CN116106496A - Throwing type detection device and gas-water-soil all-medium detection method - Google Patents
Throwing type detection device and gas-water-soil all-medium detection method Download PDFInfo
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Abstract
The invention discloses a throwing type detection device and a gas-water-soil all-medium detection method, wherein the detection device comprises a probe arrangement module, a probe main body and a unhooking module, the probe arrangement module refers to an unmanned operation system, so that the arrangement position is accurately fixed, the problem that the current detection equipment arrangement has high dependence on sea conditions is overcome through unmanned throwing type design, the balance of the actual arrangement position and throwing is controlled by combining actual conditions, reliable detection parameters are ensured to be obtained, remote control arrangement recovery and remote in-situ ocean detection and long-term monitoring are realized, the remote control type detection device is used for rapidly realizing sky, ocean profile and ocean sediment high-efficiency detection under any operation condition, remote arrangement under any sea area and any operation condition is realized, and the operation safety of staff is effectively ensured.
Description
Technical Field
The invention belongs to the technical field of ocean observation, and particularly relates to a throwing type detection device and a gas-water-soil all-medium detection method based on the same.
Background
The development to the deep open sea is the development direction of the development of the seabed. For the deep open sea detection equipment, the equipment is also developed from large complex equipment to portable and simple equipment. Currently, for marine exploration, probe-like exploration equipment is the most commonly used equipment. At present, the operation modes of various probes depend on a mother ship, and the probes are penetrated through static force by operating through tools such as optical cables and the like by means of various seabed laying devices; or the unhooking arrangement is carried out at a certain distance from the sea bottom by means of the self gravity of the probe (installing a counterweight), and the probe is penetrated into sediment by means of the self gravity of the probe. Meanwhile, the current detection medium has singleness, and for detection methods of different mediums (such as air, sea water and sediment), corresponding sensors are distributed in a single medium, so that the detection equipment for crossing two mediums is very rare, and the equipment and the method for crossing three mediums are not present.
With the development of various unmanned equipment, equipment such as unmanned aerial vehicles, unmanned ships and the like is also applied to the fields such as ocean mapping, ocean engineering and the like. The unmanned equipment has the advantages of flexible operation and mobility, and particularly has the remarkable advantages of fixed-point and timed throwing of various unmanned equipment to various positions along with the development of the current navigation positioning technology. Especially in recent years, various unmanned aerial vehicles are utilized for positioning and mapping, and the application range of various unmanned equipment is greatly expanded due to heavy load transportation. Therefore, in the technical field of ocean observation, multi-medium detection is possible by combining an unmanned aerial vehicle.
Disclosure of Invention
The invention provides a throwing type detection device and a method for carrying out remote throwing and arrangement and automatic recovery based on the device, which are used for solving the difficult problems of cross-medium detection and equipment arrangement and recovery, so as to realize high-efficiency and low-cost detection of air, ocean profile and submarine sediments and really realize in-situ measurement of different mediums at a remote end.
The invention is realized by adopting the following technical scheme: a throwing type detection device comprises a probe arrangement module, a probe main body and an unhooking module; the probe laying module adopts an unmanned operation system and comprises an unmanned ship and an unmanned laying unit; the unhooking module is used for connecting the unmanned placing unit and the probe main body, and separating the unmanned placing unit from the probe main body is realized through remote control of the unhooking module;
the probe main body comprises a self-returning unit, a detection unit and an automatic control wing, wherein the automatic control wing is arranged between the self-returning unit and the detection unit to realize speed adjustment and posture adjustment of the probe main body, and the detection unit comprises a multi-element probe and a counterweight to realize detection of relevant parameters in gas-water-soil and transmit relevant data to the self-returning unit; the self-returning unit comprises a control cabin, a floating body and a releasing unit, wherein the posture of the self-returning probe in the falling process in the ocean is monitored and controlled through a control system in the control cabin, and the releasing unit is used for controlling the releasing probe to automatically return to the water surface in combination with the floating body and return data.
Further, the release unit is used for separating the self-returning unit from the detection unit and comprises an electronic component cabin, a fixed ring, a transmission end and a releaser;
the electronic component cabin is internally provided with a main control element for realizing data acquisition and storage and integral control of the device, the fixed transmission end is connected with the electronic component cabin through a fixed ring and is used for transmitting various control signals and acquisition data, the upper part and the lower part of the transmission end are sockets of watertight connectors respectively, and locking threads are formed on the peripheries of the transmission end and are used for being locked with a lower end cover of the control cabin; the socket below the transmission end adopts a half-ring socket design; the bottom of the transmission end is fixedly connected with the releaser, so that the connection and separation of the self-returning unit and the detection unit are realized.
Further, the multi-element probe is used for detecting the submarine sediment and comprises cone tips, mounting rings and probe sections, each probe section is provided with different sensing units, and adjacent probe sections are fixedly connected through the mounting rings.
Furthermore, the periphery of the floating body is provided with guide wings, and the guide wings are vertically penetrated and provided with guide holes.
Further, the automatic control wing comprises a rotating shaft and a plurality of angle-adjustable wing plates arranged along the circumference of the rotating shaft, the automatic control wing can automatically rotate and adjust, the head-on area is changed, the falling speed control and the probe posture adjustment are realized, the self-returning unit is prevented from sinking into sediment, and the self-returning failure of the self-returning cabin caused by sediment adsorption is prevented.
The invention further provides a gas-water-soil all-medium detection method based on the throwing type detection device, which comprises the following steps of:
step A, determining the actual placement point position of a probe main body according to the actual detection point position and combining wave analysis;
considering that the detection device receives the horizontal acting force generated by the action of water flow when moving in water, and then generates horizontal displacement S, the position at the horizontal distance S from the incoming flow direction of the real detection point is the actual placement point position:
wherein m is the mass of the detection device, F x (t) is the horizontal force generated by the waves, a Horizontal level Acceleration in the horizontal direction, a Vertical and vertical Acceleration in the vertical direction, t is time, and H is water depth;
step B, arranging a probe main body at an actual arrangement point through an unmanned arrangement unit, realizing the regulation and control of the movement speed and the gesture in the air and the water through controlling an automatic control wing, and acquiring the parameters of the air-water-soil medium based on the multi-element probe;
step B1, detecting in the air: the motion of the detection device in the air accords with the free falling motion, the sampling frequency is set, the isomorphic automatic control wing adjusts the motion gesture of the detection device in the air, and the air related parameter information is collected;
step B2, detecting in water: the probe is sunk under the action of gravity, the control system monitors the posture of the detection device in real time in the sinking process, and under the action of the guide wings, the guide holes and the automatic control wings, the detection device keeps in a vertical state in real time, and the measurement of seawater is synchronously started in the moving process in water;
step B3, sediment measurement: after the probe is thrown to the seabed, the gravity is greater than the buoyancy, and the probe penetrates into the seabed sediment due to the gravity effect, so that the physical and chemical characteristics of the sediment are obtained;
and C, completing the detection task, completing the separation of the self-returning unit and the detection unit, and recycling the self-returning unit.
Further, in the step B, the method further includes a step of setting a sampling frequency, and the principle of the sampling frequency is consistent when the air and the water move, specifically:
assuming that the height of the detector is h when moving in the air, the time of the detector moving in the air is:
wherein ρ is air density, C is resistance coefficient, S Total (S) Is the maximum cross-sectional area of the detection device; the sampling frequency in air can then be determined from the required data quantity n:
/>
compared with the prior art, the invention has the advantages and positive effects that:
the scheme creatively realizes a plurality of detection technical methods on the same equipment, effectively solves the problem of cross-medium detection, overcomes the problems of extremely high dependence on offshore environment and high operation cost when the current probe equipment is deployed, realizes accurate fixed-point and timed remote deployment of various probe equipment under any sea condition, and ensures the safety of deployment and recovery; through unmanned throwing type design, the problem that the current detection equipment is high in dependence on sea conditions is overcome, remote control of arrangement recovery and remote realization of ocean in-situ detection and long-term monitoring are realized, and the unmanned throwing type marine deep sea detector is used for rapidly and efficiently detecting sky, ocean profile and submarine sediments under any operation condition, remote arrangement of any sea area and any operation condition is realized, and safety of operation of workers is guaranteed.
Drawings
FIG. 1 is a schematic diagram of a deployment and recovery process of a throwing type detection device according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an unmanned placement unit and a probe body according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of an unmanned placement unit according to an embodiment of the present invention;
FIG. 4 is a schematic view of a probe body according to an embodiment of the present invention
FIG. 5 is a schematic view of an exploded view of a probe body according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a floating body structure according to an embodiment of the present invention;
FIG. 7 is a schematic view of a releasing unit according to an embodiment of the invention
FIG. 8 is a schematic view of a releaser according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of a half-ring socket according to an embodiment of the present invention;
fig. 10 is a schematic view of a counterweight structure according to an embodiment of the invention.
Detailed Description
In order that the above objects, features and advantages of the invention will be more readily understood, a further description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced otherwise than as described herein, and therefore the present invention is not limited to the specific embodiments disclosed below.
Embodiment 1, this embodiment proposes a throwing type detection device, as shown in fig. 1 and 2, including a probe arrangement module, a probe body 2, and a unhooking module 3; the probe laying module refers to an unmanned operation system, the unmanned operation system consists of an unmanned ship and an unmanned laying unit 1, the unmanned ship is not used as a key component of the unmanned operation system, and can be replaced by various mother ships, airplanes and other devices at the same time. The unmanned laying unit 1 mainly comprises an unmanned aerial vehicle, a remote control antenna and a releaser. The unmanned aerial vehicle is the core of unmanned operating system, is equipped with remote control antenna on it, mainly is used for carrying out the communication of control signal, unhook signal through wireless signal, and the inside iridium satellite positioning device that has only of control antenna simultaneously can accurate fixed point confirms the position of putting, not only can be used to the location that the probe was put, can also be used to confirm unmanned aerial vehicle's position. The unhooking module 3 on the unmanned aerial vehicle is mainly used for connecting the probe main body 2, and the opening of the releaser can be realized through remote control, so that the separation of the unmanned aerial vehicle and the probe main body 2 is realized.
The probe main body 2 comprises a self-returning unit 21, a detection unit 22 and an automatic control wing 23, as shown in fig. 2, the automatic control wing 23 is arranged between the self-returning unit 21 and the detection unit 22 to realize speed adjustment and posture adjustment of the probe main body 2, the automatic control wing 23 comprises a rotating shaft and a plurality of angle-adjustable wing plates arranged along the circumference of the rotating shaft, the automatic control wing 23 can rotate and adjust according to different mediums, and the included angle between each wing plate and the resistance direction is changed, so that the area of blocked force is changed, and the integral falling speed of the equipment is adjusted; meanwhile, the automatic control wings can be rotationally adjusted according to the postures of different mediums, so that the postures of the device are changed, and the vertical downward direction in the device is ensured; in addition, the automatic control wing is adjusted when the equipment penetrates into the sediment, so that the self-returning unit is ensured not to penetrate into the sediment, and the self-returning failure caused by sediment suction of the self-returning unit is prevented. As shown in fig. 4 and 5, the detecting unit 22 includes a multi-element probe 221 and a counterweight 222 to enable detection of various parameters of the seabed sediment, and transmits the related data to the self-returning unit 21; the self-returning unit 21 comprises a control cabin 211, a floating body 212 and a releasing unit 214, wherein the posture of the self-returning probe in the falling process in the ocean is monitored and controlled through a control system in the control cabin 211, the releasing probe is controlled through the releasing unit 214, and the self-returning probe is combined with the floating body 212 to automatically return to the water surface and return data.
Specifically, as shown in fig. 5, the control cabin 211 is made of a high-pressure resistant material, and includes a communication positioning antenna 215, an upper end cover 216, a lower end cover 218, and a housing 217. The main function of the control cabin 211 is to house the control system and the release unit 214, avoiding short circuit of electronic circuits, damage of electronic components, etc. caused by water inflow. The communication positioning antenna performs communication and positioning through a satellite, when the self-return unit 21 floats to the sea surface, collected data is returned through satellite communication, and positioning information is sent at the same time for salvaging the self-return unit 21. The upper end cap 216 is a sealing link of the control cabin 211, on which a debugging port is reserved in advance, and the housing 217 is made of a high-pressure-resistant material with a certain thickness, and mainly prevents seawater from entering the cabin. The lower end cap 218 is a part of the control pod 211 that is sealed and has a locking hole formed therein for coupling and sealing with the release unit 214.
In addition, with continued reference to fig. 6, the main material of the floating body 212 is glass beads, the periphery of the floating body 212 is provided with the guiding wings 218, and the main function of the floating body 212 is to provide buoyancy, so that the floating body can smoothly float up to the sea after being separated from the return unit 21 and the detecting unit 22. The guide wings 218 are vertically penetrated with guide holes 219, so that the sea water flows along the guide holes in the sinking or floating process of the equipment, and the posture of the equipment can be kept vertical. While the deflector fins 218 reduce drag of the equipment during sinking. The design of floating body 212 considers the location of the center of gravity and the center of buoyancy of the device, ensures that the probe remains vertical during the submerged process, ensures that the probe can be inserted into the sediment at a vertical angle, and further ensures the validity of the detection data.
As shown in fig. 7 and 9, the release unit 214 mainly includes an electronic component compartment 141, a fixing ring 142, a transfer end 144, and a release 146. The main function of the release unit 214 is to separate the self-returning unit 21 from the detecting unit 22 after the equipment completes the detecting operation, so as to ensure the smooth recovery of the collected data. The electronic component cabin 141 stores various electronic components and circuits of a control system and a release system for data acquisition and storage and overall control of the device. The fixing ring 142 is used for fixing the transmission end 144 and the electronic component cabin 141, and the electronic component cabin 141 and the transmission end 144 cannot fall off due to penetration impact. The transmission end 144 is used for transmitting various control signals and collecting data, the upper and lower parts of the transmission end 144 are respectively sockets 143 of watertight connectors, and locking threads are formed on the periphery of the transmission end and used for locking with the lower end cover 218 of the control cabin; the socket below the transmission end 144 adopts the design of the half-ring socket 147, which can ensure that the transmission cable is not loosened in the sinking process, but the transmission cable can be easily loosened and pulled out after the self-returning unit 21 is separated from the detection unit 22; the bottom of the transmission end 144 is provided with a fixing hole 145 for fixedly connecting with a releaser 146. The releaser 146 is connected with the transmission end 144 through the fixing hole 145, and has a main function of realizing connection and separation of the self-returning unit 21 and the detection unit 22; the release switch of the release 146 is a hole position with a fixed structure overlapped with a movable structure, as shown in fig. 8, the structure principle of the release is mature, and not described in detail herein, the release 146 is kept closed in the process of probe deployment, when a release unit signal is given to the release 146 at the sea surface, the release 146 is opened, and the self-returning unit is separated from the detection unit under the buoyancy effect.
In this embodiment, the counterweight 222 is a lead block, and is placed at the lower part of the self-returning unit 21 as shown in fig. 10, so as to ensure that the center of gravity of the equipment is moved downward as a whole. The upper hanging ring 223 is mainly fixed to the bearing hole of the releaser 146, so as to ensure the connection between the self-returning unit 21 and the detecting unit 22. The weight 222 has a line passage 224 formed therein for passage of a transmission cable. The weight plate area is significantly larger than the bottom probe diameter to prevent penetration of the self-returning unit with the probe into the interior of the sediment.
The multi-element probe 221 is the core component of the probe unit, which is mainly composed of a cone tip, a mounting ring and a probe segment, and has the main function of realizing the detection of the submarine sediment. The multi-element probe 221 adopts a modularized design, each probe section is provided with different sensing units, the probe sections can be replaced according to different detection requirements and detection depths, the two sections are connected and fixed by a mounting ring, and the cone tip is mainly used for reducing the area when penetrating into sediment and increasing the pressure intensity.
In embodiment 2, the gas-water-soil all-medium detection method based on the throwing type detection device is combined with the throwing type detection device, and the gas-water-soil all-medium detection process is as follows:
the device is arranged in the process of air, ocean and sediment, and the device mainly moves vertically in the air (considering the short time of the movement in the air, and temporarily not considering the horizontal deflection caused by wind power); the motion time in the ocean is longer, and the horizontal force generated by the wave can generate larger horizontal motion, so the motion process in the ocean comprises vertical motion and horizontal motion; the movement in the deposit is only in the vertical direction. Therefore, for different motion processes in the air-ocean-sediments, the following two points are mainly considered in the deployment and operation processes of the detection method of the embodiment:
(1) How to accurately determine the placement point positions;
(2) How to realize the control of the movement speed in the air and the water;
the following describes the detection method according to the present invention in detail by combining the device setup and the characteristics of the movement process, and specifically includes the following steps:
step A, firstly determining detection points, and determining actual placement points of a probe main body by combining wave analysis;
in the process of arranging the probe main body, horizontal component force generated by wind force and waves can offset the arranging position, so that an actual arranging point is positioned at a detection point position to generate deviation, and in the actual analysis, the device is simultaneously subjected to horizontal acting force generated by water flow action when moving in water, and in order to ensure that the device does not deviate from a detection point of a preset design, the horizontal displacement speed and time of the device in the water need to be determined so as to determine the actual detection point position.
(1) Determining hydrodynamic force per unit length of the detection device when falling in water:
the equipment moves in the water, and the stress during sinking comprises gravity, buoyancy and wave flow horizontal force (the horizontal acting force generated by the wave is assumed to be F x (t)), then in the vertical direction and the horizontal direction there are:
ma horizontal level ＝F x (t)
ma Vertical and vertical ＝mg-F Resistance force (t)-F Buoyancy force 9t)
Wherein m is the mass of the detection device and kg; a, a Horizontal level Acceleration in horizontal direction, m/s 2 ；F x (t) is the wave or flow induced horizontal force, N; a, a Vertical and vertical Acceleration in vertical direction, m/s 2 The method comprises the steps of carrying out a first treatment on the surface of the g is gravity acceleration, m/s 2 ；F Resistance force (t) is resistance, N; f (F) Buoyancy force (t) is buoyancy, N;
during the falling process, the hydrodynamic force per unit length of the detecting device is expressed as
Wherein f is hydrodynamic force of the detection device in unit length, and N; c (C) m1 And C m2 Taking 1 as an inertia coefficient; ρ w For sea water density, 1025kg/m is taken 3 The method comprises the steps of carrying out a first treatment on the surface of the d is the diameter of the probe, m; c (C) D Taking 0.6 as a drag coefficient;
for water particle acceleration component perpendicular to the axis of the detecting device, m/s 2 ；/>
Is the water particle velocity component perpendicular to the axis of the detection device, m/s; />
For acceleration component perpendicular to axis of detecting device, m/s 2 ；/>
Is the velocity component perpendicular to the axis of the detection device, m/s;
for ocean deepwater, the horizontal component speeds caused by waves are expressed as at different depths
Wherein, the liquid crystal display device comprises a liquid crystal display device,
is the wave circle frequency; k is wave number; θ is the initial phase, rad, take +.>
z is water depth, m; t is time, s.
The horizontal velocity component caused by ocean currents is expressed as
So the total speed of the water particles in the horizontal direction is
Therefore, the hydrodynamic force per unit length of the detection device can be expressed as
The total horizontal force applied by the detecting device is
Wherein L is the probe length, m.
The horizontal acceleration of the detecting device is
a Horizontal level ＝F x (t)/m
Let the water depth be H, the time t from the water surface to the seabed is
The horizontal displacement S generated by the detecting device is
Therefore, if the real detection point position is ensured to be in accordance with the designed detection point position, the arrangement needs to be carried out at the horizontal distance S from the incoming flow direction of the real point position.
During actual work, whether the unmanned aerial vehicle can directly convey the probe to a specified position or not can be estimated, if the unmanned aerial vehicle cannot directly reach the specified position, the probe is conveyed to a nearer position through equipment such as an unmanned ship, an airplane and the like; if the unmanned aerial vehicle can directly arrive, the unmanned aerial vehicle is directly utilized to move the probe to the designated position, and the operation can be specifically performed according to actual conditions.
Step B, controlling the motion speed in the air and the water and setting the sampling frequency;
through remote control, a unhooking module of the unmanned aerial vehicle is opened, separation of the probe main body and the unmanned laying unit is realized, the probe main body starts to detect in the air, and then the probe falls into water; the setting of the acquisition frequency of the sensor is carried out according to the movement process so as to ensure better detection effect. In order for the detection device to acquire sufficient data, the sampling frequency needs to be increased and the corresponding sampling time is required. When the device moves in the air, the movement time is too short, the sampling frequency is adjusted to be high in order to acquire enough data quantity, but the simple adjustment of the sampling frequency brings very high requirements to sensing equipment, and most of sensors cannot meet the ultrahigh sampling frequency. It is therefore sought to increase the movement time of the device in air. The invention realizes the regulation and control of the air descending speed (simultaneously is applicable to the speed regulation and control in water and can be regulated and set according to the sampling data amount) by arranging the automatic control wings, and is specific:
step B1, detecting in the air: the motion of the detection device in the air accords with the motion of a quasi-free-falling body, the gravity g is received by the device in the motion process, the gravity g is opposite to the air resistance (the water flow resistance is related to the motion speed when the device is in water) f resistance, the area of each individual small wing plate of the automatic control wing plate is S0, and the total area of the automatic control wing plate when the automatic control wing plate is in all horizontal is 8S0 (8 wing plates are taken as an example):
the resistance of the device in the motion of air (or water) is:
where ρ is the air (or water) density, C is the drag coefficient, S Total (S) V is the falling velocity, which is the maximum cross-sectional area of the device. The maximum cross-sectional area of the device can be expressed as:
S total (S) ＝8S 0 cosα+S 1
Wherein alpha is the included angle between each adjusting wing plate and the horizontal direction, S 1 To control the cross-sectional area of the chamber.
The acceleration due to air resistance is:
the two-side integration can be obtained:
assuming that the throwing height of the device is h (unit m), the time of moving in the air is
h＝∫vdt
G is gravity acceleration, t is time, and in order to ensure that the acquired data is large enough, the sampling frequency needs to be set. For example, assuming that 100 sets of data are required to be acquired in the air, the sampling frequency is
The design can overcome the problem of insufficient data acquisition caused by too fast movement time of the detection device in the air, and can realize that devices at different heights fall down at a smaller speed through the change of different automatic control wings, and meanwhile, the sampling frequency is ensured to meet the requirement, and the data volume is large enough. The same calculation method can be appliedMoving in water. />
Step B2, detecting in water: due to the existence of the balancing weight, the gravity of the probe is larger than the buoyancy. The probe is sunk under the action of gravity, the control system positioned in the electronic control cabin in the sinking process monitors the gesture of the equipment in real time, and the detection device is kept in a vertical state at any time under the action of the guide wings, the guide holes and the automatic control wings. In the process of movement in water, the measurement of seawater is synchronously started.
Step B3, sediment measurement: after the probe is thrown to the sea floor, the gravity is greater than the buoyancy, so that the speed is continuously increased, the sea resistance is also continuously increased, and the blocked force is expressed as
Wherein S is the area of the flow-facing surface, m 2 ；C d Is the resistance coefficient; v is the sinking speed, m/s.
The probe penetrates into the submarine sediment due to the action of gravity, meanwhile, the physical and chemical characteristics of the sediment are obtained, and the detection device can be positioned in the sediment for a long time to complete the monitoring task (the opening time of the releaser can be set in advance).
And C, after the detection/monitoring task is finished, opening a releaser to finish the separation of the self-returning unit and the detection unit. The self-returning unit floats to the sea surface under the buoyancy effect, meanwhile, collected data and positioning are returned through satellite communication, and if the self-returning unit needs to be recovered, the self-returning unit recovers through positioning information; if the self-returning unit does not need to recover, a data destruction program is started, and the acquired data is destroyed by self.
The present invention is not limited to the above-mentioned embodiments, and any equivalent embodiments which can be changed or modified by the technical content disclosed above can be applied to other fields, but any simple modification, equivalent changes and modification made to the above-mentioned embodiments according to the technical substance of the present invention without departing from the technical content of the present invention still belong to the protection scope of the technical solution of the present invention.
Claims (7)
1. The throwing type detection device is characterized by comprising a probe arrangement module, a probe main body (2) and a unhooking module (3); the probe laying module adopts an unmanned operation system and comprises an unmanned ship and an unmanned laying unit (1); the unhooking module (3) is used for connecting the unmanned placing unit (1) and the probe main body (2), and the separation of the unmanned placing unit (1) and the probe main body (2) is realized through the remote control unhooking module (3);
the probe main body (2) comprises a self-returning unit (21), a detection unit (22) and an automatic control wing (23), wherein the automatic control wing (23) is arranged between the self-returning unit (21) and the detection unit (22) to realize speed adjustment and posture adjustment of the probe main body (2), and the detection unit (22) comprises a multi-element probe (221) and a counterweight (222) to realize detection of relevant parameters in gas-water-soil and transmit relevant data to the self-returning unit (21); the self-returning unit (21) comprises a control cabin (211), a floating body (212) and a releasing unit (214), wherein the posture of the self-returning probe in the falling process in the ocean is monitored and controlled through a control system in the control cabin (211), and the releasing unit (214) is used for controlling the releasing probe to automatically return to the water surface in combination with the floating body (212) and return data.
2. The casting type detection apparatus according to claim 1, wherein: the release unit (214) is used for separating the self-returning unit (21) from the detection unit (22), and comprises an electronic component cabin (141), a fixed ring (142), a transmission end (144) and a releaser (146);
the electronic component cabin (141) is internally provided with a main control element for realizing data acquisition and storage and overall control of the device, the fixed transmission end (144) is connected with the electronic component cabin (141) through a fixed ring (142), the transmission end (144) is used for transmitting various control signals and acquiring data, the transmission end (144) is respectively provided with a socket (143) of a watertight connector up and down, and locking threads are formed on the periphery of the transmission end and are used for being locked with a lower end cover of the control cabin; the socket below the transmission end (144) adopts a semi-ring socket (147) design; the bottom of the transmission end (144) is fixedly connected with the releaser (146), so that the connection and separation of the self-returning unit (21) and the detection unit (22) are realized.
3. The cast-type multi-element self-returning probe for submarine sediment according to claim 1, wherein: the multi-element probe (221) is used for detecting the submarine sediment and comprises cone tips, mounting rings and probe sections, each probe section is provided with different sensing units, and adjacent probe sections are fixedly connected through the mounting rings.
4. The casting type detection apparatus according to claim 1, wherein: guide wings (218) are arranged around the floating body (212), and guide holes (219) are formed in the guide wings (218) in a penetrating mode up and down.
5. The casting type detection apparatus according to claim 1, wherein: the automatic control wing (23) comprises a rotating shaft and a plurality of angle-adjustable wing plates arranged along the circumference of the rotating shaft.
6. The gas-water-soil all-medium detection method based on the throwing type detection device is characterized by comprising the following steps of: the method comprises the following steps:
step A, determining the actual placement point position of a probe main body according to the actual detection point position and combining wave analysis;
considering that the detection device receives the horizontal acting force generated by the action of water flow when moving in water, and then generates horizontal displacement S, the position at the horizontal distance S from the incoming flow direction of the real detection point is the actual placement point position:
wherein m is the mass of the detection device, F x (t) is the horizontal force generated by the waves, a Horizontal level Acceleration in the horizontal direction, a Vertical and vertical Acceleration in the vertical direction, t is time, and H is water depth;
step B, arranging a probe main body at an actual arrangement point through an unmanned arrangement unit, realizing the regulation and control of the movement speed and the gesture in the air and the water through controlling an automatic control wing, and acquiring the parameters of the air-water-soil medium based on the multi-element probe;
step B1, detecting in the air: the motion of the detection device in the air accords with the free falling motion, the sampling frequency is set, the isomorphic automatic control wing adjusts the motion gesture of the detection device in the air, and the air related parameter information is collected;
step B2, detecting in water: the probe is sunk under the action of gravity, the control system monitors the posture of the detection device in real time in the sinking process, and under the action of the guide wings, the guide holes and the automatic control wings, the detection device keeps in a vertical state in real time, and the measurement of seawater is synchronously started in the moving process in water;
step B3, sediment measurement: after the probe is thrown to the seabed, the gravity is greater than the buoyancy, and the probe penetrates into the seabed sediment due to the gravity effect, so that the physical and chemical characteristics of the sediment are obtained;
and C, completing the detection task, completing the separation of the self-returning unit and the detection unit, and recycling the self-returning unit.
7. The method for detecting the gas-water-soil all-medium based on the throwing type detection device, which is characterized in that: in the step B, the method further includes a step of setting a sampling frequency, and the sampling frequency principle is consistent when the air and the water move, specifically:
assuming that the height of the detector is h when moving in the air, the time of the detector moving in the air is:
wherein ρ is air density, C is resistance coefficient, S Total (S) Is the maximum cross-sectional area of the detection device; the sampling frequency in air can then be determined from the required data quantity n:
/>
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