the following steps:
A. the underwater monitoring device is carried to an operation sea area through a ship, a worker sends the ground plane coordinates of a throwing point to the control module 9 through the wifi debugging module 7, and the control module 9 marks the coordinates as initial coordinates (0, 0) and starts to automatically operate; the staff continuously broadcasts the underwater sound positioning signal at the position of the initial coordinate (0, 0);
B. after the underwater monitoring device is placed into the sea, the control module 9 controls the first vertical thruster 5 and the second vertical thruster 6 to propel downwards at the same rotating speed; at the same time, the control module 9 reads the measured water pressure value P (t) of the water pressure sensor 11 1 time per second1) And P (t)1) And the critical water pressure value P preset in the control module 91Comparing;
the air inside the bladder 12 conforms to the gas equation of state:
PV＝nRT
p is the internal air pressure of the airbag 12, i.e. the water pressure, V is the internal air volume of the airbag 12, n is the amount of the internal air substance of the airbag 12, R is 8.31, T is the temperature, generally, sea surface normal temperature 25 ℃: 298K, sea bottom normal temperature 4 ℃: 277K which is thousands of meters deep is taken, the external temperature change rate of the airbag 12 in the slow submerging process is very small, and the airbag 12 is in a circular cake shape and can fully dissipate heat, so that the internal temperature of the airbag 12 in the submerging process can be regarded as being consistent with the external temperature and almost constant, and P and V are in an inverse proportion relation;
if the water pressure value p (t) at any time t corresponds to the displacement volume v (t) of the airbag 12, the following are provided:
V(t)≈P0V0/P(t)
assuming that the density of water is approximately constant ρ and the acceleration of gravity is g, if the total buoyancy of the underwater monitoring device is smaller than the total gravity, at least:
ρg[V0-V(t)]＞ΔB0
then there are:
P(t)＞ρgP0V0/(ρgV0-ΔB0)
considering the error caused by the air pressure variation and the water density variation inside the air bag 12, the critical water pressure P is set1：
P1＝1.5ρgP0V0/(ρgΔV0-B0)
In this example, the critical water pressure P1310.2kPa, water pressure at about 20m water depth;
when P (t)1)＞P1When the underwater monitoring device is in the unpowered sinking state, the control module 9 controls the first vertical thruster 5 and the second vertical thruster 6 to stop working, and the underwater monitoring device enters the step C in the unpowered sinking state; if P (t)1)≤P1If the rotating speed of the first vertical thruster 5 is higher than the rotating speed of the second vertical thruster 6, the control module 9 controls the first vertical thruster 5 and the second vertical thruster 6 to continuously push downwards at the same rotating speed; further, if P (t)1)≤P1And in a continuous time P (t)1) And P1If the difference value is less than 0.001 standard atmospheric pressure, the underwater monitoring device is considered to be in an abnormal working state, at the moment, the control module 9 drives the first vertical propeller 5 and the second vertical propeller 6 to synchronously propel upwards at the same rotating speed, and the underwater monitoring device returns to the water surface to wait for the recovery of workers;
C. the control module 9 reads the broadcast underwater acoustic locating signal received by the underwater acoustic communication module 8 from 1 per second and calculates the relative coordinates (x)(t)，()yt) When relative coordinate (x)(t)，()yt) When the plane distance from the initial coordinate (0, 0) is greater than a given error value of 5m, the control module 9 drives the first horizontal thruster 3 and the second horizontal thruster 4 to carry out differential propulsion until the relative coordinate (x)(t)，()yt) The plane distance between the initial coordinate (0, 0) and the initial coordinate is zero, and the step D is carried out; otherwise, the control module 9 drives the first horizontal thruster 3 and the second horizontal thruster 4 to continuously perform differential propulsion;
D. the control module 9 reads the water pressure value 1 time per second, if the change of the water pressure value read by the control module 9 is less than 0.001 standard atmospheric pressure in continuous time, the underwater monitoring device is considered to be seated, the control module 9 cuts off the power of the first horizontal thruster 3, the second horizontal thruster 4, the first vertical thruster 5 and the second vertical thruster 6, the monitoring module 10 is powered on, and the underwater monitoring device starts to execute a monitoring task.
Embodiment 4, on the basis of embodiment 3, after the underwater monitoring device completes the monitoring task, the underwater monitoring device enters a recovery step, and the recovery step includes:
E. the control module 9 drives the first vertical thruster 5 and the second vertical thruster 6 to advance upwards at the same maximum rotating speed, and the control module 9 reads the measured water pressure value P (t) of the water pressure sensor 11 in real time2) And P (t)2) And the critical water pressure value P preset in the control module 92Comparing; in this example, P2155.1kPa, water pressure at about 5m water depth;
at the same time, the control module 9 reads the broadcast underwater acoustic locating signal received by the underwater acoustic communication module 8 1 time per second and solves the relative coordinates (x)(t)，()yt) When relative coordinate (x)(t)，()yt) When the plane distance from the initial coordinate (0, 0) is greater than a given error value of 5m, the control module 9 drives the first horizontal thruster 3 and the second horizontal thruster 4 to carry out differential propulsion until the relative coordinate (x)(t)，()yt) The plane distance from the initial coordinates (0, 0) is zero;
F. when P (t)2)＜P2During the process, the control module 9 is used for powering off the first horizontal thruster 3, the second horizontal thruster 4, the first vertical thruster 5 and the second vertical thruster 6, and the underwater monitoring device floats to the water surface in an unpowered manner to wait for the recovery of workers.
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 and improvements can be made based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of this invention as claimed.

Claims (7)

1. An underwater monitoring device comprising: a monitoring module (10); the method is characterized in that: it still includes: the device comprises a shell (1), a chassis (2), an air bag (12), a horizontal propeller, a vertical propeller and a control module (9);
the chassis (2) is arranged at the bottom of the shell (1) to form a non-closed shell; the monitoring module (10) and the control module (9) are mounted in the housing; the air bag (12) is placed in the shell and is not fixed;
the quantity of horizontal propeller is two, does respectively: a first horizontal thruster (3) and a second horizontal thruster (4); the first horizontal thruster (3) and the second horizontal thruster (4) are symmetrically arranged at the left side and the right side of the shell (1);
the quantity of vertical propeller is two, does respectively: a first vertical thruster (5) and a second vertical thruster (6); the first vertical thruster (5) and the second vertical thruster (6) are symmetrically arranged at the front side and the rear side of the shell (1), and the connecting line between the first vertical thruster (5) and the second vertical thruster (6) is orthogonal to the connecting line between the first horizontal thruster (3) and the second horizontal thruster (4);
the monitoring module (10), the first horizontal thruster (3), the second horizontal thruster (4), the first vertical thruster (5) and the second vertical thruster (6) are all in signal connection with the control module (9).
2. An underwater monitoring device as claimed in claim 1, wherein: the air bag (12) is a round cake-shaped rubber closed leather bag.
3. An underwater monitoring device as claimed in claim 1 or 2, wherein: the underwater monitoring device further comprises: the system comprises a wifi debugging module (7), an underwater acoustic communication module (8) and a water pressure sensor (11);
the wifi debugging module (7) and the underwater acoustic communication module (8) are installed at the top of the shell, and the water pressure sensor (11) is installed in the shell; the wifi debugging module (7), the underwater acoustic communication module (8) and the water pressure sensor (11) are all connected with the control module (9);
when the underwater monitoring device is unpowered to float, the wifi debugging module (7) keeps the state of being exposed to the water surface.
4. An underwater monitoring device as claimed in claim 3, wherein: the water pressure sensor (11) and the monitoring module (10) are fixed on the chassis (2); the air bag (12) is positioned above the water pressure sensor (11) and the monitoring module (10).
5. A deployment and recovery method of an underwater monitoring device, which is based on the underwater monitoring device as claimed in claim 4, and comprises the following deployment steps:
A. the underwater monitoring device is carried to an operation sea area through a ship, a worker sends the ground plane coordinates of a release point to the control module (9) through the wifi debugging module (7), and the control module (9) marks the coordinates as initial coordinates (0, 0);
B. after the underwater monitoring device is arranged in the sea, the control module (9) controls the first vertical thruster (5) and the second vertical thruster (6) to propel downwards at the same rotating speed; at the same time, the control module (9) reads the measured water pressure value P (t) of the water pressure sensor (11) in real time1) And P (t)1) And a critical water pressure value P preset in the control module (9)1Comparing; when P (t)1)＞P1When the first vertical thruster (5) and the second vertical thruster (6) are stopped, the control module (9) controls the first vertical thruster (5) and the second vertical thruster (6) to stop working, and the step C is carried out; if P (t)1)≤P1Then the control module (9) Controlling the first vertical thruster (5) and the second vertical thruster (6) to continuously propel downwards at the same rotating speed;
C. the control module (9) reads the broadcast underwater sound positioning signal received by the underwater sound communication module (8) in real time and calculates the relative coordinate (x)(t)，y(t)) When relative coordinate (x)(t)，y(t)) When the plane distance between the first horizontal propeller (3) and the initial coordinate (0, 0) is larger than a given error value, the control module (9) drives the first horizontal propeller (3) and the second horizontal propeller (4) to carry out differential propulsion until the relative coordinate (x)(t)，y(t)) The plane distance between the initial coordinate (0, 0) and the initial coordinate is zero, and the step D is carried out; otherwise, the control module (9) drives the first horizontal thruster (3) and the second horizontal thruster (4) to continuously carry out differential propulsion;
D. in continuous time, if the water pressure value read by the control module (9) changes and is smaller than 0.001 standard atmospheric pressure, the underwater monitoring device is considered to be seated, the control module (9) cuts off the power of the first horizontal thruster (3), the second horizontal thruster (4), the first vertical thruster (5) and the second vertical thruster (6), the monitoring module (10) is powered on, and the underwater monitoring device starts to execute a monitoring task.
6. The deployment and recovery method of underwater monitoring device as claimed in claim 5, wherein in the step B, if P (t) is reached1)≤P1And in a continuous time P (t)1) And P1The difference value of (2) is less than 0.001 standard atmospheric pressure, then the underwater monitoring device is considered to be in an abnormal working state, at the moment, the control module (9) drives the first vertical propeller (5) and the second vertical propeller (6) to synchronously and upwards propel at the same rotating speed, and the underwater monitoring device returns to the water surface to wait for workers to recover.
7. The deployment and recovery method of the underwater monitoring device according to claim 5 or 6, wherein after the underwater monitoring device completes the monitoring task, the underwater monitoring device enters a recovery step, and the recovery step comprises:
E. the control module (9) drives the first vertical thruster (5) and the second vertical thruster (6) to upwards advance at the same maximum rotating speed, and the control module (9) reads the measured water pressure value P (t) of the water pressure sensor (11) in real time2) And P (t)2) And a critical water pressure value P preset in the control module (9)2Comparing; simultaneously, the control module (9) reads the broadcast underwater sound positioning signal received by the underwater sound communication module (8) in real time and calculates the relative coordinate (x)(t)，y(t)) When relative coordinate (x)(t)，y(t)) When the plane distance between the first horizontal propeller (3) and the initial coordinate (0, 0) is larger than a given error value, the control module (9) drives the first horizontal propeller (3) and the second horizontal propeller (4) to carry out differential propulsion until the relative coordinate (x)(t)，y(t)) The plane distance from the initial coordinates (0, 0) is zero;
F. when P (t)2)＜P2During the process, the control module (9) is used for powering off the first horizontal thruster (3), the second horizontal thruster (4), the first vertical thruster (5) and the second vertical thruster (6), and the underwater monitoring device floats to the water surface without power and waits for the recovery of workers.
CN201910873780.3A 2019-09-17 2019-09-17 Underwater monitoring device and laying and recycling method Pending CN110588926A (en)

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Application publication date: 20191220