CN113624195A - In-situ real-time monitoring device and analysis method for deep deformation of submarine landslide - Google Patents

In-situ real-time monitoring device and analysis method for deep deformation of submarine landslide Download PDF

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CN113624195A
CN113624195A CN202110680959.4A CN202110680959A CN113624195A CN 113624195 A CN113624195 A CN 113624195A CN 202110680959 A CN202110680959 A CN 202110680959A CN 113624195 A CN113624195 A CN 113624195A
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monitoring
accelerometer
long hose
mems
data processor
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CN113624195B (en
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陈家旺
葛勇强
王立忠
曹晨
阮东瑞
洪义
任自强
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Zhejiang University ZJU
Hainan Institute of Zhejiang University
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Zhejiang University ZJU
Hainan Institute of Zhejiang University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/32—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring the deformation in a solid
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V9/00—Prospecting or detecting by methods not provided for in groups G01V1/00 - G01V8/00

Abstract

The invention discloses a submarine landslide deep deformation in-situ real-time monitoring device and an analysis method, wherein the device comprises a long hose, a monitoring unit, a processing unit and an upper computer, wherein the monitoring unit comprises a plurality of monitoring subunits, and the processing unit comprises a data processor; the monitoring subunits are arranged in the long hose along the length direction of the long hose, two ends of the long hose are sealed, each monitoring subunit comprises two mutually orthogonal MEMS accelerometers, the MEMS accelerometers in the long hose are connected with a data processor, and the data processor is connected with an upper computer. The invention has the advantages that when the seabed stratum around the device changes, the long hose is driven to bend and move, the MEMS accelerometer can move along with the whole movement of the device, the accelerometers at different layers can transmit the posture information of the accelerometers to the data processor, the information is transmitted to the upper computer after the analysis and the processing of the data processor, and finally the upper computer can carry out the visualization processing, and the stratum deep displacement deformation information is reconstructed and displayed.

Description

In-situ real-time monitoring device and analysis method for deep deformation of submarine landslide
Technical Field
The invention belongs to the field of submarine monitoring, and particularly relates to a submarine landslide deep deformation in-situ real-time monitoring device and an analysis method.
Background
The seabed landslide refers to the phenomenon that seabed unconsolidated soft sediment or rocks with a weak structural surface move downwards along the weak structural surface under the action of gravity, and comprises geological processes such as sliding, slumping, debris flow and the like, and the seabed landslide is a gravity flow conveying mechanism widely applied to continental slopes. The formation of the seabed landslide is controlled by various factors, on one hand, the formation of the seabed landslide is controlled by the internal structure and power conditions of the sediment, including more clay substance content in the seabed sediment, local high pressure generated by the decomposition of the natural gas hydrate, reduced strength of the hydrate after the decomposition and the like; on the other hand, it is induced by some external factors, such as earthquake, tsunami, volcano, tide, etc. Besides directly damaging facilities such as ocean platforms, ocean bottom optical cables, ocean bottom pipelines, ports and wharfs, the large-scale ocean bottom landslide can cause ocean bottom debris flow and even secondary disasters such as tsunami and natural gas hydrate decomposition, and serious damage loss is caused.
In the invention, a sensor is arranged in a stainless steel long pipe, the long pipe and the sensor are driven to bend by taking a flexible connecting pipe as a joint, the coupling between the stainless steel material and a landslide body is poor, the deformation condition of a soil body when the stratum changes cannot be truly reflected, a communication line is stressed when the communication line is bent, and the communication line has the danger of being broken when the bending angle is too large, so the bending angle is difficult to be from-180 degrees to 180 degrees in practical application. In addition, the protective film of the MEMS sensor in the invention is a polyethylene film which cannot bear the high pressure of the sea bottom, so that the sensor cannot be normally used in deep sea and cannot be used for monitoring the deep sea landslide. In addition, the sensor and the data processor in the invention can only realize short-distance communication by adopting an IIC protocol, and can not monitor the seabed landslide in a large range.
At present, landslide monitoring is mainly used on land, and researches on submarine landslide are less. The detection of the submarine landslide is mainly to qualitatively analyze the cause mechanism, distribution range, morphological characteristics and the like of the submarine landslide, and a submarine landslide observation device and equipment which are in situ and long-term are lacked. Due to the complexity of the seabed environment, particularly for the deep sea environment, the sealing high-voltage performance of equipment, long-term power supply and the like need to be considered, the change process of the seabed stratum is slow and fine, the related region range is wide, manual mode is adopted for regular and fixed-point observation and recording, the workload is large, the cost is high, and the real-time performance and the long-term continuous observability are not realized. With the discovery of a large number of oil and gas resources such as natural gas hydrates in deep water land slope regions and the continuous construction of submarine engineering, the device and the method for monitoring the deep deformation of the submarine landslide in situ in real time are provided for monitoring the submarine landslide in situ for a long time in real time, and have important functions and significance for the technical research of monitoring and early warning of marine geological disasters.
Disclosure of Invention
In order to overcome the defects of complex structure, huge engineering quantity, small monitoring range and low data accuracy of the conventional land landslide geological disaster monitoring device, the invention provides a submarine landslide deep deformation in-situ real-time monitoring device and an analysis method, which can realize stratum deformation in-situ monitoring and upper computer real-time visual display on a seabed with the depth of thousands of meters and further provide technical support for monitoring and early warning of geological disasters such as landform settlement, earthquakes and the like caused by submarine landslide and natural gas hydrate decomposition.
The invention discloses a submarine landslide deep deformation in-situ real-time monitoring device, which comprises a long hose, a monitoring unit, a processing unit and an upper computer, wherein the monitoring unit comprises a plurality of monitoring subunits, and the processing unit comprises a data processor;
the monitoring units are installed in the long hose along the length direction of the long hose, the two ends of the long hose are sealed, each monitoring unit comprises two mutually-orthogonal MEMS accelerometers, the MEMS accelerometers in the long hose are connected with the data processor, and the data processor is connected with the upper computer.
Preferably, the protection cabin comprises a monitoring subunit protection cabin, the monitoring subunit protection cabin is provided with a plurality of monitoring subunits, the number of the monitoring subunits is equal to that of the monitoring subunits, each monitoring subunit is correspondingly installed in one monitoring subunit protection cabin, and the monitoring subunit protection cabin is fixed in the long hose.
Preferably, the monitoring subunit further comprises a damping sheet, and the MEMS accelerometer is fixed in the monitoring subunit protection cabin through the damping sheet.
Preferably, the protection cabin further comprises a processing unit protection cabin, and the processing unit is installed in the processing unit protection cabin.
Preferably, the processing unit further comprises a power module, and the power module is respectively connected with the data processor and the MEMS accelerometer to supply power to the data processor and the MEMS accelerometer.
Preferably, the outer side of the monitoring subunit protection cabin and the outer side of the processing unit protection cabin are respectively provided with a first watertight connector and a second watertight connector, the MEMS accelerometers in the monitoring subunit protection cabins are connected in series through the first watertight connectors and then connected with the second watertight connectors, and the second watertight connectors are connected with a data processor in the processing unit protection cabin.
Preferably, the long hose is made of polyvinyl chloride, and is bent and deformed under the action of external force, and the bending angle ranges from-180 degrees to 180 degrees.
Preferably, a plurality of installation groove positions are arranged in the long hose, and a plurality of monitoring subunit protection cabins are connected through steel wires and correspondingly fixed on the installation groove positions of the long hose; the long hose is filled with hydraulic oil, one end of the long hose is provided with an internal thread and matched with the external thread of the sealing end cover, and the other end of the long hose is self-sealed.
Preferably, each monitoring subunit has two MEMS accelerometers integrated therein, with the monitoring axes z being orthogonal to each other.
On the other hand, the invention also provides an analysis method of the device for monitoring the deep deformation of the submarine landslide in situ in real time, which is characterized by comprising the following steps: the method comprises the following steps: the MEMS accelerometer generates sensing data and transmits the sensing data to the data processor, and the data processor analyzes the acquired data and comprises the following steps:
step (1): the data processor acquires sensing data obtained by the MEMS accelerometer;
according to the gravity field, the three-axis accelerometer only senses the gravity acceleration under the static or uniform speed condition, and the gravity acceleration and the gravity components of the three-axis accelerometer on three sensitive axes are expressed by a formula (1):
Figure BDA0003122487180000031
wherein g is a constant and is the value of the local gravitational acceleration; a isx，ay，azIs the component of the acceleration of gravity in the direction of three mutually orthogonal monitoring axes of the MEMS accelerometer;
step (2): removing abnormal values: calculating a model of a triaxial acceleration value obtained by the MEMS accelerometer at the same moment, if the difference between the model value and the local gravitational acceleration value is more than 1, determining that the value is abnormal, and removing the data at this time;
and (3): establishing a sensor coordinate system X by taking the MEMS accelerometer as a referenceBYBZBOf the geodetic coordinate system XOYOZOWhen the stratum moves, the sensor changes according to the gravity fieldMedium gravitational acceleration in three axes (a) of the accelerometerx，ay，az) The tilt angle θ of the accelerometer can be calculated, expressed by equation (2):
Figure BDA0003122487180000032
and (4): accelerometer in relative geodetic coordinate system Oy and OyThe inclination angle of a direction solves the offset of the direction: the spacing between adjacent accelerometers is fixed, L, with the lowermost accelerometer P0As a reference point, an accelerometer P above it during formation changes1Can be regarded as an accelerometer P0Moving on a circular arc as a center of circle, so that adjacent sensors PiPi+1Central angle alpha of the arc formediCan be expressed by formula (3):
αi＝θi+1-θi (3)
wherein ,θi+1 and θiRespectively the (i + 1) th accelerometer Pi+1And the ith accelerometer PiThe angle of inclination of (a) is,
the radius of the ith arc can be expressed by formula (4):
ri＝L/αi (4)
center CiIn an accelerometer PiThe coordinates in the coordinate system as the origin can be expressed as: ci＝[0，0，ri]TWhen is alphaiWhen not equal to 0, Pi+1In an accelerometer PiCoordinates in a coordinate system as origin
Figure BDA0003122487180000033
Can be expressed by equation (5):
Figure BDA0003122487180000034
when alpha isiWhen equal to 0, Pi+1At an accelerationMeter PiCoordinates in a coordinate system as origin
Figure BDA0003122487180000035
Can be expressed by equation (6) as:
Figure BDA0003122487180000036
l represents arc length (6)
Thus, Pi+1Coordinates in origin of the geodetic coordinate system O
Figure BDA0003122487180000037
Can be expressed by equation (7):
Figure BDA0003122487180000038
wherein ,
Figure BDA0003122487180000039
so as to make
Figure BDA00031224871800000310
An expression of the coordinate system as the origin in a geodetic coordinate system (O as the origin),
Figure BDA00031224871800000311
and (5): repeating the step (3) to obtain the inclination angles theta of all the accelerometersiAnd the tilt angle delta theta relative to the previous accelerometeriSince two MEMS accelerometers are perpendicular to each other in one monitoring subunit, the repetition of the step (4) can calculate the formation change at O of the same monitoring subunitx and OyOffset in two directions epsilonxi and εyiThrough the formula (7) and the formula (8), the offset epsilon of all monitoring subunits in the space can be obtainediAnd the offset direction epsilonθi，
Figure BDA0003122487180000041
εθi＝arctan(εyi/εxi) (9)
wherein ,εxi and εyiRespectively indicate that the ith sensor is at Ox and OyOffset in two directions, epsiloniRepresenting the total offset, ε, of the ith sensor in spaceθiIndicating the offset direction of the ith sensor in space and OxThe included angle of (a).
The present application is further described below:
in order to solve the technical problem, the solution of the invention is as follows: the utility model provides a deep deformation normal position real-time supervision device of seabed landslide, including monitoring unit, linkage unit, processing unit, protection cabin, host computer:
the monitoring unit consists of N monitoring subunits connected in series; the monitoring subunit comprises an MEMS accelerometer, a TTL-485 module and a damping sheet; the MEMS accelerometer is fixed in the protection cabin through a damping sheet;
the connecting unit comprises a water tight cable, a steel wire, a long hose and a sealing end cover; the interior of the long hose is filled with hydraulic oil, one end of the long hose is provided with an internal thread and matched with the external thread of the sealing end cover, and the other end of the long hose is self-sealed; the connection unit connects all the sub-processing units (namely monitoring sub-units) with the processing unit and the processing unit with the upper computer; the monitoring unit and the processing unit are both placed in a protective cabin; the data information monitored by the monitoring unit is transmitted to the processing unit; and the processing unit transmits the processed data information to the upper computer.
The upper computer receives the data transmitted by the processing unit and performs visual processing to realize real-time display and animation display of deep deformation of the landslide state of the seabed;
the processing unit comprises a data processor and a power supply module; the power supply module comprises a battery and a voltage stabilizing module; the power supply module provides working voltage for the data processor and the MEMS accelerometer; and the data processor transmits the processed data to the upper computer.
The protection cabin comprises a monitoring subunit protection cabin and a processing unit protection cabin; the monitoring unit and the processing unit are respectively packaged in the corresponding protection cabin.
Furthermore, the long hose is made of polyvinyl chloride, can be bent and deformed in any direction under the action of external force, and the bending angle ranges from-180 degrees to 180 degrees.
Furthermore, the steel wire is connected with all the monitoring subunits through the monitoring subunit protection cabins and is fixed on the slot positions in the long hose, and the tension of the watertight cable can be avoided in the formation deformation process.
Furthermore, two MEMS accelerometers with mutually orthogonal monitoring axis z directions are integrated in the monitoring subunit (namely, one MEMS accelerometer of each monitoring subunit is connected with the geodetic coordinate XoAxis parallel, another MEMS accelerometer and geodetic coordinate YoAxis parallel) with a data acquisition and transmission rate of 9600 Baud.
Furthermore, the monitoring subunits are connected through the connecting unit and then are placed in a long hose, the long hose is installed in a drilled hole at the bottom of a pre-drilled seabed, and when the surface and each stratum of the seabed change, the MEMS accelerometer also tilts and changes, so that sensing data are generated;
the method for monitoring and analyzing the deep deformation of the submarine landslide in situ in real time comprises the following steps:
the method comprises the following steps that (1) a data processor acquires sensing data obtained by an MEMS accelerometer (hereinafter referred to as the accelerometer);
according to the gravity field, the three-axis accelerometer (namely, the MEMS accelerometer) only senses the gravity acceleration under the condition of static state or constant speed, and the gravity acceleration and the gravity components of the three-axis accelerometer on three sensitive axes are expressed by a formula (1):
Figure BDA0003122487180000051
wherein g is a constant and is the local gravityA value of acceleration; a isx，aR，azIs the component of the acceleration of gravity in the direction of three mutually orthogonal monitoring axes of the MEMS accelerometer;
step (2): removing abnormal values: calculating a model of a triaxial acceleration value obtained by the MEMS accelerometer at the same moment, if the difference between the model value and the local gravitational acceleration value is more than 1, determining that the value is abnormal, and removing the data at this time;
and (3): establishing a sensor coordinate system X by taking the MEMS accelerometer as a referenceBYBZBOf the geodetic coordinate system XOYOZOWhen the stratum moves, the sensor (namely the MEMS accelerometer) changes, and the acceleration of gravity in the gravity field is in three axes (a) of the accelerometerx，ay，az) The tilt angle θ of the accelerometer can be calculated, expressed by equation (2):
Figure BDA0003122487180000052
and (4): the inclination angles of the accelerometers in the Oy and Oy directions in the coordinate system relative to the earth solve the offset of the accelerometers in the direction, the distance between the adjacent accelerometers is fixed and is L, and the accelerometer P at the bottommost position is used0As a reference point, an accelerometer P above it during formation changes1Can be regarded as an accelerometer P0Moving on a circular arc as a center of circle, so that adjacent sensors PiPi+1Central angle alpha of the arc formediCan be expressed by formula (3):
αi＝θi+1-θi (3)
wherein ,θi+1 and θiRespectively the (i + 1) th accelerometer Pi+1And the ith accelerometer PiThe angle of inclination of (a) is,
the radius of the ith arc can be expressed by formula (4):
ri＝L/αi (4)
center CiIn an accelerometer PiThe coordinates in the coordinate system as the origin can be expressed as: ci＝[0，0，ri]TWhen is alphaiWhen not equal to 0, Pi+1In an accelerometer PiCoordinates in a coordinate system as origin
Figure BDA0003122487180000061
Can be expressed by equation (5):
Figure BDA0003122487180000062
when alpha isiWhen equal to 0, Pi+1In an accelerometer PiCoordinates in a coordinate system as origin
Figure BDA0003122487180000063
Can be expressed by equation (6) as:
Figure BDA0003122487180000064
l represents the arc length
Thus, Pi+1Coordinates in origin of the geodetic coordinate system O
Figure BDA0003122487180000065
Can be expressed by equation (7):
Figure BDA0003122487180000066
wherein ,
Figure BDA0003122487180000067
so as to make
Figure BDA0003122487180000068
The expression of the coordinate system as the origin in the geodetic coordinate system (O as the origin) can be written specifically as:
Figure BDA0003122487180000069
Figure BDA00031224871800000610
is the coordinate of Pi in a coordinate system with the accelerometer P0 as the origin,
Figure BDA00031224871800000611
is the origin of the geodetic coordinate system;
and (5): repeating the step (3) to obtain the inclination angles theta of all the accelerometersiAnd the tilt angle delta theta relative to the previous accelerometeriSince two MEMS accelerometers are perpendicular to each other in one monitoring subunit, the repetition of the step (4) can calculate the formation change at O of the same monitoring subunitx and OyOffset in two directions epsilonxi and εyi(ii) a Through the formula (7) and the formula (8), the offset epsilon of all monitoring subunits in the space can be obtainediAnd the offset direction epsilonθi。
Figure BDA00031224871800000612
εθi＝arctan(εyi/εxi) (9)
wherein ,εxi and EyiRespectively indicate that the ith sensor is at Ox and OyOffset in two directions, epsiloniRepresenting the total offset, ε, of the ith sensor in spaceθiIndicating the offset direction of the ith sensor in space and OxThe included angle of (a).
Compared with the prior art, the invention has the beneficial effects that:
the N monitoring subunits are integrally arranged in a long hose filled with hydraulic oil under the wrapping of a protection cabin, and the long hose can be integrally and directly arranged in a pre-drilled submarine borehole to ensure that the initial angle of the MEMS accelerometer accords with the optimal monitoring range. When the seabed stratum around the device changes, the long hose is driven to bend and move, the MEMS accelerometer moves along with the whole movement of the device, the accelerometers at different layers transmit the posture information of the accelerometers to the data processor, the information is analyzed and processed by the data processor and then transmitted to the upper computer, finally the upper computer carries out visualization processing, and the stratum deep displacement deformation information is reconstructed and displayed.
2. According to the invention, after the data processor obtains the data acquired by the accelerometer, the data is preprocessed and multi-stage distinguished to remove abnormal values. In addition, the sea water temperature is lower than the land temperature, so that the difference of the sea water temperature to the deep sea bottom is larger, all accelerometers can be subjected to temperature calibration and fine calibration and compensation before the MEMS accelerometers are packaged in a protection cabin, errors and zero drift are reduced, and the accuracy of data is improved.
3. The device has the advantages of simple structure, convenient operation, low cost, low power consumption, wide monitoring range, high monitoring precision and strong real-time property, can be used for in-situ real-time monitoring of the landslide on the seabed for more than six months in a low power consumption mode, and has the advantages of simple manufacture, convenient carrying and arrangement.
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In order to more clearly illustrate the embodiments or prior art solutions of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below. It is understood that the following drawings depict only some embodiments of the invention and are therefore not to be considered limiting of its scope, for the skilled person will be able to derive other related drawings from these drawings without the benefit of inventive faculty.
FIG. 1 is a schematic diagram of the system architecture of the present invention;
FIG. 2 is a cross-sectional view of a monitoring subunit protection capsule of the present invention;
FIG. 3 is a cross-sectional view of a protective pod for a processing unit of the present invention;
FIG. 4 is a schematic diagram of the system operation of the present invention;
FIG. 5 is a schematic diagram of the calculation of the tilt angle and the offset when the monitoring subunit is changed (wherein FIG. 5-1 is a schematic diagram of the tilt angle when the monitoring subunit is changed, and FIG. 5-2 is a schematic diagram of the calculation of the offset when the monitoring subunit is changed);
FIG. 6 is a schematic diagram of the tilt variation of each sub-unit during a formation change (wherein FIG. 6-1 is a schematic diagram of the MEMS accelerometer of each monitoring sub-unit before the formation change, and FIG. 6-2 is a schematic diagram of the tilt variation of the MEMS accelerometer of each monitoring sub-unit during the formation change);
reference numerals in the drawings: 11-MEMS accelerometer (11)0-11n and 110’-11n’Two mutually orthogonal MEMS accelerometers in the N monitoring subunits, respectively); 12-TTL to 485 module; 13-a damping sheet; 21-water tight cables; 22-steel wire; 23-long hose; 24-sealing the end cap; 3-a processing unit; 31-a power supply module; 32-a data processor; 41-monitoring the subunit protection cabin; 42-a processing unit protection cabin; and 5, an upper computer.
Detailed Description
The invention is described in further detail below with reference to the figures and the detailed description.
As shown in fig. 1, firstly, the invention provides a device for monitoring deep deformation of a landslide in situ in real time, which comprises a monitoring unit 1, a connecting unit 2, a processing unit 3, a protection cabin 4 and an upper computer 5. Wherein the monitoring unit 1 consists of N monitoring subunits connected in series; the connection unit 2 connects all monitoring subunits with the processing unit 3, and the processing unit 3 with the upper computer 5. The protection cabin 4 comprises monitoring subunit protection cabins 41 and processing unit protection cabins 42, wherein the number of the monitoring subunit protection cabins 41 is N and is equal to the number of the monitoring subunits. The monitoring subunit and the processing unit 3 of the monitoring unit 1 are respectively packaged in a monitoring subunit protection cabin 41 and a processing unit protection cabin 42. Data information monitored by the monitoring unit 1 is transmitted to the processing unit 3, and the processing unit 3 transmits the processed data information to the upper computer 5.
The monitoring subunit comprises an MEMS accelerometer 11, a TTL-485 module 12 (an interface module, TTL-485 is a hardware interface form) and a damping sheet 13, the MEMS accelerometer 11 is fixed in a monitoring subunit protection cabin 41 through the damping sheet 13, and a first cable 21-1 is further arranged on the outer side of the monitoring subunit protection cabin 41; wherein, each MEMS accelerometer of the monitoring subunit is provided with twoAnd the two MEMS accelerometers are orthogonal to each other. The MEMS accelerometers are named upwards from the monitoring subunit at the bottommost end of the long flexible pipe in sequence and are the MEMS accelerometer 110 MEMS accelerometer 110’ MEMS accelerometer 111 MEMS accelerometer 111’Up to the MEMS accelerometer 11n MEMS accelerometer 11n’As shown in fig. 6, the geodetic coordinate system XoYoZo is used as a coordinate, and is arranged in parallel with the 0-N MEMS accelerometer and is parallel to the geodetic coordinate system XoThe axes being parallel, arranged parallel to the geodetic coordinate system Y from a 0 '-N' MEMS accelerometerOThe axes are parallel.
The two MEMS accelerometers in each monitoring subunit protection cabin 41 are connected with the first watertight cable 21-1 thereon, so that the MEMS accelerometers of all the monitoring subunit protection cabins in the long hose 23 are connected with the second watertight cable 21-2 of the processing unit protection cabin 42 after being connected through the first watertight cable 21-1, the second watertight cable 21-2 is connected with the data processor 32, and then the data processor 32 is also connected with the upper computer 5 through the second watertight cable 21-2. Further, the MEMS accelerometer in each monitoring subunit protection cabin 41 is connected with the data processor 32 of the processing unit protection cabin through the TTL-485 module 12, the first watertight connector 21-1 and the second watertight connector 21-2.
The steel wire 22 is connected with all monitoring subunits through holes (namely the positions indicated by steel wire grooves in fig. 2) on the monitoring subunit protective cabins 41 and is fixed on the groove positions in the long hose, so that tension of the watertight cable can be prevented from being borne in the formation deformation process. One end of the long hose 23 is self-sealed, and the other end seals all the monitoring subunit protection cabins 41 in the long hose through the sealing end cover 24.
The monitoring unit 1 is connected with a steel wire 22 through a water tight-connection cable and then is placed in a long hose 23, the long hose 23 is installed in a drilled hole at the bottom of a seabed which is drilled in advance, and when the surface and each stratum of the seabed change, the MEMS accelerometer also changes in an inclined mode, and sensing data are generated.
The processing unit 3 is installed in the processing unit protection cabin 42, a second watertight cable 21-2 is arranged on the outer side of the processing unit protection cabin, and the processing unit 3 comprises a power supply module 31 and a data processor 32; the power module 31 comprises a battery and a voltage stabilizing module; the power module 31 provides working voltage for the data processor 32 and all the MEMS accelerometers in the long hose, wherein the power module 31 can provide power through the second watertight cable connection when providing working voltage for all the MEMS accelerometers in the long hose; the data processor 32 transfers the processed data to the upper computer 5.
As shown in fig. 4, the power module is connected to the MEMS accelerometer and the data processor to supply power to the MEMS accelerometer and the data processor, the MEMS accelerometer is connected to the data processor, and the data processor is connected to the upper computer.
In a second aspect, the present application provides an analysis method for a device for in-situ real-time monitoring deep deformation of a landslide, comprising: all the MEMS accelerometers in the long hose obtain sensing data and transmit the obtained sensing data to the data processor, and the data processor 32 analyzes the obtained data, including the steps of:
step (1): the data processor acquires sensing data obtained by an MEMS accelerometer (hereinafter referred to as an accelerometer);
according to the gravity field, the three-axis accelerometer only senses the gravity acceleration under the static or uniform speed condition, and the gravity acceleration and the gravity components of the three-axis accelerometer on three sensitive axes are expressed by a formula (1):
Figure BDA0003122487180000091
wherein g is a constant and is the value of the local gravitational acceleration; a isx，ay，azIs the component of the acceleration of gravity in the direction of three mutually orthogonal monitoring axes of the MEMS accelerometer;
step (2): removing abnormal values: calculating a model of a triaxial acceleration value obtained by the MEMS accelerometer at the same moment, if the difference between the model value and the local gravitational acceleration value is more than 1, determining that the value is abnormal, and removing the data at this time;
and (3): establishing a sensor coordinate system X by taking the MEMS accelerometer as a referenceBYBZBOf the geodetic coordinate system XOYOZOWhen the stratum moves, the sensor (namely the MEMS accelerometer) changes, and the acceleration of gravity in the gravity field is in three axes (a) of the accelerometerx，ay，az) The tilt angle θ of the accelerometer can be calculated, expressed by equation (2):
Figure BDA0003122487180000092
and (4): accelerometer in relative geodetic coordinate system Oy and OyThe inclination angle of the direction is used for solving the offset of the direction, the distance between adjacent accelerometers is fixed and is L, and the accelerometer P at the bottommost end is used0As a reference point, an accelerometer P above it during formation changes1Can be regarded as an accelerometer P0Moving on an arc which is the center of a circle; thus, the adjacent sensors PiPi+1Central angle alpha of the arc formediCan be expressed by formula (3):
αi＝θi+1-θi (3)
wherein ,θi+1 and θiRespectively the (i + 1) th accelerometer Pi+1And the ith accelerometer PiThe angle of inclination of (a);
the radius of the ith arc can be expressed by formula (4):
ri＝L/αi (4)
center CiIn an accelerometer PiThe coordinates in the coordinate system as the origin can be expressed as: ci＝[0，0，ri]TWhen is alphaiWhen not equal to 0, Pi+1In an accelerometer PiCoordinates in a coordinate system as origin
Figure BDA0003122487180000101
Can be expressed by equation (5):
Figure BDA0003122487180000102
when alpha isiWhen equal to 0, Pi+1In an accelerometer PiCoordinates in a coordinate system as origin
Figure BDA0003122487180000103
Can be expressed by equation (6) as:
Figure BDA0003122487180000104
wherein, l represents the arc length;
thus, Pi+1Coordinates in origin of the geodetic coordinate system O
Figure BDA0003122487180000105
Can be expressed by equation (7):
Figure BDA0003122487180000106
wherein ,
Figure BDA0003122487180000107
so as to make
Figure BDA0003122487180000108
The expression of the coordinate system as the origin in the geodetic coordinate system (O as the origin) can be written specifically as:
Figure BDA0003122487180000109
and (5): repeating the step (3) to obtain the inclination angles theta of all the accelerometersiAnd the tilt angle delta theta relative to the previous accelerometeriSince two MEMS accelerometers are perpendicular to each other in one monitoring subunit, the stratum change can be calculated and obtained after the stratum change is carried out by repeating the step (4)A monitoring subunit is at Ox and OyOffset in two directions epsilonxi and εyi(ii) a Through the formula (7) and the formula (8), the offset epsilon of all monitoring subunits in the space can be obtainediAnd the offset direction epsilonθi；
Figure BDA00031224871800001010
εθi＝arctan(εyi/εxi) (9)
wherein ,εxi and εyiRespectively indicate that the ith sensor is at Ox and OyOffset in two directions, epsiloniRepresenting the total offset, ε, of the ith sensor in spaceθiIndicating the offset direction of the ith sensor in space and OxThe included angle of (a).
Finally, it should be noted that the above-mentioned list is only a specific embodiment of the present invention. It is obvious that the present invention is not limited to the above embodiments, but many variations are possible. All modifications which can be derived or suggested by a person skilled in the art from the disclosure of the present invention are to be considered within the scope of the invention.

Claims (10)

1. The utility model provides a deep deformation normal position real-time supervision device of seabed landslide which characterized in that: the device comprises a long hose, a monitoring unit, a processing unit and an upper computer, wherein the monitoring unit comprises a plurality of monitoring subunits, and the processing unit comprises a data processor;
the monitoring units are installed in the long hose along the length direction of the long hose, the two ends of the long hose are sealed, each monitoring unit comprises two mutually-orthogonal MEMS accelerometers, the MEMS accelerometers in the long hose are connected with the data processor, and the data processor is connected with the upper computer.
2. The device of claim 1, wherein the device for monitoring deep deformation of the landslide in situ in real time comprises: the protection cabin comprises monitoring subunit protection cabins, the monitoring subunit protection cabins are provided with a plurality of monitoring subunits, the number of the monitoring subunits is equal to that of the monitoring subunits, each monitoring subunit is correspondingly installed in one monitoring subunit protection cabin, and the monitoring subunit protection cabins are fixed in the long hose.
3. The device of claim 2, wherein the device for monitoring deep deformation of the landslide in situ in real time comprises: the monitoring subunit also comprises a damping sheet, and the MEMS accelerometer is fixed in the monitoring subunit protection cabin through the damping sheet.
4. The device of claim 2, wherein the device for monitoring deep deformation of the landslide in situ in real time comprises: the protection cabin also comprises a processing unit protection cabin, and the processing unit is arranged in the processing unit protection cabin.
5. The device of claim 4, wherein the device for monitoring deep deformation of the landslide in situ in real time comprises: the processing unit further comprises a power supply module, and the power supply module is respectively connected with the data processor and the MEMS accelerometer and supplies power to the data processor and the MEMS accelerometer.
6. The device for in-situ real-time monitoring of deep deformation of landslide according to claim 2, 3, 4 or 5, wherein: the monitoring subunit protection cabin outside and the processing unit protection cabin outside are equipped with first watertight connector and second watertight connector respectively, are connected with the second watertight connector after connecting in series through first watertight connector between the MEMS accelerometer in a plurality of monitoring subunit protection cabin, and the second watertight connector is connected with the data processor in the processing unit protection cabin.
7. The device of claim 6, wherein the device for monitoring deep deformation of the landslide in situ in real time comprises: the long hose is made of polyvinyl chloride and bends and deforms under the action of external force, and the bending angle ranges from-180 degrees to 180 degrees.
8. The device of claim 2, wherein the device for monitoring deep deformation of the landslide in situ in real time comprises: a plurality of installation groove positions are arranged in the long hose, and a plurality of monitoring subunit protection cabins are connected through steel wires and correspondingly fixed on the installation groove positions of the long hose; the long hose is filled with hydraulic oil, one end of the long hose is provided with an internal thread and matched with the external thread of the sealing end cover, and the other end of the long hose is self-sealed.
9. The device of claim 1, wherein the device for monitoring deep deformation of the landslide in situ in real time comprises: two MEMS accelerometers with mutually orthogonal monitoring axes in the z direction are integrated in each monitoring subunit.
10. The method for analyzing the in-situ real-time monitoring device for the deep deformation of the seafloor landslide as claimed in any one of claims 1 to 9, wherein the method comprises the following steps: the method comprises the following steps: the MEMS accelerometer generates sensing data and transmits the sensing data to the data processor, and the data processor analyzes the acquired data and comprises the following steps:
step (1): the data processor acquires sensing data obtained by the MEMS accelerometer;
according to the gravity field, the three-axis accelerometer only senses the gravity acceleration under the static or uniform speed condition, and the gravity acceleration and the gravity components of the three-axis accelerometer on three sensitive axes are expressed by a formula (1):
Figure FDA0003122487170000021
wherein g is a constant and is the value of the local gravitational acceleration; a isx，ay，azIs the component of the acceleration of gravity in the direction of three mutually orthogonal monitoring axes of the MEMS accelerometer;
step (2): removing abnormal values: calculating a model of a triaxial acceleration value obtained by the MEMS accelerometer at the same moment, if the difference between the model value and the local gravitational acceleration value is more than 1, determining that the value is abnormal, and removing the data at this time;
and (3): establishing a sensor coordinate system X by taking the MEMS accelerometer as a referenceBYBZBOf the geodetic coordinate system XOYOZOWhen the stratum moves, the sensor changes, and the acceleration of gravity in the gravity field is measured in three axes (a) of the accelerometerx，ay，az) The tilt angle θ of the accelerometer can be calculated, expressed by equation (2):
Figure FDA0003122487170000022
and (4): accelerometer in relative geodetic coordinate system Oy and OyThe inclination angle of a direction solves the offset of the direction: the spacing between adjacent accelerometers is fixed, L, with the lowermost accelerometer P0As a reference point, an accelerometer P above it during formation changes1Can be regarded as an accelerometer P0Moving on a circular arc as a center of circle, so that adjacent sensors PiPi+1Central angle alpha of the arc formediCan be expressed by formula (3):
αi＝θi+1-θi (3)
wherein ,θi+1 and θiRespectively the (i + 1) th accelerometer Pi+1And the ith accelerometer PiThe angle of inclination of (a) is,
the radius of the ith arc can be expressed by formula (4):
ri＝L/αi (4)
center CiIn an accelerometer PiThe coordinates in the coordinate system as the origin can be expressed as: ci＝[0，0，ri]TWhen is alphaiWhen not equal to 0, Pi+1In an accelerometer PiCoordinates in a coordinate system as origin
Figure FDA0003122487170000023
Can be expressed by equation (5):
Figure FDA0003122487170000024
when alpha isiWhen equal to 0, Pi+1In an accelerometer PiCoordinates in a coordinate system as origin
Figure FDA0003122487170000025
Can be expressed by equation (6) as:
Figure FDA0003122487170000026
l represents arc length (6)
Thus, Pi+1Coordinates in origin of the geodetic coordinate system O
Figure FDA0003122487170000027
Can be expressed by equation (7):
Figure FDA0003122487170000028
wherein ,
Figure FDA0003122487170000029
so as to make
Figure FDA00031224871700000210
An expression of the coordinate system as the origin in a geodetic coordinate system (O as the origin),
Figure FDA00031224871700000211
and (5): repeating the step (3) to obtain the inclination angles theta of all the accelerometersiAnd the tilt angle delta theta relative to the previous accelerometeriDue to a monitoring sub-sheetTwo MEMS accelerometers are arranged in the element and are perpendicular to each other, so that the calculation of the step (4) can be repeated to obtain the position of the same monitoring subunit at O after the stratum changesx and OyOffset in two directions epsilonxi and εyiThrough the formula (7) and the formula (8), the offset epsilon of all monitoring subunits in the space can be obtainediAnd the offset direction epsilonθi，
Figure FDA0003122487170000031
εθi＝arctan(εyi/εxi) (9)
wherein ,εxi and εyiRespectively indicate that the ith sensor is at Ox and OyOffset in two directions, epsiloniRepresenting the total offset, ε, of the ith sensor in spaceθiIndicating the offset direction of the ith sensor in space and OxThe included angle of (a).
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