CN112346127A - Collecting and releasing system, releasing method and recovering method of marine exploration nodes - Google Patents
Collecting and releasing system, releasing method and recovering method of marine exploration nodes Download PDFInfo
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Abstract
The invention discloses a collecting and releasing system, a putting method and a recovering method of a marine exploration node, wherein the system comprises the following components: the device comprises a plurality of exploration nodes, ropes, guide wheels, a picking and hanging machine, a power machine, a conveyor belt, a manipulator and a container; each exploration node is used for acquiring seismic data; the hook and loop machine is used for hooking the exploration node to the rope or picking the exploration node on the rope; the rope is dragged by the power machine and is put in or recovered from each exploration node through the guide wheel; the conveyor belt is used for conveying the exploration node from the position of the pick-up and hanging machine to the position of the container or from the position of the container to the position of the pick-up and hanging machine; the manipulator is used for grabbing the exploration nodes on the conveyor belt and then storing the exploration nodes in the container, or grabbing the exploration nodes from the container and placing the exploration nodes on the conveyor belt; the pick-and-place machine and the power machine are arranged in the first container; the conveyor belt is arranged in the second container; the container is disposed within a third container. The invention can realize the retraction and release work of a large number of exploration nodes.
Description
Technical Field
The invention relates to the technical field of marine exploration, in particular to a collecting and releasing system, a putting method and a recovering method of marine exploration nodes.
Background
In order to more accurately obtain oil and gas resources such as oil, natural gas, combustible ice and the like stored in the sea area stratum, the oil and gas reserves and drilling and production schemes are determined, and the marine seismic exploration technology is applied. Marine seismic exploration is a main means for acquiring seismic strata and seabed structures, and adopts an artificial seismic investigation method in seawater to acquire seabed geological data and determines oil and gas reserves by a special data processing and interpretation method.
The current common marine streamer exploration technology is divided into two acquisition technologies of a streamer and a submarine cable, wherein the streamer acquisition technology is that a plurality of streamers which are arranged at equal intervals and float underwater for about 7-15 meters are towed at the stern of an exploration ship, seismic data are acquired in a mode of exciting a source of an air gun towed by the stern, but the streamers float on the seabed, energy attenuation can occur to reflected sound pulses from the seabed in the transmission process in water, and the quality of data received by the streamers is greatly reduced due to the influence of noise in the water; the submarine cable collection technology is that a collection cable for collecting seismic data is laid on the seabed according to a preset observation system, and the data collection cable is connected to a collection system computer through a transmission cable in a traction manner.
In view of the above-mentioned problems with streamer and submarine cable acquisition technologies, marine nodal acquisition systems have emerged. The marine nodes are single autonomous exploration nodes capable of working independently, a plurality of marine nodes are thrown to the seabed from a node ship according to preset positions during construction, the marine nodes do not need to be connected with a cable or a rope for the node ship, the acquisition of wide azimuth and high coverage times required by seismic exploration can be realized, the marine nodes are placed on the seabed, the adverse influence of noise in water on acoustic pulse vibration can be reduced, seismic acquisition data with high signal-to-noise ratio can be obtained, the prediction accuracy of oil and gas reserves and the drilling success rate are improved, and therefore marine node seismic exploration is increasingly becoming a main measure for improving the recovery rate and the drilling success rate of an oil field area. However, in the existing marine node deploying and retracting system, a base is installed for each device, each device is independently fixed on a ship rear deck, and when a large number of nodes and ropes need to be carried, the devices need to be modified, including dismantling, moving, installing and debugging, so that the problems of high modification cost, long modification time, large construction workload and the like are caused. How to build the marine node deploying and retracting system which is applicable in function, safe in operation, capable of being transported for multiple times and convenient to install and use on the ship again, so that the reconstruction cost of the node ship is reduced, the functions of deploying and retracting nodes, storing a large number of nodes, downloading data of the nodes and the like are realized, and the problem which needs to be solved urgently is formed.
Disclosure of Invention
The embodiment of the invention provides a retraction system of a marine exploration node, which is used for solving the problems of high cost, long time, large construction workload and the like when equipment is transformed when a large number of nodes and ropes need to be carried by the conventional node retraction system, and comprises the following components: the device comprises a plurality of exploration nodes, ropes, guide wheels, a picking and hanging machine, a power machine, a conveyor belt, a manipulator and a container; each exploration node is used for acquiring seismic data; the hook and loop machine is used for hooking the exploration node to the rope or picking the exploration node on the rope; the rope is dragged by the power machine and is put in or recovered from each exploration node through the guide wheel; the conveyor belt is positioned between the pick-up and the container and is used for conveying the exploration node from the position of the pick-up to the position of the container or from the position of the container to the position of the pick-up; the manipulator is used for grabbing the exploration nodes on the conveyor belt and then storing the exploration nodes in the container, or grabbing the exploration nodes from the container and placing the exploration nodes on the conveyor belt; the pick-and-place machine and the power machine are arranged in the first container; the conveyor belt is arranged in the second container; the container is disposed within a third container.
The embodiment of the invention provides a method for launching a marine exploration node, which is used for solving the problems of high cost, long time, large construction workload and the like when equipment is transformed when a large number of nodes and ropes need to be carried by the conventional node deploying and retracting system, and comprises the following steps: controlling a manipulator to grab each exploration node from a container one by one and placing the exploration nodes on a conveyor belt; controlling the conveyor belt to convey each exploration node to the position where the pick-and-place machine is located; and controlling the pick-and-hang machine to hang the exploration nodes on the rope one by one at equal intervals, wherein the rope is dragged by the power machine to realize the throwing of the exploration nodes through the guide wheel.
The embodiment of the invention provides a method for recovering a marine exploration node, which is used for solving the problems of high cost, long time, large construction workload and the like when equipment is transformed when a large number of nodes and ropes need to be carried by the conventional node deploying and retracting system, and comprises the following steps: the control rope is pulled by the power machine to reach the position of the picking and hanging machine through the guide wheel; controlling a pick-and-place machine to pick each exploration node from the rope; controlling the conveyor belt to convey each exploration node from the position of the pick-up and hanging machine to the position of the container; and controlling the mechanical arm to grab the exploration node on the conveying belt and store the exploration node in the container.
In the embodiment of the invention, the hook-and-loop machine hooks the exploration node to the rope or picks the exploration node on the rope, and the rope is towed by the power machine to put the exploration node into water or recover the exploration node to a ship through the guide wheel, so that the putting or the recovery of the exploration node is realized; the conveyor belt conveys the exploration nodes from the positions of the pick-up and hang-up machines to the positions of the containers, or conveys the exploration nodes from the positions of the containers to the positions of the pick-up and hang-up machines, so that the exploration nodes are conveyed; the manipulator captures the exploration nodes on the conveyor belt and then stores the exploration nodes in the container, or captures the exploration nodes from the container and places the exploration nodes on the conveyor belt, so that the exploration nodes are stored or taken out; the pick-and-place machine and the power machine are arranged in the first container, the conveyor belt is arranged in the second container, and the container is arranged in the third container, so that the picking-and-place operation of a large number of exploration nodes is realized, the rapid installation, the fixation and the debugging of equipment on a ship are facilitated, and the cost for the repeated dismantling, the relocation and the installation of the equipment is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts. In the drawings:
FIG. 1 is a schematic representation of a survey node connected to a line in an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a deploying and retracting system of a marine exploration node according to an embodiment of the invention;
FIG. 3 is a schematic diagram of a second layer rear deck structure of a deployment and retraction system for a marine survey node in an embodiment of the invention;
FIG. 4 is a side view of the rear deck structure of the deployment and deployment system of the marine survey node in an embodiment of the invention;
FIG. 5 is a schematic flow chart of a method for launching a marine exploration node according to an embodiment of the invention;
FIG. 6 is a schematic flow chart of a method for recovering a marine survey node according to an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.
In the embodiment of the invention, the exploration nodes are single autonomous acquisition units which can work independently, the exploration nodes are connected through ropes, fig. 1 is a schematic connection diagram of the exploration nodes and the ropes in the embodiment of the invention, as shown in fig. 1, during construction, an exploration node ship 104 sails along a preset air route, exploration nodes 101 are thrown into seawater 103 from the stern, the exploration nodes 101 are hung on a node rope 102 at fixed intervals, and after the exploration node ship 104 releases or retracts an exploration node row 100, the other exploration node row is released or retracted.
In order to solve the problems of high cost, long time, large construction workload and the like when equipment is transformed when a large number of nodes and ropes need to be carried by the conventional node deploying and retracting system, the embodiment of the invention provides a marine exploration node deploying and retracting system, and fig. 2 is a schematic structural diagram of the marine exploration node deploying and retracting system provided by the embodiment of the invention, and as shown in fig. 2, the system comprises: a plurality of survey nodes, ropes 102, guide wheels 202, a hook 203, a power machine 204, a conveyor (each of which is illustrated in fig. 2 by the icon 205, the icon 206, and the icon 207), a robot 213, and a container 230.
Each survey node is used to collect seismic data.
The exploration node 101 is a single autonomous acquisition unit capable of working independently, the exploration node 101 is completely laid on the seabed, data acquisition is carried out through the four-component seismic data acquisition sensor, and seismic acquisition data with high signal-to-noise ratio can be obtained.
The hook 203 is used for hooking the exploration node 101 to the rope 102 or picking up the exploration node 101 on the rope 102; the rope 102 is pulled by the power machine 204 to go through the guide pulley 202 to realize the launching or the recovery of each exploration node 101.
The guide wheel 202, the hook 203 and the power machine 204 are sequentially arranged on one side of the stern of the first layer of rear deck along the direction from the stern to the bow, in order to increase the redundancy capability of the system, symmetrically, a guide wheel 222, a hook 221 and a power machine 220 are sequentially arranged on the other side of the stern of the first layer of rear deck along the direction from the stern to the bow, the guide wheel 202 and the guide wheel 222 do not work simultaneously, a platform 223 is arranged between the guide wheels 222 of the guide wheel 202, an operator can walk on the platform, the guide wheel 202 is fixed on the extension part on one side of the stern, so that an exploration node and a rope can smoothly pass through the upper surface of the guide wheel 202, the power machine 204 adopts a mode that a variable frequency motor drives a speed reducer to drive rubber tires, the axes of every two tires are vertically arranged with the bow line of the ship, and a stern.
A conveyor belt is located between the hook 203 and the container 230 for transporting the survey node 101 from the location of the hook 203 to the location of the container 230 or from the location of the container 230 to the location of the hook 203; the robot 213 is used to store the survey node 101 on the conveyor belt after it is picked from the container 230, or to pick the survey node 101 from the container 230 and place it on the conveyor belt.
In one embodiment, a conveyor belt comprises: first conveyer belt 205, second conveyer belt 206 and third conveyer belt 207, wherein, first conveyer belt 205 is the individual layer conveyer belt, and second conveyer belt 206 is adjustable conveyer belt, and third conveyer belt 207 includes: and a plurality of layers of conveyor belts, wherein the first conveyor belt 205 is connected with any one layer of the third conveyor belt 207 through the second conveyor belt 206.
The conveyor belt is arranged in the middle of the first layer of the rear deck, the first conveyor belt 205 is perpendicular to the fore-aft line of the ship and is connected with the pick-and-place machine 203 and the second conveyor belt 206; the second conveyor belt 206 is parallel to the fore-aft line of the ship and is connected with the first conveyor belt 205 and the third conveyor belt 207, the second conveyor belt 206 can move left and right along a slide rail fixed on the ship and can rotate up and down along a rotating point, and butt joint with the conveyor belts with different layer heights on the third conveyor belt 207 is realized; the third conveyor belt 207 is parallel to the fore-aft line of the ship and connects the second conveyor belt 206 with the mechanical arm 213, the third conveyor belt 207 comprises a plurality of layers of conveyor belts, simultaneous transmission of a large number of exploration nodes 101 can be achieved, and when the storage space of the container 230 is insufficient, part of the conveyor belts in the third conveyor belt 207 can be stopped to store the exploration nodes 101. A container 230 is arranged in front of the first layer of rear deck.
The hook 203 and the power machine 204 are arranged in the first container 201; the carousel is disposed within a second container ( icons 209, 210, 211, 212, 214, 215, 216, 217, 218, 219 are all shown as second containers in fig. 2); the container 230 is disposed within the third container.
The containers are of uniform size, 20 feet or 40 feet in size, and can be transported, and each container comprises: the first end face door and the second end face door can be opened or removed, the first side face and the second side face can be removed, and the design strength of the container meets the construction standard approved by the international maritime transport control (CSC) and the classification society. The container arranged on the first layer rear deck is locked and fixed with the lower margin on the base welded on the first layer rear deck through the lock button. The end to end between each container of second container arranges along the direction that is on a parallel with the bow stern line, and wherein, the first terminal surface door of each container is connected with the second terminal surface door of preceding container, and the second terminal surface door of each container is connected with the first terminal surface door of back container, is provided with in the second container: the device comprises a lighting device, a local electrical control device, a fire alarm device, a ventilation cooling device, a network communication device and the like.
In one embodiment, as shown in fig. 2, the deploying and retracting system for a marine exploration node according to an embodiment of the present invention may further include: and the storage module 208 is used for downloading and storing the data on each exploration node 101.
The storage module 208 is installed in the container where the third conveyor belt 207 is located, when the exploration node 101 reaches a designated position under the action of any layer of conveyor belt in the third conveyor belt 207, the layer of conveyor belt stops, the storage module 208 is connected with the exploration node 101 through a cable, the seismic data collected on the exploration node 101 are downloaded and stored, and the seismic data are used for predicting oil and gas resources such as oil, natural gas and combustible ice reserved in sea area strata after being processed.
It should be noted that, in order to ensure that the data collection of each exploration node 101 is not interrupted due to power exhaustion or failure in the data collection process, as shown in fig. 2, the storage module provided in the embodiment of the present invention is further used for charging and detecting each exploration node.
The storage module 208 is connected to the survey node 101 via a cable, downloads data, charges and tests the survey node 101, and the survey node 101 is stored on a third conveyor belt 207 or stored in a container 230 via a conveyor belt and a robot 213. When the exploration node 101 is put in, before the hook 203 hooks the exploration node 101, the storage module 208 charges and detects the exploration node 101, and after the charging and the detection are finished, the exploration node 101 is conveyed to the hook 203 through the conveyor belt.
It should be noted that, in order to achieve the orderly storage and retrieval of the rope 102, as shown in fig. 3, the deploying and retracting system of the marine exploration node provided by the embodiment of the present invention may further include: a rope arranger 307 and a storage trough (all of which are shown in fig. 2 as icon 301, icon 302, icon 303, icon 304, icon 305, and icon 306), wherein the storage trough is disposed in the fourth container, and the ropes 102 are stored in the storage trough under the action of the rope arranger 307 or are taken out of the storage trough under the action of the rope arranger 307.
A storage trough is arranged aft of the second layer rear deck for storage of the ropes 102, and a rope arranger 307 is arranged above the storage trough.
It should be noted that, in order to make the rope guider 307 cover the whole space of the storage slot, as shown in fig. 3, a slide rail is installed above the storage slot provided in the embodiment of the present invention, and the rope guider moves in the storage slot through the slide rail.
The rope guide 307 can move the rope 102 back and forth and left and right along the slide rail in the storage slot, covering the entire space of the storage slot.
It should be noted that, in order to control the retraction speed of the rope 102, as shown in fig. 2, the retraction system of the marine exploration node according to the embodiment of the present invention may further include: and the controller is electrically connected with the power machine 204 and the rope guider 307 respectively and is used for controlling the retracting speed of the rope 102.
The controller regulates and controls the retraction speed of the power machine 204 and the rope guider 307 on the rope 102 in real time, so that the rope 102 is in a tensioned and non-relaxed state, the speed of the rope 102 is matched with that of the ship, and the exploration node 101 is launched into seawater from the ship or the exploration node 101 is recovered from the seawater to the ship.
It should be noted that, in order to ensure that the storage module 208 downloads and stores data on each exploration node 101, as shown in fig. 2, the second container provided in the embodiment of the present invention further includes: a sensor and a start-stop device, wherein the sensor is used for acquiring the position of the exploration node 101 on the third conveyor belt 207; and a start-stop device for starting or stopping the third conveyor belt 207.
The sensor is arranged at a designated position of the third conveyor belt 207, the start-stop device realizes the start and stop of the third conveyor belt 207, when the exploration node 101 reaches the designated position under the transmission of the third conveyor belt 207, the sensor sends a stop signal to the start-stop device, and the start-stop device stops the transmission of the third conveyor belt 207 to the exploration node 101. Open and stop the device and still include: an emergency stop button.
It should be noted that, in order to realize rapid installation, fixing and debugging of the device on the ship, as shown in fig. 2 and 3, the marine exploration node deploying and retracting system provided by the embodiment of the present invention further includes: the first container is arranged at the tail part of the first layer of rear deck, the second container is arranged at the middle part of the first layer of rear deck, the third container is arranged at the front part of the first layer of rear deck, and the fourth container is arranged at the tail part of the second layer of rear deck.
The containers arranged on the second layer of rear deck correspond to the containers arranged on the first layer of rear deck in the up-down position and are fixed by lock buttons.
In one embodiment, as shown in fig. 2, the marine exploration node retraction system according to the embodiment of the present invention further includes additional office equipment, where the additional office equipment includes a hydraulic pump station 224, material storage rooms 225 and 226, an uninterruptible power supply room 227, an electrical equipment room 228, and a node retraction equipment control room 229, and the additional office equipment is installed in a fifth container and disposed on both sides of the side of the first-layer rear deck. The electrical equipment room 228 is internally provided with an electrical control system of the storage module 208, the hook and loop machine 203, the power machine 204, the conveyor belt, the manipulator 213 and the rope guider 307, and is connected with a local electrical control box of the above components by adopting a distributed cable for providing and controlling power. The hydraulic pump station 224 is used to provide a hydraulic source for the hydraulic equipment of the power machine 204 and the rope drainer 307.
In one embodiment, as shown in fig. 3, the deployment and deployment system of the marine exploration node provided by the embodiment of the invention further comprises seismic exploration operation offices 308, 309, 310 and 311, wherein the seismic exploration operation offices 308, 309, 310 and 311 are arranged in the sixth container and are arranged in the middle of the rear deck of the second floor.
A specific embodiment is given below to illustrate a specific application of the marine exploration node deploying and retracting system provided by the embodiment of the present invention.
As shown in fig. 1, during the construction in the sea area, a ship sails according to an exploration node launching route provided by a special shipborne navigation system used for seismic exploration, and a small anchor is launched at one end of each exploration node launching survey line through a ship dynamic positioning function. As shown in fig. 2, 3 and 4, the rope guider 307 is controlled to convey the rope 102 from the storage groove of the second layer rear deck to the power machine 204 of the first layer rear deck, the power machine 204 and the rope guider 307 are controlled to release the rope 102 into water through the guide wheel 202, the release speed of the power machine 204 and the rope guider 307 to the rope 102 is adjusted in real time to be matched with the ship speed, and the rope 102 is continuously released into the sea water from the ship. The control mechanical arm 203 grabs the exploration node 101 from the container 230 to the first conveyor belt 205, the exploration node 101 passes through the second conveyor belt 206 to the third conveyor belt 207, when the exploration node 101 reaches the position of the sensor under the transmission of the third conveyor belt 207, the sensor sends a stop signal to the start-stop device, the transmission of the third conveyor belt 207 is stopped, the storage module 208 charges and detects the exploration node 101, the third conveyor belt 207 is started after the charging and the detection are finished, the third conveyor belt 207 is controlled to transmit the exploration node 101 to the pick-up and hanging machine 203 through the second conveyor belt 206 and the first conveyor belt 205, the pick-up and hanging machine 203 is controlled to hang the exploration node 101 on the rope 102, the rope 102 is dragged by the power machine 204, the throwing of each exploration node is achieved through the guide wheel 202, and an exploration node array 100 is formed.
After the exploration node 101 finishes data acquisition, controlling a rope 102 with the exploration node 101 to pass through a guide wheel 202 under the traction of a power machine 204 and be recovered into a ship to reach the position of a pick-up 203, controlling the pick-up 203 to pick up the exploration node 101 from the rope 102, controlling the power machine 204 to transmit the rope 102 from a first layer rear deck to a rope arranger 307 of a second layer rear deck, uniformly laying the rope 102 in a storage tank under the action of the rope arranger 307, controlling the exploration node 101 to enter a first conveyor belt 205 after passing through the pick-up 203, controlling the first conveyor belt to transmit the exploration node 101 to a second conveyor belt 206, adjusting the height of the second conveyor belt 206 to be in butt joint with conveyor belts with different layer heights of a third conveyor belt 208, controlling the second conveyor belt 206 to transmit the exploration node 101 to the third conveyor belt 207, and controlling the exploration node 101 to reach the position of a sensor on the third conveyor belt 208, the sensor sends a stop signal to the start-stop device, the transmission of the third conveyor belt 207 is stopped, the storage module 208 downloads seismic data collected on the exploration node 101, the exploration node 101 is charged and detected, the third conveyor belt 207 is started after the operation is finished, the third conveyor belt 207 is controlled to convey the exploration node 101 to the position where the container 230 is located through the second conveyor belt 206 and the first conveyor belt 205, and the manipulator 230 is controlled to grab the exploration node 101 on the conveyor belt and store the exploration node 101 in the container 230.
Based on the same inventive concept, the embodiment of the invention also provides a launching method of the marine exploration node, and the method is described in the following embodiment. Because the principles for solving the problems are similar to those of a marine exploration node deploying and retracting system, the implementation of the method can be referred to the implementation of the system, and repeated details are not repeated.
Fig. 5 is a schematic flow chart of a method for launching a marine exploration node according to an embodiment of the present invention, as shown in fig. 5, the method includes:
step 401: controlling a manipulator to grab each exploration node from a container one by one and placing the exploration nodes on a conveyor belt;
step 402: controlling the conveyor belt to convey each exploration node to the position where the pick-and-place machine is located;
step 403: and controlling the pick-and-hang machine to hang the exploration nodes on the rope one by one at equal intervals, wherein the rope is dragged by the power machine to realize the throwing of the exploration nodes through the guide wheel.
As shown in fig. 5, in the embodiment of the invention, the hook-and-loop machine hangs the exploration node on the rope, and the rope is pulled by the power machine to throw the exploration node into water through the guide wheel, so that the throwing of the exploration node is realized; the conveyor belt conveys the exploration nodes from the position of the container to the position of the pick-up and hang-up machine, so that the exploration nodes are conveyed; the manipulator grabs the exploration node from the container and places on the conveyer belt, has realized taking out of exploration node.
Based on the same inventive concept, the embodiment of the invention also provides a method for recovering the marine exploration node, as described in the following embodiment. Because the principles for solving the problems are similar to those of a marine exploration node deploying and retracting system, the implementation of the method can be referred to the implementation of the system, and repeated details are not repeated.
Fig. 6 is a schematic flow chart of a method for recovering a marine exploration node according to an embodiment of the present invention, as shown in fig. 6, the method includes:
step 501: the control rope is pulled by the power machine to reach the position of the picking and hanging machine through the guide wheel;
step 502: controlling a pick-and-place machine to pick each exploration node from the rope;
step 503: controlling the conveyor belt to convey each exploration node from the position of the pick-up and hanging machine to the position of the container;
step 504: and controlling the mechanical arm to grab the exploration node on the conveying belt and store the exploration node in the container.
As shown in fig. 6, in the embodiment of the invention, the hook and loop machine picks up the exploration node on the rope, and the rope is pulled by the power machine to recover the exploration node to the ship through the guide wheel, so that the recovery of the exploration node is realized; the conveyor belt conveys the exploration nodes from the positions of the pick-and-place and hang-up machines to the positions of the containers, so that the exploration nodes are conveyed; the manipulator snatchs the exploration node on the conveyer belt and deposits in the container, has realized the depositing of exploration node.
In conclusion, in the embodiment of the invention, the pick-and-place machine is used for hanging the exploration node on the rope or picking the exploration node on the rope, the rope is dragged by the power machine, and the exploration node is thrown into water or recovered to a ship through the guide wheel, so that the throwing or recovery of the exploration node is realized; the conveyor belt conveys the exploration nodes from the positions of the pick-up and hang-up machines to the positions of the containers, or conveys the exploration nodes from the positions of the containers to the positions of the pick-up and hang-up machines, so that the exploration nodes are conveyed; the manipulator captures the exploration nodes on the conveyor belt and then stores the exploration nodes in the container, or captures the exploration nodes from the container and places the exploration nodes on the conveyor belt, so that the exploration nodes are stored or taken out; the pick-and-place machine and the power machine are arranged in the first container, the conveyor belt is arranged in the second container, and the container is arranged in the third container, so that the picking-and-place operation of a large number of exploration nodes is realized, the rapid installation, the fixation and the debugging of equipment on a ship are facilitated, and the cost for the repeated dismantling, the relocation and the installation of the equipment is reduced.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A retraction system for a marine exploration node, comprising: the device comprises a plurality of exploration nodes, ropes, guide wheels, a picking and hanging machine, a power machine, a conveyor belt, a manipulator and a container;
each exploration node is used for acquiring seismic data;
the pick-and-place machine is used for hanging exploration nodes on the rope or picking the exploration nodes on the rope; the rope is dragged by the power machine and passes through the guide wheel to realize the release or recovery of each exploration node;
the conveyor belt is positioned between the pick-and-place and the container and is used for conveying exploration nodes from the position of the pick-and-place to the position of the container or from the position of the container to the position of the pick-and-place; the manipulator is used for grabbing the exploration nodes on the conveyor belt and then storing the exploration nodes in the container, or grabbing the exploration nodes from the container and placing the exploration nodes on the conveyor belt;
wherein the hook and the power machine are arranged in a first container; the conveyor belt is arranged in the second container; the container is disposed within a third container.
2. The system of claim 1, wherein the system further comprises: and the storage module is used for downloading and storing data on each exploration node.
3. The system of claim 1, wherein the system further comprises: the storage groove is arranged on a fourth container, and the ropes are stored in the storage groove under the action of the rope arranger or taken out of the storage groove under the action of the rope arranger.
4. The system of claim 3, wherein a track is mounted within the storage trough and the cord arranger moves along the track within the storage trough.
5. The system of claim 3, wherein the system further comprises: and the controller is electrically connected with the power machine and the rope guider respectively and is used for controlling the rope winding and unwinding speed.
6. The system of claim 1, wherein the conveyor belt comprises: a first conveyor belt, a second conveyor belt, and a third conveyor belt;
wherein, first conveyer belt is the individual layer conveyer belt, and the second conveyer belt is adjustable conveyer belt, and the third conveyer belt includes: and the first conveyor belt is connected with any one layer of conveyor belt of the third conveyor belt through the second conveyor belt.
7. The system of claim 6, wherein the second container further comprises: a sensor and a start-stop device;
wherein the sensor is used for acquiring the position of the exploration node on the third conveyor belt;
and the starting and stopping device is used for starting or stopping the third conveyor belt.
8. The system of claim 3, wherein the first container is disposed aft of a first floor of rear decks, the second container is disposed mid-way of the first floor of rear decks, the third container is disposed forward of the first floor of rear decks, and the fourth container is disposed aft of the second floor of rear decks.
9. A method for deploying and retracting a marine exploration node, which is applied to the system for deploying and retracting the marine exploration node according to any one of claims 1 to 8, and comprises the following steps:
controlling the mechanical arm to grab each exploration node from the container one by one and placing the exploration nodes on a conveyor belt;
controlling the conveyor belt to convey each exploration node to the position where the pick-and-place machine is located;
and controlling the pick-and-hang machine to hang the exploration nodes on the rope one by one at equal intervals, wherein the rope is dragged by the power machine to realize the throwing of the exploration nodes through the guide wheel.
10. A method of recovering a marine exploration node, the method being applied to a system for deploying and retracting the marine exploration node according to any one of claims 1 to 8, comprising:
the rope is controlled to pass through the guide wheel to reach the position of the picking and hanging machine under the traction of the power machine;
controlling the pick-and-place machine to pick each exploration node from the rope;
controlling the conveyor belt to transport each survey node from the location of the pick-and-place to the location of the container;
and controlling the mechanical arm to grab the exploration node on the conveyor belt and store the exploration node in the container.
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| CN201910733008.1A CN112346127A (en) | 2019-08-09 | 2019-08-09 | Collecting and releasing system, releasing method and recovering method of marine exploration nodes |
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| CN201910733008.1A CN112346127A (en) | 2019-08-09 | 2019-08-09 | Collecting and releasing system, releasing method and recovering method of marine exploration nodes |
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