CN113969573B - Gravity type penetration device and method for submarine sediment pore pressure observation probe rod - Google Patents
Gravity type penetration device and method for submarine sediment pore pressure observation probe rod Download PDFInfo
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- CN113969573B CN113969573B CN202111207355.4A CN202111207355A CN113969573B CN 113969573 B CN113969573 B CN 113969573B CN 202111207355 A CN202111207355 A CN 202111207355A CN 113969573 B CN113969573 B CN 113969573B
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D1/00—Investigation of foundation soil in situ
- E02D1/02—Investigation of foundation soil in situ before construction work
- E02D1/027—Investigation of foundation soil in situ before construction work by investigating properties relating to fluids in the soil, e.g. pore-water pressure, permeability
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L11/00—Measuring steady or quasi-steady pressure of a fluid or a fluent solid material by means not provided for in group G01L7/00 or G01L9/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume, or surface-area of porous materials
- G01N15/08—Investigating permeability, pore-volume, or surface area of porous materials
- G01N15/082—Investigating permeability by forcing a fluid through a sample
- G01N15/0826—Investigating permeability by forcing a fluid through a sample and measuring fluid flow rate, i.e. permeation rate or pressure change
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/24—Earth materials
Abstract
The invention relates to a gravity type penetration device and method for a submarine sediment pore pressure observation probe rod, and the gravity type penetration device comprises a control cabin and an observation probe rod, wherein a pressure resisting cabin and an assembly cabin are formed in the control cabin, a first lifting ring is fixed in the pressure resisting cabin, an underwater acoustic transducer, a pressure sensor and an attitude sensor are respectively installed in the first lifting ring, a mechanical lock catch driven by a first driving mechanism is installed in the assembly cabin, and a first acquisition control system and a first battery pack are installed in the pressure resisting cabin; survey probe rod includes that the surface inlays and installs the probe rod body of pore pressure sensor, and the one end of probe rod body is equipped with the penetration pointed end, and the other end is fixed with the data acquisition cabin, and the fixed second rings of one end of probe rod body are kept away from to the data acquisition cabin, installs data acquisition appearance, second acquisition control system in the data acquisition cabin to and be used for the second battery package of power supply. The method is simple and easy to use, has high working efficiency, provides real and reliable observation data for submarine geological disaster monitoring and early warning and ocean engineering construction, and has important practical significance.
Description
Technical Field
The invention relates to the technical field of ocean engineering geology and long-term observation of seabed in situ, in particular to a gravity type penetration device and method for a seabed sediment pore pressure observation probe rod.
Background
China is a large country on the verge of the sea, in recent years, the engine effect that China's ocean science and technology innovation promotes the development of the marine industry is remarkable, large-scale marine engineering construction is fiercely, the safety problem of the marine engineering construction in complex and variable marine environments is increasingly remarkable, and the development of the marine industry is important.
The seabed pore pressure observation probe rod is used as the most direct and effective seabed observation means, can continuously monitor the pore pressure change in the seabed sediment in real time for a long time, can reflect the stability change of the seabed through the monitoring of the pore pressure of the seabed sediment, and has very important significance for ensuring the safety of ocean engineering construction. The seabed sediment pore pressure observation probe rod generally needs to vertically penetrate a slender rod body integrated with a sensor into the sediment, and is recovered from the seabed after the observation task is completed, so the seabed penetration technology of the seabed pore pressure observation probe rod also becomes a great technical difficulty. At present, the seabed pore pressure observation probe rod is usually injected by a static force type injection method, namely a special large-scale injection device is used, and seabed injection force is provided in a hydraulic transmission mode to realize seabed injection of the sea sediment observation probe rod. However, the penetration method needs to develop a special static penetration device to complete penetration in a matching way, the static penetration device is often over ton in weight, large in size and high in manufacturing cost, and a common small-sized operation ship is difficult to meet the requirements of offshore operation and low in working efficiency. Huge volume and weight cause great disturbance to submarine sediments, and the actual observation result is seriously influenced. In addition, hydraulic oil is easy to leak in deep sea environment, and pollutes marine ecological environment.
Therefore, how to develop the device and the method for penetrating the submarine sediment pore pressure observation probe rod, which are simple and easy to use, high in working efficiency and capable of guaranteeing the quality of observation data, and have important practical significance in providing real and reliable observation data for submarine geological disaster monitoring and early warning and ocean engineering construction.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the gravity type penetration device and method for the submarine sediment pore pressure observation probe rod, which have the advantages of simplicity, easiness in use, high working efficiency, small disturbance and the like, and particularly can ensure the quality of observation data.
The invention is realized by the following technical scheme:
provides a gravity type penetration device of a submarine sediment pore pressure observation probe rod, which comprises a control cabin and an observation probe rod,
a sealed pressure-resistant cabin and an open assembly cabin which is connected with an observation probe rod are formed in the control cabin through a baffle, a first lifting ring is fixed on the end face of the pressure-resistant cabin on the control cabin, an underwater acoustic transducer, a pressure sensor and an attitude sensor are respectively installed on the periphery of the first lifting ring, a mechanical lock catch which is driven by a first driving mechanism to rotate to open and close is installed on the baffle in the assembly cabin, a first acquisition control system and a first battery pack for supplying power are installed in the pressure-resistant cabin, the first acquisition control system is respectively electrically connected with the underwater acoustic transducer, the pressure sensor, the attitude sensor and the first driving mechanism, and a mechanical lock catch reset window is formed outside the control cabin;
survey the probe rod and include that the surface inlays the probe rod body of installing pore pressure sensor, the one end of probe rod body is equipped with the penetration pointed end, the other end of probe rod body is fixed with the data acquisition cabin that can assemble the assembly under-deck, the one end that the probe rod body was kept away from in the data acquisition cabin is fixed with mechanical hasp complex second rings, the data acquisition instrument of being connected with the electricity between the pore pressure sensor is installed in the data acquisition cabin, be connected second acquisition control system with the data acquisition instrument electricity, and be used for the second battery package of power supply.
Furthermore, the control cabin is fixed with the lower end cover at the opening end of assembly cabin, and the control cabin has the upper end cover through threaded connection in the outside of withstanding the pressure cabin, and the control cabin outside is equipped with the balancing weight between upper end cover and lower end cover, and the lower end cover is forming the spacing recess in the one side of keeping away from the balancing weight.
The lower end cover and the upper end cover are respectively arranged at two ends of the control cabin, the balancing weight is limited and fixed through the upper end cover and the lower end cover, and a limiting groove arranged on the lower end cover can be matched with a limiting bulge on the feeler lever stop disc.
Preferably, one side of each balancing weight is provided with a bulge, the other side of each balancing weight is provided with a groove, and adjacent balancing weights are matched with each other through the bulges and the grooves.
The balancing weight is designed into a lower inclined groove structure and an upper inclined convex groove structure, and the balancing weight can be firmly installed through the cooperation of the inclined groove and the inclined convex groove, so that the direct looseness of the balancing weight and the balancing weight is prevented.
Furthermore, the other end of the probe rod body is fixed with the data acquisition cabin through a probe rod stopping disc, and a limiting protrusion which is correspondingly inserted into the limiting groove is fixed on one surface of the probe rod stopping disc in the data acquisition cabin.
The probe rod stop disc supports the data acquisition cabin when the probe rod body is in a vertical state, and the surface of the probe rod stop disc is provided with a limiting protrusion which can be inserted into a limiting protrusion on a lower end cover of the control cabin, so that the probe rod and the control cabin are prevented from sliding at the connecting position when the pore pressure of the submarine sediments is observed, and the stability of the whole body is ensured.
And the deck laying system comprises a guide rail fixedly installed on the deck of the operating ship and a sliding seat connected to the guide rail in a sliding manner, a supporting frame used for placing the penetration device is rotatably installed on the sliding seat through a rotating shaft, and a second driving mechanism capable of driving the supporting frame to rotate by 90 degrees is installed between the other end of the supporting frame, which is far away from the rotating end of the supporting frame, and the sliding seat.
Through installing the guide rail on the deck, the slip is provided with the slide, and the support frame rotates and installs on the slide, can conveniently drive the control cabin and observe the probe rod and lay and retrieve along with the slide on the deck back-and-forth movement together, and the support frame rotates through second actuating mechanism control, conveniently rotates through the support frame and drives the control cabin and observe the probe rod and realize horizontal position and vertical position's switching, is convenient for lay and retrieve.
Furthermore, the supporting frame is vertically fixed with a feeler lever limiting plate at the rotating end of the supporting frame, an open slot for the feeler lever body to pass through is formed in the feeler lever limiting plate, and the feeler lever limiting plate is vertically fixed and extends to form a supporting plate for supporting the feeler lever body at the open slot.
The open slot on the probe rod limiting plate is used for the probe rod body to pass, the supporting plate can be used for supporting the probe rod body, and meanwhile, the probe rod limiting plate is used for supporting a data acquisition cabin for observing the probe rod when the probe rod body is in a vertical state.
Furthermore, the deck arrangement system further comprises a hanging bracket which is rotatably connected with the deck and can control the rotating angle, a cable capable of being controlled to be retracted and stored is installed on the hanging bracket, and a lifting hook used for being connected with the first lifting ring is arranged at the end part of the cable.
Install steerable turned angle's gallows on the deck of operation ship, install retractable hawser on the gallows, through hawser hoist and mount injection device is whole, and the angular rotation through the gallows, can conveniently cooperate the holistic cloth of injection device to put and retrieve, guarantees to lay and puts stably.
Furthermore, the cable is sequentially provided with an ultra-short base line, a floating ball, a buoy and an anchor block in a hanging manner.
The ultra-short baseline is used for accurately positioning the seabed of the seabed sediment pore pressure observation probe rod and providing seabed position coordinates for the subsequent observation probe rod recovery work; the floating ball and the buoy can keep the mooring rope connected with the observation probe rod in a vertical state as much as possible under water through self buoyancy, so that the situation that the mooring rope is too long to wind equipment is avoided; the weight of the anchor block is 500 kg, and the mooring rope connected with the hanging rack of the operation ship is kept in a vertical state as much as possible underwater through the weight of the anchor block, so that the condition that the submarine torrent pulls the mooring rope to influence the laying effect of the observation probe rod is avoided.
A use method of a gravity type penetration device of a submarine sediment pore pressure observation probe rod comprises the following steps:
A. assembling:
a1, hoisting the whole observation probe rod through a hanger, placing the probe rod body on a supporting plate, and tightly attaching the observation probe rod stop disc to the probe rod limiting plate;
a2, placing the control cabin provided with the balancing weight in a support frame on the sliding seat;
a3, inserting and installing a data acquisition cabin of the observation probe rod and an assembly cabin at one end of a control cabin, driving a mechanical lock catch to be locked through a first driving mechanism, connecting the mechanical lock catch with a second hanging ring of the data acquisition cabin, and connecting a lifting hook of a mooring rope with a first hanging ring on the control cabin;
B. laying:
b1, keeping the attitude of the working ship stable, and controlling the hanger to release the cable and to be in a loose state;
b2, controlling the second driving mechanism to act to enable the support frame to rotate 90 degrees towards the stern of the operation ship, and driving the observation probe rod to be in a vertically downward state;
b3, controlling the swinging of the hanger to enable the cable to be in a vertical state;
b4, controlling the hanger to recover the cable, hoisting the observation probe rod, and releasing the cable to enable the observation probe rod to gradually enter water;
b6, releasing the cable continuously, wherein an ultra-short base line, a floating ball, a buoy and an anchor block are hung on the cable in sequence in the releasing process;
C. penetration:
c1, sending a command to an underwater acoustic transducer on the control cabin through an underwater acoustic communicator on the operation ship, and receiving real-time state information fed back by an attitude sensor and a pressure sensor in the control cabin;
c2, comparing the fed back real-time state information with water depth information acquired by a ship-borne depth measurement system of the operation ship, judging the distance between the observation probe rod and the seabed, and stopping releasing the mooring rope when the observation probe rod is about 50 m away from the seabed, wherein the observation probe rod is in a hovering state;
c3, hovering the observation probe rod above the sea bottom surface for 15 minutes to make the pore pressure sensor and the data acquisition instrument of the observation probe rod fully sense the environmental temperature, and then releasing the cable at the maximum speed to make the observation probe rod vertically penetrate into the sediment at the sea bottom;
c4, continuously releasing the cable for about 50 m, wherein the cable between the floating ball and the anchor block is in a loose state and is used for bearing the dragging effect on the cable caused by the shaking of the working ship due to severe sea conditions;
c5, confirming the attitude information through underwater acoustic communication, evaluating the penetration quality, sending a release command if the penetration is successfully completed, and driving the mechanical lock catch to be opened by the first driving mechanism to separate the observation probe rod from the control cabin; if the expected purpose is not achieved, the cable is recovered, the observation probe rod is pulled up, and the machine is selected to repeat the laying;
D. and (3) recovering:
d1, releasing the shipborne underwater robot after the operation ship reaches the laying position, and controlling the hanger to release the cable;
d2, controlling the underwater robot to grab the hook on the cable by using the manipulator and submerge synchronously with the hook;
d3, controlling the underwater robot to position the observation probe rod at the seabed position, and connecting the hook of the cable to a second hanging ring at the upper part of the observation probe rod by using a manipulator of the underwater robot;
d4, floating the underwater robot to a distance away from the operation area, and recovering the cable by the operation ship through the hanger.
Further, the method also comprises a step E of recovering on the deck:
e1, continuously recovering the cable, and sequentially recovering an anchor block, a buoy, a floating ball and an ultra-short base line which are hung on the cable when the probe rod is observed to ascend;
e2, moving the support frame to the position of the ship tail deck of the operation ship through the sliding seat, and controlling the second driving mechanism to act to enable the support frame to rotate 90 degrees;
e3, after the observation probe rod is discharged, controlling the hanger to rotate so as to drive the observation probe rod to integrally enter the open slot of the probe rod limiting plate and the supporting plate;
e4, controlling the hanger to release the cable, and enabling the observation probe rod stop disc to be completely attached to the probe rod limiting plate;
e5, controlling the hanger to rotate, continuously releasing the cable, controlling the second driving mechanism to act, reversely rotating the support frame by 90 degrees, finally enabling the control cabin and the observation probe rod to be in a transverse posture, pulling the support frame along the guide rail to enable the support frame to be away from the stern integrally, and completing deck recovery operation.
The invention has the beneficial effects that:
the submarine sediment pore pressure observation probe rod is arranged in a deck distribution system, is pushed horizontally into water to complete distribution, is not influenced by the lifting height of a distribution operation ship hanger, can be distributed by a common small operation ship, is high in field work safety, has the capability of completing submarine distribution under severe sea conditions, and is less restricted by field distribution conditions.
And the deck distribution system is only directly connected with the acquisition cabin at the upper part of the pore pressure probe rod, no special requirement is required for the structural size of the probe rod, the applicability is strong, the marine distribution requirement of a single system on the probe rods with various structural sizes can be met, and the equipment distribution cost is indirectly reduced.
And the control cabin presses the observation probe rod into the submarine sediment by means of gravity, extra power supply is not needed for underwater injection, the structure is simple, the number of movable parts is small, the construction cost is low, the reliability of a submarine injection system and external disturbance on the submarine sediment environment can be considered, and the quality of observation data is improved.
And fourthly, the device integrates submarine acoustic communication integrally, the remote control is disconnected with the data acquisition cabin of the observation probe rod, the reliability is high, the accurate position and posture information of the observation probe rod on the seabed can be fed back in real time, the penetration quality of the probe rod is evaluated, secondary penetration is facilitated, and the quality of the observation data is indirectly improved.
Fifthly, the gravity type injection device is easy to disassemble and maintain integrally, long in service life, convenient to assemble, integrate and arrange with the probe rod, high in arrangement efficiency, and capable of meeting the requirements of continuous, rapid and dense arrangement on the probe rod for observing a plurality of marine sediments in a short time.
Drawings
FIG. 1 is a schematic view of a control cabin according to the present invention;
FIG. 2 is a schematic view of a control cabin and a counterweight block mounting structure according to the present invention;
FIG. 3 is a schematic view of the observation probe of the present invention;
FIG. 4 is a schematic view of an assembly structure of a control cabin and an observation probe rod according to the present invention;
FIG. 5 is a schematic view of a release structure of the control cabin and the observation probe according to the present invention;
FIG. 6 is a schematic structural view of a deck deployment system of the present invention;
FIG. 7 is a schematic view of the overall structure of the present invention;
FIG. 8 is a schematic view of the integral connection structure of the gravity type penetration device of the submarine sediment pore pressure observation probe rod and the operation ship according to the present invention;
FIG. 9 is a schematic structural view of the gravity type penetration device of the sea bottom sediment pore pressure observation probe rod of the present invention assembled in use;
FIG. 10 is a schematic structural view of the gravity type penetration device for observing the pore pressure of the sediment at the bottom of the sea according to the present invention;
FIG. 11 is a schematic view of the connection structure of the cable during deployment on the seabed in accordance with the present invention;
FIG. 12 is a schematic structural view of the gravity type penetration device for observing the pore pressure of the sediment at the bottom of the sea according to the present invention;
FIG. 13 is a schematic view of the structure of the gravity type penetration device of the probe for observing the pore pressure of the sediment at the sea bottom according to the present invention;
fig. 14 is a schematic structural view of deck recovery when the submarine sediment pore pressure observation probe rod gravity type penetration device is used.
Shown in the figure:
1. the device comprises a control cabin, 2, a mechanical lock reset window, 3, threads, 4, a first hanging ring, 5, a pressure sensor, 6, an underwater acoustic transducer, 7, a counterweight block protrusion, 8, a lower end cover, 9, a limiting groove, 10, an upper end cover, 11, an electric push rod, 12, a lock shaft, 13, an F-shaped mechanical lock, 14, an assembly cabin, 15, a counterweight block, 16, a pressure-resistant cabin, 17, a second hanging ring, 18, a probe rod stopping disc, 19, a probe rod body, 20, a penetration tip, 21, a data acquisition cabin, 22, a limiting protrusion, 23, a guide rail, 24, a sliding seat, 25, a support frame, 26, a probe rod limiting plate, 27, a hydraulic support arm, 28, a support plate, 29, an open slot, 30, a working ship, 31, a deck, 32, a hanging bracket, 33, a cable, 34, an anchor block, 35, a float, 36, a floating ball, 37 and an ultra-short base line.
Detailed Description
In order to clearly illustrate the technical features of the present solution, the present solution is explained below by way of specific embodiments.
Example 1:
a gravity type penetration device of a submarine sediment pore pressure observation probe rod comprises a control cabin 1 and an observation probe rod,
a sealed pressure-resistant cabin 16 and an open assembly cabin 14 which is used for being connected with an observation probe rod are formed in the control cabin 1 through a baffle, a first hanging ring 4 is fixed on the end face of the control cabin 1 of the pressure-resistant cabin 16, an underwater acoustic transducer 6, a pressure sensor 5 and a posture sensor are respectively installed on the periphery of the first hanging ring 4, a mechanical lock catch 13 which is driven by a first driving mechanism to rotate to realize opening and closing is installed on the baffle in the assembly cabin 14, a first acquisition control system and a first battery pack used for supplying power are installed in the pressure-resistant cabin 16, the first acquisition control system is respectively and electrically connected with the underwater acoustic transducer 6, the pressure sensor 5, the posture sensor and the first driving mechanism, in the invention, the first driving mechanism is an electric push rod 11, and a mechanical lock catch reset window 2 is arranged outside the control cabin 1. The control cabin 1 is fixed with the lower end cover 8 at the open end of assembly cabin 14, and the control cabin 1 is connected with upper end cover 10 through screw thread 3 in the outside of resisting the pressure cabin 16, and the outside of control cabin 1 is equipped with balancing weight 15 between upper end cover 10 and lower end cover 8, and lower end cover 8 is being kept away from balancing weight 15 one side and is being formed with spacing recess 9. The pressure resistant cabin 16 is internally provided with a control system of the pressure sensor 5, the attitude sensor, the underwater acoustic transducer 6, the electric push rod 11 and the like, and the control system sends a general control command through the ARM processor. In addition, a 12V lithium battery pack is further installed inside the sealed pressure-resistant cabin 16 to supply power to the control system and the motor of the electric push rod 11.
The underwater acoustic transducer 6 is fixed to the top of the control cabin through a stainless steel screw, a double-layer water-proof O-shaped rubber ring is arranged at the joint, and a power supply cable and a data transmission cable of the underwater acoustic transducer 6 are respectively connected to a lithium battery pack and a first acquisition control system inside the control cabin 1. The first acquisition control system and the underwater acoustic transducer 6 perform bidirectional data communication through an RS232 interface, on one hand, the first acquisition control system can send control commands (the underwater acoustic transducer 6 wakes up, the underwater acoustic transducer 6 sleeps, acquires state information of the underwater acoustic transducer 6, resets parameters of the underwater acoustic transducer 6, sends information to the water surface, and the like) to the underwater acoustic transducer 6, and on the other hand, the first acquisition control system can execute water surface control commands (the system wakes up, the system sleeps, acquires system state information, resets system parameters, feeds back state information of the penetration device, and the like) received by the underwater acoustic transducer 6.
Inside attitude sensor passed through the screw thread installation and is fixed in control cabin 1, attitude sensor's power supply cable and data transmission cable are connected to the inside lithium cell package of control cabin 1 and first collection control system respectively. The first acquisition control system and the attitude sensor implement two-way data communication through an RS232 interface, on one hand, the first acquisition control system can send control commands (awakening the attitude sensor, sleeping the attitude sensor, acquiring state information of the attitude sensor, resetting parameters of the attitude sensor and the like) to the attitude sensor, and on the other hand, the first acquisition control system can receive state information (working state, acquisition parameters, attitude data and the like) of the attitude sensor.
The electric push rod 11 of the first driving mechanism is fixed at the bottom of the control cabin 1 through thread installation, a double-layer water-proof O-shaped rubber ring is arranged at the joint, and a power supply cable and a data transmission cable of the electric push rod 11 are respectively connected to a lithium battery pack and a first acquisition control system inside the control cabin 1. The first acquisition control system and the electric push rod 11 perform two-way data communication through an RS232 interface, on one hand, the first acquisition control system can send control commands (the electric push rod 11 wakes up, the electric push rod 11 sleeps, acquires state information of the electric push rod 11, resets parameters of the electric push rod 11 and the like) to the electric push rod 11, and on the other hand, the first acquisition control system can receive the state information, the working state, the driving parameters and the like of the electric push rod 11.
Wherein: one side of each balancing weight 15 is provided with a bulge, the other side of each balancing weight 15 is provided with a groove, and the adjacent balancing weights 15 are matched with each other through the bulges and the grooves. The mounting number of the balancing weights 15 can be determined according to the parameters such as the strength and the properties of the submarine sediments at the submarine sediment laying station observed by the pore pressure of the submarine sediments, and after the balancing weights are mounted, the upper end cover 10 is screwed down along the fastening threads of the upper end cover, so that the balancing weights 15 and the control cabin 1 can be firmly mounted. A lower end cover 8 at the bottom of the control cabin 1 is provided with a limiting groove which can be matched with a limiting bulge 22 of a seabed penetration system of the seabed sediment pore pressure observation probe rod for installation, so that the connection position of the control cabin and the seabed sediment pore pressure observation probe rod is prevented from sliding to influence the field laying effect.
Survey probe rod and include that the surface inlays the probe rod body 19 who installs pore pressure sensor, the one end of probe rod body 19 is equipped with and penetrates pointed end 20, the other end of probe rod body 19 is fixed with the data acquisition cabin 21 that can assemble in the assembly cabin 14, the one end that probe rod body 19 was kept away from in data acquisition cabin 21 is fixed with and mechanical hasp 13 complex second rings 17, install in the data acquisition cabin 21 with the pore pressure sensor between the electricity be connected data acquisition appearance, be connected second acquisition control system with data acquisition appearance electricity. The probe rod stopping disc 18 is used for preventing the influence on the field laying effect caused by excessive settlement of the probe rod due to the self weight of the observation probe rod after the observation probe rod is laid on the seabed. The upper part of the probe rod stopping disc 18 is provided with 4 seabed penetration system limiting bulges 22 which are used for being matched with the limiting groove 9 of the lower end cover 8 at the bottom of the seabed penetration system control cabin 1 to be installed, so that the connection position of the submarine sediment pore pressure observation probe rod and the seabed penetration system is prevented from sliding.
The pore pressure sensor is fixed on the probe rod body 19 through thread installation, a power supply cable and a data transmission cable of the pore pressure sensor are coated by waterproof materials and are connected to the data acquisition cabin 21 through watertight connectors, and the power supply cable and the data transmission cable of the pore pressure sensor are respectively connected to the lithium battery pack and the data acquisition instrument inside the data acquisition cabin 21. The data acquisition instrument receives the sensing signal fed back by the pore pressure sensor and converts the sensing signal into pore pressure data, and the data is stored in an SD memory card arranged in the data acquisition instrument. Two-way data communication is implemented between the second acquisition control system and the data acquisition instrument through an RS232 interface, on one hand, the second acquisition control system can send control commands (awakening the data acquisition instrument, sleeping the data acquisition instrument, acquiring state information of the data acquisition instrument, resetting parameters of the data acquisition instrument and the like) to the data acquisition instrument, and on the other hand, the second acquisition control system can receive state information (working state, acquisition parameters, pore pressure data and the like) of the data acquisition instrument. The second acquisition control system is internally provided with a Wi-Fi wireless signal transmitter and carries out wireless data communication transmission with the computer through an electromagnetic wave wireless communication technology.
The other end of the probe rod body 19 is fixed with the data acquisition cabin 21 through the probe rod stop disc 18, and the probe rod stop disc 18 is fixed with a limit protrusion 22 which is correspondingly inserted into the limit groove 9 on one side of the data acquisition cabin 21.
The pressure sensor 5 is used for measuring the position depth of the penetration device underwater in real time; the attitude sensor is used for acquiring data such as underwater three-dimensional attitude, orientation and the like of the penetration device in real time; the underwater acoustic transducer 6 is used for maintaining real-time data communication with the operation ship and transmitting state information such as depth, attitude and the like of the penetration device. A mechanical lock catch 13 is installed in an assembly cabin 14 at one end of the control cabin, a second hanging ring 17 of a data acquisition cabin 21 of the observation probe rod is connected with an F-shaped mechanical lock catch 13 through the assembly cabin 14, and the F-shaped mechanical lock catch 13 is fixed through a lock shaft 12 and can rotate around the lock shaft 12. The mechanical lock catch 13 in the shape of "F" can be controlled to be in a locked state or a released state by the electric push rod 11.
The assembly of the control cabin 1 and the submarine sediment pore pressure observation probe rod is completed through an F-shaped mechanical lock catch 13. When the control cabin 1 is connected with the submarine sediment pore pressure observation probe rod, a release command is sent to the underwater acoustic transducer 6 at the top of the submarine penetration system control cabin 1 through the underwater acoustic communication machine, so that the F-shaped mechanical lock catch 13 is in a release state (as shown in figure 5), and at the moment, the electric push rod 11 is in a contraction state; then, the F-shaped mechanical lock 13 is adjusted to a proper installation angle through the lock reset window 2, and the data acquisition cabin 21 of the submarine sediment pore pressure observation probe and the assembly cabin 14 of the control cabin 1 are aligned and slowly pushed to the bottom; and (3) sending a locking command to an underwater acoustic transducer of the control cabin through an underwater acoustic communication machine, so that the F-shaped mechanical lock catch 13 is in a locking state (as shown in figure 4), and the control cabin 1 is connected with the submarine sediment pore pressure observation probe rod.
The gravity type penetration device further comprises a deck arrangement system, the deck arrangement system comprises a guide rail 23 fixedly installed on a deck 21 of the operation ship 30 and a sliding seat 24 connected to the guide rail 23 in a sliding mode, a supporting frame 25 used for placing the penetration device is installed on the sliding seat 24 in a rotating mode through a rotating shaft, and a second driving mechanism capable of driving the supporting frame 2590 degrees to rotate is installed between the other end, far away from the rotating end, of the supporting frame 25 and the sliding seat 24.
In the present invention, the second drive mechanism is a hydraulic arm 27.
The supporting frame 25 is vertically fixed with a probe rod limiting plate 26 at a rotating end thereof, an open slot 29 for the probe rod body 19 to pass through is formed in the probe rod limiting plate 26, and a supporting plate 28 for supporting the probe rod body 19 is vertically fixed and extended at the open slot 29 of the probe rod limiting plate 26.
The deck arrangement system further comprises a hanging bracket 32 which is rotatably connected with the deck 31 and can control the rotating angle, a cable 33 which can control the retraction and the release is mounted on the hanging bracket 32, and a lifting hook which is used for being connected with the first lifting ring is arranged at the end part of the cable 33. The cable 33 is sequentially hung with an ultra-short base line 37, a floating ball 36, a float 35 and an anchor block 34.
The guide rail 23 is fixedly installed at the end of the rear deck 31 by anchor bolts, and the guide rail 23 is immovable. The hydraulic arm 27, the support bracket 25, the support plate 28, etc. are movable back and forth on the guide rail by means of the slide. The hydraulic support arm is connected with a shipborne external power supply, so that the support frame can be turned over by 90 degrees. The support frame 25 is used for providing a supporting force for the control cabin 1. The supporting plate 28 is used for providing supporting force for the submarine sediment pore pressure observation probe rod, protecting the connection position of the control cabin 1 and the submarine sediment pore pressure observation probe rod, and avoiding the fracture of the observation probe rod caused by excessive stress.
Example 2:
a use method of a submarine sediment pore pressure observation probe rod gravity type penetration device comprises the following steps:
A. assembling:
a1, hoisting the whole observation probe rod by the hanger 32, placing the probe rod body 19 on the support plate 28, and tightly attaching the observation probe rod stop disc 18 to the probe rod limit plate 26;
a2, placing the control cabin 1 provided with the counterweight 15 in the support frame 25 on the sliding seat 24;
a3, inserting and installing the data acquisition cabin 21 of the observation probe rod and the assembly cabin 14 at one end of the control cabin 1, driving the mechanical lock catch 13 to be locked through the electric push rod 11, connecting the mechanical lock catch 13 with the second hanging ring 17 of the data acquisition cabin 21, and connecting the hanging hook of the cable 33 with the first hanging ring 4 on the control cabin 1;
B. laying:
b1, keeping the attitude of the working ship 30 stable, and controlling the hanger 32 to release the cable 33 and be in a loose state;
b2, controlling the hydraulic support arm 27 to act to enable the support frame 25 to rotate 90 degrees towards the stern of the operation boat 30, and driving the observation probe rod to be in a vertically downward state;
b3, controlling the hanger 32 to swing to make the cable 33 in a vertical state;
b4, controlling the hanger 32 to recover the cable 33, hoisting the observation probe rod, and releasing the cable 33 to enable the observation probe rod to gradually enter water;
b6, releasing the cable 33 continuously, wherein an ultra-short base line 37, a floating ball 36, a float 35 and an anchor block 34 are hung on the cable 33 in sequence in the releasing process;
C. penetration:
c1, sending a command to the underwater acoustic transducer 6 on the control cabin 1 through an underwater acoustic communicator on the working ship 30, and receiving real-time state information fed back by the attitude sensor and the pressure sensor 5 in the control cabin 1;
c2, comparing the fed back real-time state information with the water depth information acquired by the shipborne depth measurement system of the operation ship 30, judging the distance from the observation probe rod to the seabed, stopping releasing the mooring rope 33 when the observation probe rod is about 50 m away from the seabed, and hovering the observation probe rod at the position 50 m above the seabed surface for 15 minutes to enable the pore pressure sensor and the data acquisition instrument of the observation probe rod to fully sense the environmental temperature;
c3, releasing the cable 33 at maximum speed to make the observation probe vertically penetrate into the sediment on the sea bottom; continuously releasing the cable 33 for about 50 m, wherein the cable 33 between the floating ball 36 and the anchor block 34 is in a loose state and is used for bearing the dragging effect on the cable 33 caused by the shaking of the working ship 30 due to severe sea conditions;
c4, confirming the attitude information through underwater acoustic communication, evaluating the penetration quality, sending a release command if the penetration is successfully completed, and opening by using the mechanical lock 13 buckle to separate the observation probe rod from the control cabin 1; if the expected purpose is not achieved, the cable 33 is recovered, the observation probe rod is pulled up, and the machine selection is repeated;
D. and (3) recovering:
d1, after the operation boat 30 reaches the laying position, releasing the shipborne underwater robot, and controlling the hanging bracket 32 to release the cable 33;
d2, controlling the underwater robot to grab the hook on the cable 33 by using the manipulator and submerge synchronously with the hook;
d3, controlling the underwater robot to position the observation probe at the seabed position, and connecting the hook of the cable 33 to the second hanging ring 17 at the upper part of the observation probe by using the manipulator of the underwater robot;
d4, the underwater robot floats up away from the work area, and the work vessel 30 recovers the cable 33 through the hanger 32.
E. Recovery on deck 31:
e1, continuously recovering the cable 33, and sequentially recovering the anchor block 34, the float 35, the floating ball 36 and the ultra-short base line 37 hung on the cable 33 in the process of observing the rising of the probe rod;
e2, moving the support frame 25 to the stern deck 31 of the operation ship 30 through the sliding seat 24, and controlling the hydraulic arm 27 to rotate the support frame 25 by 90 degrees;
e3, after the probe rod to be observed is discharged, controlling the hanger 32 to rotate so as to drive the whole probe rod to enter the open slot 39 of the probe rod limiting plate 26 and the supporting plate 28;
e4, controlling the hanger 32 to release the cable 33, so that the observation probe rod stop disc 18 is completely attached to the probe rod stop plate 26;
e5, controlling the rotation of the hanger 32, continuously releasing the cable 33, controlling the action of the hydraulic support arm 27, reversely rotating the support frame 25 by 90 degrees, finally enabling the control cabin 1 and the observation probe rod to be in a transverse posture, pulling the support frame 25 along the guide rail 23 to integrally move away from the stern, and completing the recovery operation of the deck 31.
Of course, the above description is not limited to the above examples, and the undescribed technical features of the present invention can be implemented by or using the prior art, and will not be described herein again; the above embodiments and drawings are only for illustrating the technical solutions of the present invention and not for limiting the present invention, and the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that changes, modifications, additions or substitutions within the spirit and scope of the present invention may be made by those skilled in the art without departing from the spirit of the present invention, and shall also fall within the scope of the claims of the present invention.
Claims (6)
1. The utility model provides a submarine sediment pore pressure surveys probe rod gravity type injection device which characterized in that: comprises a control cabin and an observation probe rod,
a sealed pressure-resistant cabin and an open assembly cabin which is connected with an observation probe rod are formed in the control cabin through a baffle, a first lifting ring is fixed on the end face of the pressure-resistant cabin on the control cabin, an underwater acoustic transducer, a pressure sensor and an attitude sensor are respectively installed on the periphery of the first lifting ring, a mechanical lock catch which is driven by a first driving mechanism to rotate to open and close is installed on the baffle in the assembly cabin, a first acquisition control system and a first battery pack for supplying power are installed in the pressure-resistant cabin, the first acquisition control system is respectively electrically connected with the underwater acoustic transducer, the pressure sensor, the attitude sensor and the first driving mechanism, and a mechanical lock catch reset window is formed outside the control cabin;
the observation probe rod comprises a probe rod body, wherein a pore pressure sensor is embedded in the surface of the probe rod body, a penetrating tip is arranged at one end of the probe rod body, a data acquisition cabin capable of being assembled in the assembly cabin is fixed at the other end of the probe rod body, a second lifting ring matched with the mechanical lock catch is fixed at one end, far away from the probe rod body, of the data acquisition cabin, a data acquisition instrument electrically connected with the pore pressure sensor, a second acquisition control system electrically connected with the data acquisition instrument and a second battery pack for supplying power are arranged in the data acquisition cabin; the other end of the probe rod body is fixed with the data acquisition cabin through a probe rod stopping disc, and a limiting bulge which is correspondingly inserted into the limiting groove is fixed on one surface of the data acquisition cabin through the probe rod stopping disc;
the device comprises a working ship, a guide rail, a sliding seat, a second driving mechanism and a first driving mechanism, wherein the working ship is provided with a working platform, the first driving mechanism is arranged at one end of the working platform, the second driving mechanism is arranged at the other end of the working platform, the working platform is arranged at the other end of the working platform, the second driving mechanism is arranged at the other end of the working platform, the working platform is arranged at the other end of the working platform, and the working platform is arranged at the other end of the working platform; a probe rod limiting plate is vertically fixed at the rotating end of the support frame, an open slot for the probe rod body to pass through is formed in the probe rod limiting plate, and a supporting plate for supporting the probe rod body is vertically fixed and extends at the open slot of the probe rod limiting plate; the deck arrangement system further comprises a hanging bracket which is rotatably connected with the deck and can control the rotation angle, a cable capable of being controlled to be folded and unfolded is installed on the hanging bracket, and a lifting hook used for being connected with the first lifting ring is arranged at the end of the cable.
2. The submarine sediment pore pressure observation probe gravity type penetration device according to claim 1, wherein: the control cabin is fixed with the lower end cover at the opening end of assembly cabin, and the control cabin has the upper end cover through threaded connection in the outside of withstanding voltage cabin, and the control cabin outside is equipped with the balancing weight between upper end cover and the lower end cover, and the lower end cover is forming the spacing recess in the one side of keeping away from the balancing weight.
3. The submarine sediment pore pressure observation probe gravity type penetration device according to claim 2, wherein: one side of each balancing weight is provided with a bulge, the other side of each balancing weight is provided with a groove, and adjacent balancing weights are matched with each other through the bulges and the grooves.
4. The submarine sediment pore pressure observation probe gravity type penetration device according to claim 1, wherein: the cable is sequentially provided with an ultra-short base line, a floating ball, a buoy and an anchor block in a hanging manner.
5. The use method of the submarine sediment pore pressure observation probe gravity type penetration device of any one of claims 1 to 4, wherein the gravity type penetration device comprises the following steps: the method comprises the following steps:
A. assembling:
a1, hoisting the whole observation probe rod through a hanger, placing the probe rod body on a support plate, and tightly attaching the observation probe rod stop disc to the probe rod limiting plate;
a2, placing the control cabin provided with the balancing weight in a support frame on the sliding seat;
a3, inserting and installing a data acquisition cabin of the observation probe rod and an assembly cabin at one end of a control cabin, driving a mechanical lock catch to be locked through a first driving mechanism, connecting the mechanical lock catch with a second hanging ring of the data acquisition cabin, and connecting a lifting hook of a mooring rope with a first hanging ring on the control cabin;
B. laying:
b1, keeping the attitude of the working ship stable, and controlling the hanger to release the cable and to be in a loose state;
b2, controlling the second driving mechanism to act to enable the support frame to rotate 90 degrees towards the stern of the operation ship, and driving the observation probe rod to be in a vertically downward state;
b3, controlling the swinging of the hanger to enable the cable to be in a vertical state;
b4, controlling the hanger to recover the cable, hoisting the observation probe rod, and releasing the cable to enable the observation probe rod to gradually enter water;
b6, releasing the cable continuously, wherein an ultra-short base line, a floating ball, a buoy and an anchor block are hung on the cable in sequence in the releasing process;
C. and (3) penetration:
c1, sending a command to an underwater acoustic transducer on the control cabin through an underwater acoustic communicator on the operation ship, and receiving real-time state information fed back by an attitude sensor and a pressure sensor in the control cabin;
c2, comparing the fed back real-time state information with water depth information acquired by a ship-borne depth measurement system of the operation ship, judging the distance between the observation probe rod and the seabed, and stopping releasing the mooring rope when the observation probe rod is about 50 m away from the seabed, wherein the observation probe rod is in a hovering state;
c3, hovering the observation probe rod above the sea bottom surface for 15 minutes to make the pore pressure sensor and the data acquisition instrument of the observation probe rod fully sense the environmental temperature, and then releasing the cable at the maximum speed to make the observation probe rod vertically penetrate into the sediment at the sea bottom;
c4, continuously releasing the cable for about 50 m, wherein the cable between the floating ball and the anchor block is in a loose state and is used for bearing the dragging effect on the cable caused by the shaking of the working ship due to severe sea conditions;
c5, confirming the attitude information through underwater acoustic communication, evaluating the penetration quality, sending a release command if the penetration is successfully completed, and driving the mechanical lock catch to be opened by the first driving mechanism to separate the observation probe rod from the control cabin; if the expected purpose is not achieved, the cable is recovered, the observation probe rod is pulled up, and the machine is selected to repeat the laying;
D. and (3) recovering:
d1, releasing the shipborne underwater robot after the operation ship reaches the laying position, and controlling the hanger to release the cable;
d2, controlling the underwater robot to grab the hook on the cable by using the manipulator and submerge synchronously with the hook;
d3, controlling the underwater robot to position the observation probe rod at the seabed position, and connecting the hook of the cable to a second hanging ring at the upper part of the observation probe rod by using a manipulator of the underwater robot;
d4, floating the underwater robot to a distance away from the operation area, and recovering the cable by the operation ship through the hanger.
6. The use method of the submarine sediment pore pressure observation probe gravity type penetration device according to claim 5, wherein the use method comprises the following steps: further comprises a step E of recovering on the deck:
e1, continuously recovering the cable, and sequentially recovering an anchor block, a buoy, a floating ball and an ultra-short base line which are hung on the cable when the probe rod is observed to ascend;
e2, moving the support frame to the position of the ship tail deck of the operation ship through the sliding seat, and controlling the second driving mechanism to act to enable the support frame to rotate 90 degrees;
e3, after the observation probe rod is drained, controlling the hanger to rotate so as to drive the observation probe rod to integrally enter the open slot of the probe rod limiting plate and the supporting plate;
e4, controlling the hanger to release the cable, and enabling the observation probe rod stop disc to be completely attached to the probe rod limiting plate;
e5, controlling the hanger to rotate, continuously releasing the cable, controlling the second driving mechanism to act, reversely rotating the support frame by 90 degrees, finally enabling the control cabin and the observation probe rod to be in a transverse posture, pulling the support frame along the guide rail to enable the support frame to be away from the stern integrally, and completing deck recovery operation.
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