CN113432648A - System and method for long-term observation of seabed soft clay deformation and sliding induced by deep-sea internal waves - Google Patents
System and method for long-term observation of seabed soft clay deformation and sliding induced by deep-sea internal waves Download PDFInfo
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- CN113432648A CN113432648A CN202110742113.9A CN202110742113A CN113432648A CN 113432648 A CN113432648 A CN 113432648A CN 202110742113 A CN202110742113 A CN 202110742113A CN 113432648 A CN113432648 A CN 113432648A
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Abstract
The invention belongs to the technical field of deep sea ocean observation, and relates to a deep sea internal wave induced seabed soft clay deformation sliding long-term observation system and method. Comprises a deck control unit, a measuring unit, a retention unit and a recovery unit. The invention provides an in-situ comprehensive observation system and an observation method for acquiring deformation sliding data of internal waves and a seabed and predicting a seabed instability critical state, which can not only realize the research on the influences of water body flow velocity, temperature, salinity, turbidity and the like, but also realize the observation research on the influences of the internal waves on seabed shear stress and deformation sliding, combine the marine internal wave observation and the seabed deformation sliding, and solve the scientific problem of the deep sea internal waves on seabed soft clay deformation sliding. The automatic distribution and the automatic recovery of the whole device are realized by arranging the acoustic releaser, the penetration motor, the glass floating ball and other components. The recovery unit, the retention unit and the like are arranged, so that various different observation modes and requirements are met.
Description
Technical Field
The invention belongs to the technical field of deep sea observation, and relates to a deep sea internal wave induced seabed soft clay deformation sliding long-term observation system and method.
Background
In recent years, with the increasing development of deepwater resources and the increasing number of engineering activities such as pipeline cable laying, the problem about the influence of internal waves on the stability of seabed sediments becomes a research hotspot in the fields of marine science and engineering. Due to the difficulty of subject cross-research and the limitation of the traditional observation technical means on field data acquisition, the cognitive level of the action of ocean hydrodynamics on the submarine sediments is severely restricted.
The ocean internal wave is an important seawater fluctuation, can induce extremely strong vertical flow, can cause disturbance to the seabed with the water depth of 1500m, has the wavelength ranging from dozens of kilometers to hundreds of kilometers, is widely developed in a deepwater environment, influences the exchange of substances such as the temperature, salinity and the like of shallow seawater and deep seawater, and causes the temperature and pressure of the seabed to be abnormal. Meanwhile, the internal waves are applied to the vertical compressive stress, the tensile stress and the horizontal shear stress of the seabed, so that the topography of the seabed can be molded, the deformation and the sliding of soft clay sediments on the seabed are greatly contributed, the seabed is deformed and slides, and the marine geological disasters such as seabed landslide and the like are induced. As an extremely common marine natural phenomenon, instability of sediments inevitably causes toppling and breaking of offshore structures such as marine oil and gas resource exploitation platforms and pipeline cables. Therefore, the in-situ comprehensive observation system for acquiring the internal wave and seabed deformation sliding data and predicting the seabed instability critical state is particularly important.
At present, the research on the internal waves mainly aims at the research on the influences of water body flow velocity, temperature, salinity, turbidity and the like, and few internal waves are used for observing and researching the influences of the internal waves on sea floor shear stress and deformation sliding. The main reasons are as follows: one is that the existing internal wave observation mainly carries out water body kinematics research through a current measuring instrument mounted on a buoy or a submerged buoy anchor system, and the buoy or the submerged buoy anchor system is influenced by water flow and is unstable, so that low-frequency shaking and high-frequency vibration are easy to occur, and the measurement precision of the current measuring instrument mounted on the anchor system is further influenced; the other is the influence of internal waves on deformation and sliding of seabed soft clay, which relates to the interdisciplinary of oceanographic engineering geology, oceanographic soil mechanics, physical oceanography and other subjects and is a difficult point and a hot point of the current research. At present, few observation system examples are available, which combine the ocean internal wave observation and seabed deformation sliding to research the influence of the deep sea internal wave on the seabed soft clay deformation sliding.
Disclosure of Invention
The invention provides a novel deep sea internal wave induced seabed soft clay deformation sliding long-term observation system and method aiming at the problems that the traditional research about the internal wave mainly aims at the research on the influences of water body flow velocity, temperature, salinity, turbidity and the like and few internal waves have observation research on the influences of shear stress and deformation sliding of a seabed surface.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
a long-term observation system for deep-sea internal wave induced seabed soft clay deformation sliding comprises a deck control unit, a measuring unit, an indwelling unit and a recovery unit,
the measuring unit comprises a deformation measuring cable and an instrument fixing bin,
the deformation measuring cable is of a structure with a plurality of (more than 3) rigid hollow rods which are equal in length and are connected in series, adjacent rigid hollow rods are connected in a rotating mode through universal joints, the rigid hollow rods can be bent around the universal joints, a fixedly connected triaxial acceleration sensor is arranged in each universal joint, the triaxial acceleration sensors are sequentially connected in series, a triaxial accelerator is fixed at the lower end of each rigid hollow rod, the motion direction of the triaxial accelerator is consistent with that of the rigid hollow rod on the upper portion of the triaxial accelerator, and a support can be arranged or the three triaxial acceleration sensors can be connected through bolts in a fixing mode;
and the triaxial acceleration sensor is used for carrying out seabed deformation sliding and inclination angle change in-situ observation. The collected original data is an acceleration value, can be converted into speed through primary integration, and can be converted into displacement, namely sea bottom surface deformation through double integration. Displacement in three directions can be obtained through calculation and inversion, wherein the Z axis is vertical seabed displacement deformation, and comparison verification can be carried out on the vertical seabed displacement calculated by the pressure sensor. Meanwhile, the deformation inclination angle of the seabed can be calculated according to the transverse displacement and the vertical displacement.
A seabed base fixing frame is arranged outside the instrument fixing bin, a system hoisting frame and a rope are arranged at the top end of the seabed base fixing frame, a first acoustic releaser is arranged between the system hoisting frame and the rope, a self-contained storage single-point high-frequency current meter ADV, an acoustic Doppler current profiler ADCP, a high-precision pressure gauge, a multi-parameter turbidimeter, an iridium beacon machine, an acoustic positioner, a water depth sensor and an attitude sensor are uniformly distributed in the instrument fixing bin, a hollow main control cabin is arranged at the central position of the instrument fixing cabin, and a main control system, a state monitoring system, a data acquisition system and a data storage system are arranged in the hollow main control cabin; the data acquisition system is in communication connection with the three-axis acceleration sensor of the deformation measuring cable; the deck is communicatively connected to and controls a master control system, which controls the operation of the devices, and more particularly,
the underwater camera, the state monitoring system, the data acquisition system and the data storage system are all in communication connection with the master control system; the underwater camera is provided with an illuminating lamp which is directly connected with a seawater battery;
the water depth sensor and the attitude sensor are connected with the input end of the state monitoring system;
the data acquisition system is in communication connection with the three-axis acceleration sensor;
the iridium beacon machine, the underwater acoustic locator, the first acoustic releaser and the second acoustic releaser are in communication connection with the deck control unit;
the single-point high-frequency current meter ADV, the acoustic Doppler current profiler ADCP, the high-precision pressure gauge and the multi-parameter turbidimeter are connected in parallel and are electrically connected with the master control system;
the bottom touch switch is in communication connection with the input end of the master control system, the output end of the master control system is in communication connection with the penetration motor, and the bottom touch switch transmits a bottom touch signal to the master control system after the device touches the bottom; the main control system controls the motor to automatically work.
The retention unit comprises a stop disc, a micro drill bit and a penetration motor,
the stop discs are uniformly distributed around the deformation measuring cable, and the lower parts of the stop discs are provided with supporting conical tips;
the lower part of the micro drill bit is provided with a bottom-touching switch, the outer part of the deformation measuring cable is provided with an auxiliary injection probe rod, the deformation measuring cable is connected with the micro drill bit through a screw male head, the lower part of the auxiliary injection probe rod is provided with a screw female port matched with the screw male head, and the outer diameter of the screw male head is equal to the inner diameter of the screw female head at the bottom of the auxiliary injection probe rod and is just matched with the screw female head; the auxiliary penetration probe rod is connected with the power output end of the penetration motor; after the system sits on the bottom, the penetration motor is automatically started to work for 3-4 minutes, under the action of the penetration motor, the auxiliary penetration probe rod rotates clockwise to penetrate into the seabed for 5-7m in depth, then rotates anticlockwise for 3-4 minutes under the action of the penetration motor, under the interaction of the micro-drill bit and soil inside the seabed, the screw male head is separated from the screw female head at the bottom of the auxiliary penetration probe rod, and the penetration motor then rotates anticlockwise to lift the auxiliary penetration probe rod to the original position;
the recovery unit comprises an acoustic releaser, an underwater camera and an underwater illuminating lamp; the acoustic releaser, the underwater camera and the underwater illuminating lamp are arranged between the recovery unit and the indwelling unit. The underwater camera shooting illumination part comprises an underwater camera, an underwater illuminating lamp and a camera shooting system protection cover, wherein the direction of the underwater camera is vertical downward, the top end of the underwater camera is fixedly connected with the middle supporting panel, the direction of the underwater illuminating lamp is vertical downward, the top end of the underwater camera is fixedly connected with the middle supporting panel, the bottom end of the underwater camera and the bottom end of the underwater illuminating lamp are parallel to the bottom supporting panel, the top end of the camera shooting system protection cover is fixedly connected with the middle supporting panel, and the bottom end of the camera shooting system protection cover is movably connected with the edge of the camera shooting through hole.
Preferably, the deep sea internal wave induces the long-term observation system of the seabed soft clay deformation sliding,
the observation frequency of the single-point high-frequency current meter ADV is not lower than 16Hz,
the device is used for measuring the instantaneous high-frequency flow velocity of the seabed water body in real time, acquiring the shear stress acting on the seabed surface, simultaneously carrying a high-frequency pressure sensor, and assisting in estimating the compressive stress and the tensile stress acting on the seabed surface in the vertical direction when internal waves pass through by virtue of high-frequency pressure change;
the acoustic Doppler velocity profiler ADCP
The device is used for starting a high-frequency observation mode, the observation frequency is about 30 seconds/time-3 minutes/time, and the flow velocity change of the seabed water body is observed.
The high-precision pressure gauge
The main instrument is used for calculating the acting force of the internal wave on the seabed and inverting the vertical deformation of the seabed;
the multi-parameter turbidimeter
The device is used for acquiring temperature, salinity and turbidity, wherein the temperature and salinity are used for observing the changes of the temperature and the salinity under the action of internal waves, the turbidity data is combined with internal wave profile data inverted by the single-point high-frequency current meter ADV and the acoustic Doppler current profiler ADCP to know the dynamic change processes of the internal waves and the seabed, and a process mechanism of deformation and sliding of the internal wave action on the seabed soft clay is explored;
and the four corners at the inner side of the seabed base fixing frame are provided with seawater batteries and are electrically connected with instruments, illuminating lamps and injection motors in the instrument fixing bin.
Preferably, the length of the auxiliary penetration probe is 6-8m, and engineering sand is filled between the auxiliary penetration probe and the deformation measurement cable.
Preferably, the supporting conical tips are fixedly connected to four corners of the bottom end of each stopping disc, the lengths of the supporting conical tips are equal, and the lower parts of the supporting conical tips are in an arrow shape; the upper part of the stopping disc is provided with a counterweight frame, the center position of the upper part of the stopping disc is respectively and fixedly connected with toe parts of the counterweight frame, a penetrating motor fixing frame is arranged between the stopping discs, and a penetrating motor is fixedly connected with the penetrating motor fixing frame.
Preferably, the upper part of the instrument fixing bin is provided with a top protection plate, the lower part of the instrument fixing bin is connected with a middle support plate, the upper part of the counterweight frame is connected with a bottom support panel, corner positions of the bottom support panel are fixedly connected with the hollow support legs, the periphery of the seabed base fixing frame is embedded in the hollow support legs, the seabed base fixing frame is made of 316L stainless steel, and four corners of the inner side of the seabed base fixing frame are respectively provided with a seawater battery to provide power for each device needing a power supply; a rotary bearing is arranged at the central position of the bottom supporting panel, and an acoustic releaser fixing ring and a camera shooting through hole are respectively arranged at the two sides of the rotary bearing; the outer side face of the rotary bearing is fixed on the bottom supporting panel, the inner side face of the rotary bearing and the auxiliary penetration probe rod rotate coaxially, and the hollow diameter of the hollow main control cabin is slightly larger than the outer diameter of the auxiliary penetration probe rod, so that the auxiliary penetration probe rod can move up and down freely in the hollow structure of the hollow main control cabin; the acoustic releaser fixing ring is provided with two acoustic releasers which are connected in parallel, the two acoustic releasers which are connected in parallel are positioned between the middle supporting plate and the bottom supporting plate, the bottom ends of the two acoustic releasers are connected with each other by a rope, and the rope penetrates through the acoustic releaser fixing ring; the edge of the camera shooting through hole is provided with a camera shooting system protective cover, the top end of the camera shooting system protective cover is fixedly connected with the middle supporting panel, the bottom end of the camera shooting system protective cover is movably connected with the edge of the camera shooting through hole in a supporting mode, a vertically downward underwater camera and an illuminating lamp are arranged inside the camera shooting system protective cover, and the top ends of the underwater camera and the illuminating lamp are fixedly connected with the middle supporting panel.
The supporting cone tips are fixedly connected with four corners at the bottom end of each stopping disc, the lengths are equal, the lower parts of the stopping discs are of arrow-shaped structures, the central positions of the upper parts of the stopping discs are respectively and fixedly connected with four toe parts of the counterweight frame, and the connecting part is fixedly connected with the end part of the penetration motor fixing frame, the crossing center position of the two penetration motor fixing frames is fixedly connected with the penetration motor, the positions of four corners of the upper part of the counterweight frame are fixedly connected with hollow supporting legs, the bottom supporting panel is fixedly connected with the upper part of the counterweight frame, the middle position of the left side of the bottom supporting panel is fixedly connected with the acoustic releaser fixing ring, the center position of the bottom supporting panel is provided with a rotating bearing, the rotary bearing is fixedly connected with the bottom supporting panel, the middle position of the right side of the bottom supporting panel is provided with a camera through hole, the acoustic releaser fixing ring, the rotary bearing and the camera shooting through holes are distributed at the middle position of the bottom supporting panel at equal intervals; the acoustic release part comprises two acoustic releases (second acoustic releases) connected in parallel, an acoustic release protective cover and an acoustic release rope, the top ends of the two acoustic releases connected in parallel are connected with the middle supporting panel, the bottom ends of the two acoustic releases are connected with each other through the rope, and the rope penetrates through the acoustic release fixing ring; the two acoustic releasers connected in parallel can improve the success rate during recovery, and the bottom end of the rope can be disconnected as long as one acoustic releaser is successfully released, so that the recovery unit is separated from the retention unit.
The inner diameter of the rotary bearing is slightly smaller than the outer diameter of the auxiliary penetration probe rod and can rotate along with the auxiliary penetration probe rod;
the penetration motor center, the rotary bearing center and the hollow main control cabin center are on the same straight line, and the connecting line is vertical to the horizontal direction.
The method for observing by using the long-term observation system for inducing the seabed soft clay to deform and slide by the deep sea internal wave comprises the following steps,
a. observation system integral assembly
Firstly, assembling the retention unit, and then assembling the recovery unit;
b. device calibration
Correcting each device carried on the observation system, and setting working parameters of each instrument;
c. system laying
The scientific investigation ship and the satellite positioning system are used for transporting the observation system to a target point, the lifting device and the laying cable arranged on the scientific investigation ship are used for controlling the observation system to sink into seawater, and the falling attitude of the observation system is fully adjusted by the observation system under the combined action of the glass floating ball and the integral gravity of the system; observing the tension indication number of the Kevlar cable in the defense deploying process, when the tension indication number is suddenly reduced, indicating that the observation system stably sits at the bottom, releasing the first acoustic releaser through the deck control unit, separating the whole observation system from the underwater acoustic releaser, and recovering a mooring rope;
d. long term observation
After the deployment is finished, a bottom-touching switch in the micro drill bit sends an instruction to a master control system, a penetration motor automatically starts to work for 3-4 minutes, an auxiliary penetration probe rod clockwise rotates to penetrate the sea bed for 5-7m in depth under the action of the penetration motor, and then rotates anticlockwise for 3-4 minutes under the action of the penetration motor, under the action of the micro drill bit and the soil body in the sea bed, a screw male head is separated from a screw female head at the bottom of the auxiliary penetration probe rod, the penetration motor drives the auxiliary penetration probe rod to be lifted to an original position, a deformation measurement cable is deployed in the sea bed, and other observation equipment starts to observe according to set parameters;
when the seabed soft clay seabed generates horizontal deformation such as stratum dislocation and the like due to the action of internal waves, deformation measuring cables vertically distributed in sediments generate posture deformation and elastic deformation along with the deformation measuring cables, deformation data of the deformation measuring cables are collected by a data acquisition system in a main control cabin and stored in a data memory, and internal wave equipment observation data are stored in each equipment for waiting to be recovered;
e. system recovery
After observation is finished, the shipboard deck unit sends a release signal, the double parallel acoustic releasers (the second acoustic releasers) release the ropes to separate the recovery unit from the indwelling unit, the whole recovery unit floats out of the sea surface under the action of the glass floating ball, and then the recovery unit floating to the sea surface is recovered;
f. data read analysis
Reading data of each observation device, determining internal waves by analyzing flow velocity profile data, and determining deformation sliding quantity of the seabed soft clay seabed by analyzing data of a deformation measuring cable;
g. replaceable consumable
The whole recovery unit is disassembled and washed for next observation.
Preferably, the data processing method of the deformation measuring cable is as follows:
when the deformation measuring cable takes place to warp and slides, the displacement of each universal joint also can change thereupon, and the inside triaxial acceleration sensor of each universal joint obtains each section rigidity hollow bar and X axle, Y axle, Z axial contained angle respectively through detecting the gravitational field: alpha is alpha1，……，αn、β1，……，βn、γ1，……，γnThe length of each section of rigid hollow pipe is known as L1，L2，……，Ln(unit: m), the deformation sliding displacement X, Y, Z of the deformation measuring cable on the X axis, the Y axis and the Z axis can be obtained:
preferably, the components of the observation system satisfy the following relationships:
the automatic laying requirement is as follows:
（1）、
automatic recovery requirements:
（2）
in the formula (1), the reaction mixture is,
m is the mass of the whole observation system in the air, and unit kg;
g is gravity acceleration in m/s2；
Rho is the density of seawater in kg/m3；
V is the whole volume of the observation system and the unit m3；
C is the resistance coefficient of the seawater and is dimensionless;
v1the unit is the uniform descending speed of the whole observation system, namely m/s;
S1the stress action cross-sectional area (vertical projection area) of the whole observation system is unit m2；
In the formula (2), the reaction mixture is,
m1in kg for the mass of the recovered fraction in air;
g is gravity acceleration in m/s2；
C is the resistance coefficient of the seawater and is dimensionless;
rho is the density of seawater in kg/m3；
v2The recovery part is at constant floating speed in m/s;
S2the stress-acting cross-sectional area (vertical projection area) of the recovery section is expressed in m2；
V1For recovery of partial volume, unit m3。
Preferably, the number of the glass floating balls in the formulas (1) and (2) is selected to meet the requirement, so that the observation system can be smoothly distributed, observed and retracted.
The invention utilizes the base four-foot stand, not only can provide a stable observation platform for the internal wave observation equipment, but also can accurately measure the deformation sliding amount of seabed soft clay, and is beneficial to the research of the ocean internal wave on the observation and the research of the seabed soft clay deformation sliding.
Compared with the prior art, the invention has the advantages and positive effects that:
1. the invention provides an in-situ comprehensive observation system and an observation method for acquiring deformation sliding data of internal waves and a seabed and predicting a seabed instability critical state, which can not only realize the research on the influences of water body flow velocity, temperature, salinity, turbidity and the like, but also realize the observation research on the influences of the internal waves on seabed shear stress and deformation sliding, combine the marine internal wave observation and the seabed deformation sliding, and solve the scientific problem of the deep sea internal waves on seabed soft clay deformation sliding.
2. The automatic distribution and the automatic recovery of the whole device are realized by arranging the acoustic releaser, the penetration motor, the glass floating ball and other components.
3. The recovery unit, the retention unit and the like are arranged, so that various different observation modes and requirements are met.
Drawings
FIG. 1 is a schematic structural diagram of a deep-sea internal wave induced seabed soft clay deformation sliding long-term observation system;
FIG. 2 is a schematic view of the internal structure of the instrument fixing chamber;
FIG. 3 is a schematic view of the retention portion;
FIG. 4 is a schematic view of the recovery unit;
FIG. 5 is a schematic structural view of a deformation slip monitoring portion;
FIG. 6 is a control system of the deep-sea internal wave induced seabed soft clay deformation sliding long-term observation system;
FIG. 7 is a flow chart of a long-term observation method for deep-sea internal wave induced seabed soft clay deformation sliding;
FIG. 8 is a schematic diagram of a deployment method of a deep-sea internal wave induced seabed soft clay deformation sliding long-term observation system;
FIG. 9 is a schematic diagram of a recovery method of a deep-sea internal wave induced seabed soft clay deformation sliding long-term observation system;
the figures are numbered: 1 supporting a conical tip; 2, a stop disc; 3 penetrating into the motor fixing frame; 4 penetrating into the motor; 5, a counterweight frame; 6, hollow supporting legs; 7 a bottom support panel; 8, a camera through hole; 9 a swivel bearing; 10 an acoustic releaser securing ring; 11 acoustic releaser protective cover; 12 an acoustic releaser cord; 13 acoustic releasers connected in parallel; 14 camera system protective cover; 15 underwater cameras; 16 underwater lighting lamps; 17 a central support panel; 18 auxiliary penetration probe rod; 19 micro-drill bits; 20 screw male heads; 21 a deformation measuring cable; 22 glass floating balls; 23 a seawater battery; 24 seabed base fixing frame; 25 instrument fixing cabin; 25-1 high precision pressure gauge; 25-2 single point high frequency current meter ADV (up); 25-3 multi-parameter turbidimeters; 25-4, a hollow main control cabin; 25-5 acoustic doppler flow profiler ADCP (up); 25-6 iridium beacon machines; 25-7 of a water sound positioner; 25-8 water depth sensors; 25-9 attitude sensors; 26 a top protective panel; 27, a system hoisting frame; 28 underwater acoustic releasers; 29 Kevlar cable; 30 universal joints; 31 engineering sand; 32 triaxial acceleration sensor.
Detailed Description
In order that the above objects, features and advantages of the present invention may be more clearly understood, the present invention will be further described with reference to specific embodiments. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and thus the present invention is not limited to the specific embodiments of the present disclosure.
Interpretation of terms:
(1) deep sea: generally, the deep sea is defined as deep sea, and has the characteristics of high pressure, low temperature, no illumination and the like.
(2) Internal wave: the ocean internal wave is an important seawater fluctuation, the maximum amplitude of which appears in the ocean, the wavelength range is dozens of kilometers to hundreds of kilometers, and the ocean internal wave is widely developed in various environments of deep ocean, so that the exchange of substances such as temperature, salinity, nutritive salts and the like of shallow seawater and deep seawater is influenced. Meanwhile, the ocean internal waves can also generate nonlinear action with different scale motion processes and different scale internal waves, so that the wave forms are steeper, the internal waves are generated, and strong radiation convergence and radiation are caused. Huge wave energy has a remarkable influence on the deformation sliding of seabed sediments (particularly seabed soft clay), the deformation sliding degree of the seabed is different under different internal wave power conditions, and the deformation sliding instability of the sediments can lead to the toppling of an offshore oil and gas exploitation platform and the breakage of submarine pipeline cables. As an extremely common marine natural phenomenon, marine internal waves have strong threat and destructiveness to the development and utilization of marine resources, and are a research hotspot in the marine field at home and abroad at present.
(3) Seabed soft clay: the seabed soft clay has the characteristics of high water content, large pore ratio, low strength and the like. Under the reciprocating action of hydrodynamic force, the strength of the soil layer is reduced under the disturbance of the soil layer, the bearing capacity is reduced, and the original stable seabed is easy to deform and slide.
(4) Deformation sliding: the physical and mechanical properties of the seabed sediment are changed due to the interference of external factors, and the originally stable seabed is destabilized and damaged.
(5) And (3) long-term observation: monitoring systems in the ocean are limited by the constraints of the marine environment or the system itself, and long-term observation in months or years is rarely possible. However, the seabed may not be significantly deformed in a short period of time in days, so that the design of a long-term observation system is required for the seabed to deform and slide.
Example 1
The long-term observation device for the deep-sea internal wave to induce the seabed soft clay to deform and slide comprises a deck control unit, a deformation measuring unit, an indwelling unit and a recovery unit. As shown in fig. 1-6.
The deformation measuring unit of the core, namely a seabed deformation sliding monitoring part, mainly comprises a micro drill bit 19, a screw male head 20, a deformation measuring cable 21 and an auxiliary penetration probe 18. The micro-drill 19 is arranged at the bottom end, the upper part of the micro-drill is fixedly connected with the lower part of the screw male head 20, the middle position of the top part of the screw male head 20 is fixedly connected with the lower part of the deformation measuring cable 21, and the outer diameter of the screw male head 20 is equal to the inner diameter of the screw female head at the bottom of the auxiliary penetration probe 18 in size and is just matched with the inner diameter of the screw female head. The auxiliary penetration probe 18 is of a hollow structure, a screw nut opening is formed in the lower portion of the auxiliary penetration probe, the length of the auxiliary penetration probe is 6-8m, the auxiliary penetration probe is rotatably connected with the threaded portion of the screw male head 20, the deformation measuring cable 21 is arranged in the middle of the auxiliary penetration probe 18, the outer diameter of the deformation measuring cable 21 is smaller than the inner diameter of the auxiliary penetration probe 18, and the residual space is filled with engineering sand 31. The deformation measurement cable 21 is established ties by the hollow pole of the rigidity that length equals more than 3 and is formed, through universal joint 30 swivelling joint between the hollow pole of rigidity, the hollow pole of rigidity can wind universal joint 30 is crooked, the inside triaxial acceleration sensor 32 that sets up a fixed connection of every universal joint, series connection in proper order between the triaxial acceleration sensor 32, triaxial acceleration sensor 32 carries out seabed deformation slip and inclination change normal position observation. Each triaxial acceleration sensor is fixedly connected to the bottom of the rigid hollow rod at the upper end of the triaxial acceleration sensor, so that the angle of each triaxial acceleration sensor is consistent with the angle of the rigid hollow rod at the upper end, and the fixing mode can be realized by arranging a support, or connecting by bolts, welding and the like. The collected original data is an acceleration value, can be converted into speed through primary integration, and can be converted into displacement, namely sea bottom surface deformation through double integration. Displacement in three directions can be obtained through calculation and inversion, wherein the Z axis is vertical seabed displacement deformation, and comparison verification can be carried out on the vertical seabed displacement calculated by the pressure sensor. Meanwhile, the deformation inclination angle of the seabed can be calculated according to the transverse displacement and the vertical displacement.
The inside of the micro drill bit 19 is provided with a bottom touch switch, the bottom touch switch transmits a signal to a main control system after the system sits at the bottom, the main control system controls the penetration motor 4 to automatically start to work for 3-4 minutes, the auxiliary penetration probe 18 rotates clockwise to penetrate into the seabed for 5-7m in depth under the action of the penetration motor 4 and then rotates anticlockwise for 3-4 minutes under the action of the penetration motor 4, the screw male head 20 is separated from the screw female head at the bottom of the auxiliary penetration probe 18 under the mutual extrusion friction action of the micro drill bit 19 and the soil body in the seabed, and the penetration motor 4 rotates anticlockwise to lift the auxiliary penetration probe 18 to the original position.
The indwelling unit comprises a supporting cone tip 1, a stop disc 2, a penetration motor fixing frame 3, a penetration motor 4, a counterweight frame 5, a hollow supporting leg 6, a bottom supporting panel 7 and an acoustic releaser fixing ring 10 from bottom to top. The stopping disks 2 are square flat plates and are respectively positioned at four corners of the bottom of the whole device, the supporting conical tips 1 are fixed at the four corners of the bottom end of each stopping disk 2, the lengths are equal, and the lower parts of the stopping disks are of arrow-head-shaped structures. The central position of the upper part of the stop disc 2 is fixedly connected with four toe parts of the counterweight frame 5 respectively, the connecting part is fixedly connected with the end part of the penetration motor fixing frame 3 at the same time, the cross central position of the two penetration motor fixing frames 3 is fixedly connected with the penetration motor 4, and the positions of four corners of the upper part of the counterweight frame 5 are fixedly connected with the hollow supporting legs 6. For increased stability, the weight holder 5 is inclined outwards from top to bottom. 7 fixed connection counter weight frame 5 upper portions of bottom sprag panel, 7 left sides middle part position fixed connection of bottom sprag panel the solid fixed ring of acoustics releaser 10, 7 central point of bottom sprag panel puts and is equipped with swivel bearing 9, the swivel bearing outer ring with 7 fixed connection of bottom sprag panel, 7 right side middle part positions of bottom sprag panel are equipped with the through-hole 8 of making a video recording, the solid fixed ring of acoustics releaser 10, swivel bearing 9 and the equidistant distribution of through-hole 8 of making a video recording in 7 middle part positions of bottom sprag panel.
The outer ring of swivel bearing 9 and the through-hole inner wall fixed connection of bottom sprag panel 7, the outer wall of swivel bearing 9 inner ring and supplementary injection probe 18 cooperatees, can set up limit structure for supplementary injection probe 18 rotates jointly with swivel bearing 9 inboard under the drive of injection motor 4, reduces frictional resistance.
The center of the penetration motor 4, the center of the rotary bearing 9 and the center of the hollow main control cabin 25-4 are on the same straight line, and the connecting line is vertical to the horizontal direction.
The recovery unit comprises an acoustic release part, an underwater camera shooting and illuminating part, a seabed base part and a hoisting part from bottom to top; the acoustic release part comprises two acoustic releases 13 (second acoustic releases) connected in parallel, an acoustic release protective cover 11 and an acoustic release rope 12, the top ends of the two acoustic releases 13 connected in parallel are connected with a middle supporting panel 17, the bottom ends of the two acoustic releases 13 arranged side by side are connected with each other through the rope, and the rope penetrates through the acoustic release fixing ring 10. The two acoustic releasers 13 connected in parallel can improve the success rate during recovery, and as long as one of the acoustic releasers is successfully released, the rope can be disconnected when the bottom end is connected, so that the recovery unit is separated from the retention unit. The illumination part of making a video recording under water includes camera 15, light 16, camera system safety cover 14 under water, camera 15 direction is perpendicular downwards under water, top and middle part supporting panel 17 fixed connection, light 16 direction is perpendicular downwards under water, top and middle part supporting panel 17 fixed connection, camera 15 is parallel to with 16 bottoms of light under water bottom supporting panel 7 under water, camera system safety cover 14 top and middle part supporting panel 17 welded fastening, the bottom extends to 8 edges of camera through-hole (bottom is not connected), when keeping somewhere the unit and retrieving the unit separation, camera system safety cover 14 is retrieved along with retrieving the unit together.
The seabed base part comprises a seabed base fixing frame 24, a middle supporting panel 17, a glass floating ball 22, an instrument fixing cabin 25, a power supply part and a top protecting panel 26. 24 four toe portions of seabed base mount inlay in inside the cavity supporting leg, middle part supporting panel 17 fixed connection 24 bottom of seabed base mount, a plurality of glass floater 22 evenly distributed in 24 around the seabed base mount to rather than fixed connection, instrument capsule 25 is arranged in central point puts in 24 seabed base mount, and with middle part supporting panel 17 fixed connection, the power supply part is located 24 four angles departments of seabed base mount, and with each inside equipment electric connection of instrument capsule 25, top protection panel 26 fixed connection in 24 tops of seabed base mount.
The outer diameters of four toe parts of the seabed base fixing frame 24 are slightly smaller than the inner diameters of the hollow supporting legs 6 at four corners of the upper part of the counterweight frame 5;
the material of the recovery unit seabed base fixing frame 24 is 316L stainless steel.
The device comprises an instrument fixing cabin 25, a middle supporting panel 17, a single-point high-frequency current meter (ADV) (upward) 25-2, an Acoustic Doppler Current Profiler (ADCP) (upward) 25-5, a high-precision pressure gauge 25-1, a multi-parameter turbidimeter 25-3, an iridium beacon 25-6, a hydroacoustic positioner 25-7, a water depth sensor 25-8 and an attitude sensor 25-9, wherein the instrument fixing cabin is fixedly connected with a hollow main control cabin 25-4 in the center, the hollow diameter of the hollow main control cabin 25-4 is slightly larger than the outer diameter of an auxiliary injection probe 18, the auxiliary injection probe 18 can be allowed to rotate to pass through, and a main control system, a state monitoring system, a data acquisition system and a data storage system are arranged inside the hollow main control cabin 25-4;
the observation frequency of the upward single-point high-frequency current meter ADV 25-2 is not lower than 16Hz, and the shear stress acting on the sea floor can be obtained by measuring the instantaneous high-frequency flow velocity of the sea floor water body in real time. The single-point high-frequency current meter ADV 25-2 also carries a high-frequency pressure sensor, and can assist in estimating the compressive stress and tensile stress acting on the sea bottom surface in the vertical direction when internal waves pass through the pressure high-frequency change.
The upward acoustic Doppler current profiler ADCP 25-5 starts a high-frequency observation mode, the observation frequency is about 1Hz, and the current velocity change of the seabed water body is observed.
The high-precision pressure gauge 25-1 is used as a main instrument for calculating the force of the internal wave on the seabed and for inverting the vertical deformation of the seabed.
The multi-parameter turbidity meter 25-3 can collect observation data such as temperature, salinity and turbidity, wherein the temperature and salinity are used for observing the changes of the temperature and the salinity under the action of internal waves, and the turbidity data can be combined with internal wave profile data inverted by the single-point high-frequency current meter ADV 25-2 and the acoustic Doppler flow profiler ADCP 25-5 to know the dynamic change processes of the internal waves and the seabed and explore a process mechanism of deformation and sliding of the internal wave action on the seabed soft clay.
The deck is communicatively connected to and controls a main control system, which controls the operation of the devices, and the acoustic release devices, as shown in figure 6, and more particularly,
the underwater camera, the state monitoring system, the data acquisition system and the data storage system are all in communication connection with the master control system; the underwater camera is provided with an illuminating lamp, and the underwater illuminating lamp 16 is directly connected with a seawater battery 23;
the water depth sensor 25-8 and the attitude sensor 25-9 are connected with the input end of the state monitoring system;
the data acquisition system is in communication connection with the triaxial acceleration sensor 32;
the iridium beacon machine 25-6, the underwater acoustic locator 25-7, the underwater acoustic releaser 28 and the parallel acoustic releaser 13 are in communication connection with the deck control unit;
the single-point high-frequency current meter ADV 25-2, the acoustic Doppler current profiler ADCP 25-5, the high-precision pressure gauge 25-1 and the multi-parameter turbidimeter 25-3 are connected in parallel and are electrically connected with the main control system;
the bottom touch switch is in communication connection with the input end of the master control system, the output end of the master control system is in communication connection with the penetration motor 4, and after the device touches the bottom, the bottom touch switch transmits a bottom touch signal to the master control system; the main control system controls the motor to automatically work.
The input end of a data acquisition system in the hollow main control cabin is in communication connection with the deformation measuring cable, and data acquired by other observation equipment in the instrument fixing cabin 25 are stored in a self-contained mode;
the power supply part consists of four seawater batteries 23, and the four seawater batteries 23 are uniformly distributed at four corners of the inner side of the seabed base fixing frame 24, are electrically connected with each instrument and equipment and provide sufficient electric energy for the instrument and equipment;
the indwelling unit and the recovery unit are positioned in a matched mode in the following mode: one side of the seabed base fixing frame is connected with the acoustic releaser fixing ring 10 through the acoustic releaser rope 12, the bottom end of the camera system protecting cover 14 on the other side extends to the edge of the camera through hole, and four legs of the seabed base fixing frame 24 are embedded in the hollow supporting legs, so that the indwelling unit is stably connected with the recovery unit;
the hoisting part comprises a system hoisting frame system 27, an underwater sound releaser 28 (a first acoustic releaser) and a Kevlar cable 29, the lower end of the system hoisting frame 27 is fixedly connected with four corners of the top of the seabed base fixing frame 24 respectively, the lower end of the underwater sound releaser 28 is fixedly connected with the upper end of the system hoisting frame 27, and the upper end of the underwater sound releaser 28 is connected with the Kevlar cable.
Example 2 this example provides the steps of a long-term observation method of deep-sea internal wave induced seabed soft clay deformation sliding.
As shown in fig. 7-9, the steps for deployment and observation of the system using the system described in example 1 are as follows:
a. and (5) integrally assembling the observation system. Firstly, assembling the retention unit, and then assembling the recovery unit;
b. and (6) correcting the equipment. Correcting each device carried on the observation system (comprehensively adjusting according to experience, pre-experiment, actual conditions and the like), and setting working parameters of each instrument;
c. and (5) arranging the system. The scientific investigation ship and the satellite positioning system are used for transporting the observation system to a target point, the hoisting device and the laying cable arranged on the ship are used for controlling the system to sink into seawater at a uniform speed, and the falling attitude of the observation system is fully adjusted under the combined action of the glass floating ball and the integral gravity of the system. Observing the tension indication number of the Kevlar cable in the defense deploying process, when the tension indication number is suddenly reduced, indicating that the observation system stably sits at the bottom, releasing the underwater sound releaser through the deck control unit, so that the whole observation system is separated from the underwater sound releaser, and recovering a mooring rope;
d. and (5) long-term observation. After the deployment is finished, a bottom-touching switch in the micro drill bit sends an instruction to a master control system, a penetration motor automatically starts to work for 3-4 minutes, an auxiliary penetration probe rod rotates clockwise to penetrate into the seabed for 5-7m in depth under the action of the penetration motor, then rotates anticlockwise for 3-4 minutes under the action of the penetration motor, a screw male head is separated from a screw female head at the bottom of the auxiliary penetration probe rod under the action of the micro drill bit and soil in the seabed, the penetration motor rotates anticlockwise to lift the auxiliary penetration probe rod to an original position, a deformation measuring cable is deployed in the seabed, and then other observation equipment starts to observe according to set parameters;
when the seabed soft clay seabed is transversely deformed due to stratum dislocation and the like under the action of internal waves, the deformation measuring cables vertically distributed in the sediments are subjected to posture deformation and elastic deformation, deformation data of the deformation measuring cables are collected by a data acquisition system in the main control cabin and stored in a data storage, and internal wave equipment observation data are stored in each equipment to wait for recovery.
e. And (5) recovering the system. After observation is finished, the shipboard deck unit sends a release signal, the double parallel acoustic releasers release the ropes to separate the recovery unit from the indwelling unit, the whole recovery unit floats out of the sea surface under the action of the glass floating ball, and then the recovery unit floating to the sea surface is recovered;
f. and (6) data reading and analyzing. And reading data of each observation device, determining internal waves by analyzing the flow velocity profile data, and determining the deformation sliding quantity of the seabed soft clay seabed by analyzing the data of the deformation measuring cable.
g. And replacing the consumable, and disassembling and washing the whole recovery unit for next observation.
The data processing method for the deformation measuring cable comprises the following steps:
when the deformation measuring cable takes place to warp and slides, the displacement of each universal joint also can change thereupon, and the inside triaxial acceleration sensor of each universal joint reachs each section rigidity hollow rod and X axle, Y axle, the axial contained angle of Z through detecting the gravitational field: alpha is alpha1，……，αn、β1，……，βn、γ1，……，γnAnd the length of each section of rigid hollow pipe is L respectively through measurement1,L2,……，LnThe deformation sliding displacement X, Y, Z of the deformation measuring cable on the X axis, the Y axis and the Z axis can be obtained:
furthermore, the observation system is subjected to the gravity, buoyancy and seawater resistance in the movement process during the distribution and recovery processes. Wherein, gravity is downward, buoyancy is upward, and seawater resistance is opposite to the motion direction. According to the Bernoulli equation, the seawater resistance is related to the movement speed of the observation system and the stress action cross-sectional area S (vertical projection area), and the faster the movement speed of the observation system is, the larger the stress action cross-sectional area S is, the larger the seawater resistance is.
In order to realize the automatic arrangement, each part of the observation system needs to satisfy the following relational expression:
in the formula (1), the reaction mixture is,
m is the mass of the whole observation system in the air, and unit kg;
g is gravity acceleration in m/s2；
Rho is the density of seawater in kg/m3；
V is the whole volume of the observation system and the unit m3；
C is the resistance coefficient of the seawater and is dimensionless;
v1the unit is the uniform descending speed of the whole observation system, namely m/s;
S1the stress action cross-sectional area (vertical projection area) of the whole observation system is unit m2。
In order to realize the automatic recovery, each part of the observation system needs to satisfy the following relational expression:
in the formula (2), the reaction mixture is,
m1in kg for the mass of the recovered fraction in air;
g is gravity acceleration in m/s2；
C is the resistance coefficient of the seawater and is dimensionless;
rho is the density of seawater in kg/m3；
v2The recovery part is at constant floating speed in m/s;
S2the stress-acting cross-sectional area (vertical projection area) of the recovery section is expressed in m2；
V1For recovery of partial volume, unit m3。
By selecting the proper number of the glass floating balls, the relational expressions (1) and (2) are satisfied, so that the arrangement, observation and recovery of the observation system are realized.
The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention in other forms, and any person skilled in the art may apply the above modifications or changes to the equivalent embodiments with equivalent changes, without departing from the technical spirit of the present invention, and any simple modification, equivalent change and change made to the above embodiments according to the technical spirit of the present invention still belong to the protection scope of the technical spirit of the present invention.
Claims (9)
1. A long-term observation system for deep sea internal wave induced seabed soft clay deformation sliding comprises a deck control unit, a measuring unit, an indwelling unit and a recovery unit, and is characterized in that,
the measuring unit comprises a deformation measuring cable and an instrument fixing bin,
the deformation measuring cable is of a structure with a plurality of rigid hollow rods with the same length connected in series, adjacent rigid hollow rods are connected in rotation through a universal joint, three-axis acceleration sensors are fixedly arranged in the universal joint and connected in series in sequence, and each three-axis acceleration sensor is consistent with the rotation direction of the rigid hollow rod on the upper part of the three-axis acceleration sensor;
a seabed base fixing frame is arranged outside the instrument fixing bin, a system hoisting frame and a rope are arranged at the top end of the seabed base fixing frame, a first acoustic releaser is arranged between the system hoisting frame and the rope, a self-contained storage single-point high-frequency current meter ADV, an acoustic Doppler current profiler ADCP, a high-precision pressure gauge, a multi-parameter turbidimeter, an iridium beacon machine, an acoustic positioner, a water depth sensor and an attitude sensor are uniformly distributed in the instrument fixing bin, a hollow main control cabin is arranged at the central position of the instrument fixing cabin, and a main control system, a state monitoring system, a data acquisition system and a data storage system are arranged in the hollow main control cabin;
the retention unit comprises a stop disc, a micro drill bit and a penetration motor,
the stop discs are uniformly distributed around the deformation measuring cable, and the lower parts of the stop discs are provided with supporting conical tips;
the micro drill bit is arranged at the bottom of the deformation measuring cable, a bottom contact switch is arranged at the lower part of the micro drill bit, an auxiliary injection probe rod is arranged outside the deformation measuring cable, the deformation measuring cable is connected with the micro drill bit through a screw male head, and a screw female port matched with the screw male head is arranged at the lower part of the auxiliary injection probe rod; the auxiliary penetration probe rod is connected with the power output end of the penetration motor;
the recovery unit comprises a second acoustic releaser and an underwater camera; the second acoustic releaser and the underwater camera are arranged between the recovery unit and the indwelling unit, and the underwater camera is provided with an illuminating lamp;
the underwater camera, the state monitoring system, the data acquisition system and the data storage system are all in communication connection with the master control system;
the water depth sensor and the attitude sensor are connected with the input end of the state monitoring system;
the data acquisition system is in communication connection with the three-axis acceleration sensor;
the iridium beacon machine, the underwater acoustic locator, the first acoustic releaser and the second acoustic releaser are in communication connection with the deck control unit;
the single-point high-frequency current meter ADV, the acoustic Doppler current profiler ADCP, the high-precision pressure gauge and the multi-parameter turbidimeter are electrically connected with the master control system;
the bottom contact switch is in communication connection with the input end of the master control system;
the output end of the master control system is in communication connection with the penetration motor.
2. The long-term observation system for deep-sea internal wave-induced seabed soft clay deformation sliding according to claim 1,
the observation frequency of the single-point high-frequency current meter ADV is not lower than 16Hz,
the device is used for measuring the instantaneous high-frequency flow velocity of the seabed water body in real time, acquiring the shear stress acting on the seabed surface, simultaneously carrying a high-frequency pressure sensor, and assisting in estimating the compressive stress and the tensile stress acting on the seabed surface in the vertical direction when internal waves pass through by virtue of high-frequency pressure change;
the acoustic Doppler velocity profiler ADCP
The device is used for starting a high-frequency observation mode to observe the flow velocity change of the seabed water body, and the observation frequency range is 30 seconds/time-3 minutes/time;
carrying out inversion by using a single-point high-frequency current meter (ADV) and an Acoustic Doppler Current Profiler (ADCP) to obtain internal wave profile data;
the high-precision pressure gauge
The system is used for calculating the acting force of the internal wave on the seabed and inverting the vertical deformation of the seabed;
the multi-parameter turbidimeter
The device is used for acquiring temperature, salinity and turbidity, wherein the temperature and salinity are used for observing the changes of the temperature and the salinity under the action of internal waves, the turbidity data is combined with internal wave profile data inverted by the single-point high-frequency current meter ADV and the acoustic Doppler current profiler ADCP to obtain the dynamic change process of the internal waves and the seabed, and the process mechanism of deformation and sliding of the internal wave action on the seabed soft clay is researched;
and the four corners at the inner side of the seabed base fixing frame are provided with seawater batteries and are electrically connected with instruments, illuminating lamps and injection motors in the instrument fixing bin.
3. The long-term observation system for the deformation and sliding of the seabed soft clay induced by the deep sea internal wave as claimed in claim 1, wherein the length of the auxiliary penetration probe is 6-8m, and engineering sand is filled between the auxiliary penetration probe and the deformation measurement cable.
4. The system for long-term observation of deformation and sliding of seabed soft clay induced by deep sea internal waves as claimed in claim 1, wherein the supporting cone tips are fixedly connected to four corners of the bottom end of each stopping disc, and are equal in length, and the lower parts of the supporting cone tips are arrow-shaped; the upper part of the stopping disc is provided with a counterweight frame, the center position of the upper part of the stopping disc is respectively and fixedly connected with toe parts of the counterweight frame, a penetrating motor fixing frame is arranged between the stopping discs, and a penetrating motor is fixedly connected with the penetrating motor fixing frame.
5. The long-term observation system for inducing deformation and sliding of seabed soft clay by deep sea internal waves as claimed in claim 4, wherein the upper part of the instrument fixing bin is provided with a top protection plate, the lower part of the instrument fixing bin is connected with a middle support plate, the upper part of the counterweight frame is connected with a bottom support panel, the corners of the bottom support panel are fixedly connected with hollow support legs, the periphery of the seabed base fixing frame is embedded in the hollow support legs, the seabed base fixing frame is made of 316L stainless steel, and four corners of the inner side of the seabed base fixing frame are provided with seawater batteries; a rotary bearing is arranged at the central position of the bottom supporting panel, and an acoustic releaser fixing ring and a camera shooting through hole are respectively arranged at the two sides of the rotary bearing; the auxiliary penetration probe rod penetrates through the rotary bearing and extends into the cavity of the hollow main control cabin; the acoustic releaser fixing ring is provided with two acoustic releasers which are connected in parallel, the two acoustic releasers which are connected in parallel are positioned between the middle supporting plate and the bottom supporting plate, the bottom ends of the two acoustic releasers are connected with each other by a rope, and the rope penetrates through the acoustic releaser fixing ring; the edge of the camera shooting through hole is provided with a camera shooting system protective cover, the top end of the camera shooting system protective cover is fixedly connected with the middle supporting panel, and the bottom end of the camera shooting system protective cover extends to the edge of the camera shooting through hole, a vertically downward underwater camera and an illuminating lamp are arranged inside the camera shooting system protective cover, and the top ends of the underwater camera and the illuminating lamp are fixedly connected with the middle supporting panel.
6. The observation method using the long-term observation system for deep-sea internal wave induced seabed soft clay deformation sliding according to any one of claims 1-5 is characterized by comprising the following steps,
a. observation system integral assembly
Firstly, assembling the retention unit, and then assembling the recovery unit;
b. device calibration
Correcting each device carried on the observation system, and setting working parameters of each instrument;
c. system laying
The scientific investigation ship and the satellite positioning system are used for transporting the observation system to a target point, the lifting device and the laying cable arranged on the scientific investigation ship are used for controlling the observation system to sink into seawater, and the falling attitude of the observation system is fully adjusted by the observation system under the combined action of the glass floating ball and the integral gravity of the system; observing the tension indication number of the Kevlar cable in the defense deploying process, when the tension indication number is suddenly reduced, indicating that the observation system stably sits at the bottom, releasing the underwater sound releaser through the deck control unit, so that the whole observation system is separated from the underwater sound releaser, and recovering a mooring rope;
d. long term observation
After the deployment is finished, a bottom-touching switch in the micro drill bit sends an instruction to a master control system, a penetration motor automatically starts to work for 3-4 minutes, an auxiliary penetration probe rod clockwise rotates to penetrate the sea bed for 5-7m in depth under the action of the penetration motor, and then rotates anticlockwise for 3-4 minutes under the action of the penetration motor, under the action of the micro drill bit and the soil body in the sea bed, a screw male head is separated from a screw female head at the bottom of the auxiliary penetration probe rod, the penetration motor drives the auxiliary penetration probe rod to be lifted to an original position, a deformation measurement cable is deployed in the sea bed, and other observation equipment starts to observe according to set parameters;
when the seabed soft clay seabed generates stratum dislocation and transverse deformation due to the action of internal waves, deformation measuring cables vertically distributed in sediments generate attitude deformation and elastic deformation along with the seabed soft clay seabed, deformation data of the deformation measuring cables are collected by a data acquisition system in a main control cabin and stored in a data memory, and internal wave equipment observation data are stored in each equipment for recovery;
e. system recovery
After observation is finished, the shipboard deck unit sends a release signal, the double parallel acoustic releasers release the ropes to separate the recovery unit from the indwelling unit, the whole recovery unit floats out of the sea surface under the action of the glass floating ball, and then the recovery unit floating to the sea surface is recovered;
f. data read analysis
Reading data of each observation device, determining internal waves by analyzing flow velocity profile data, and determining deformation sliding quantity of the seabed soft clay seabed by analyzing data of a deformation measuring cable;
g. replaceable consumable
The whole recovery unit is disassembled and washed for next observation.
7. Observation method according to claim 6, wherein the data processing method of the deformation measuring cable is as follows:
when the deformation measurement cable generates deformation sliding, the displacement of each universal joint can be changed, and the three-axis acceleration sensor in each universal joint obtains the included angle between each section of rigid hollow rod and the X-axis, Y-axis and Z-axis directions by detecting the gravitational field and records the included angle as alphan、βn、γnMeasuring the length of each section of rigid hollow pipe and recording the length as L1，L2，……，LnThen, the sliding displacement X, Y, Z of the deformation of the cable along the X, Y and Z axes is calculated as follows:
8. the observation method of claim 6, wherein the components of the observation system satisfy the following relationships:
in the formula (1), the reaction mixture is,
m is the mass of the whole observation system in the air, and unit kg;
g is gravity acceleration in m/s2；
Rho is the density of seawater in kg/m3；
V is the whole volume of the observation system and the unit m3；
C is the resistance coefficient of the seawater and is dimensionless;
v1the unit is the uniform descending speed of the whole observation system, namely m/s;
S1the stress action cross-sectional area (vertical projection area) of the whole observation system is unit m2；
In the formula (2), the reaction mixture is,
m1in kg for the mass of the recovered fraction in air;
g is gravity acceleration in m/s2；
C is the resistance coefficient of the seawater and is dimensionless;
rho is the density of seawater in kg/m3；
v2The recovery part is at constant floating speed in m/s;
S2the stress-acting cross-sectional area (vertical projection area) of the recovery section is expressed in m2；
V1For recovery of partial volume, unit m3。
9. The observation method according to claim 8, wherein the expressions (1) and (2) are implemented by adjusting the number of the glass floating balls.
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