CN117572430B - Mining plume redeposition thickness area detection device and method - Google Patents
Mining plume redeposition thickness area detection device and method Download PDFInfo
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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Abstract
The invention discloses a mining plume redeposition thickness area detection device and a method, wherein the deep sea ultra-high resolution shallow surface profiler provided by the invention adopts a parametric array technology, adopts a high-frequency parametric array sound source, realizes ultra-high stratum thickness resolution and is miniaturized and convenient to integrate into an autonomous underwater robot; secondly, the area detection method of the deep sea mining plume redeposition thickness adopts the high-ping emission detection of the deep sea ultra-high resolution shallow surface profiler based on the autonomous underwater robot at high and low speed navigation of the deep sea near the bottom, improves the resolution of the shallow surface profile stratum to 0.4cm, and realizes the area detection of the deep sea mining plume redeposition thickness. Therefore, the invention solves the technical problem that the current acoustic detection stratum resolution is about 10cm, and the detection of the redeposition thickness of the plume of the deep-sea multi-metal tuberculosis mining can not be realized, and realizes the high-efficiency and accurate detection of the redeposition thickness of the plume of the deep-sea multi-metal tuberculosis mining.
Description
Technical Field
The invention relates to the technical field of deep sea shallow stratum section detection, in particular to a deep sea shallow surface layer high-resolution detection technology, and specifically relates to a mining plume redeposition thickness area detection device and method.
Background
In the deep sea polymetallic nodule mining process, disturbance of a mineral collector on the sea floor causes suspended sediment on the sea floor and flows along with underflow to form a mining plume, suspended particles in the plume flow in the sea floor to redeposit and influence the sea floor environment, the redeposition thickness is closely related to the influence degree of the sea benthos, and the existing experiments show that the redeposition thickness is less than 1cm and has little influence on the benthos, and 90% asphyxia death can be caused when the redeposition thickness is greater than 5 cm. Therefore, plume redeposition thickness area data is a very important technical parameter for mining environment monitoring and scientific evaluation, and provides scientific basis for benthonic influence evaluation and plume model establishment. The maximum thickness of the mining plume redeposition is about 10cm, and the detection resolution of the plume redeposition thickness area is required to be better than 1cm in order to meet the requirement of environmental evaluation. At present, only a fixed point observation method is adopted for acquiring data of the mining plume redeposition thickness, and a surface area detection technology of the mining plume redeposition thickness is not available, mainly because the working frequency bandwidth of the conventional shallow profiler is several kHz, the beam directivity is poor, the side lobe influence is caused, the resolution is about 10cm level, the effective detection of the surface area data of the multi-metal tuberculosis mining plume redeposition thickness is difficult to realize, and the deep sea mining environment evaluation requirement cannot be met. Therefore, the mining plume redeposition thickness area detection device and method are provided, area data of the deep sea mining plume redeposition thickness are efficiently and accurately obtained, actual measurement data are provided for benthonic influence evaluation and plume model establishment, and the deep sea mining environment monitoring and evaluation technical level in China is facilitated to be improved.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides a mining plume redeposition thickness area detection device and a mining plume redeposition thickness area detection method.
The aim of the invention is realized by the following technical scheme: the invention discloses a mining plume redeposition thickness area detection device, which has the following specific technical scheme: the mining plume redeposition thickness area detection device comprises a deep sea autonomous underwater robot, a deep sea ultrahigh resolution shallow surface profiler and a deck display control unit;
the deep sea autonomous underwater robot is used for carrying a deep sea ultra-high resolution shallow surface profiler, providing electric energy for detecting a mining plume redeposition thickness area by the deep sea ultra-high resolution shallow surface profiler, establishing communication, sending positioning data and setting parameters, and communicating with a deck display and control unit;
The deep sea ultra-high resolution shallow surface profiler comprises a high-frequency parameter transmitting and receiving transducer array and a deep sea multi-channel hydrophone array, wherein the high-frequency parameter transmitting and receiving transducer array integrates a transmitting transducer and a receiving transducer and is used for converting an electroacoustic signal and an acoustic signal, transmitting two original frequency acoustic pulse signals with high frequency approaching to each other, generating a difference frequency signal through nonlinearity of medium propagation, wherein the original frequency signal is used for detecting the height from the sea bottom, and the difference frequency signal is used for detecting the shallow surface structure of the sea bottom and can be used for receiving echo information of the original frequency and the difference frequency signal; the deep sea multichannel hydrophone array is used for receiving echo information of the difference frequency signal at a wide angle, so that the receiving capacity of the profiler on the echo signal is improved;
The deck display control unit receives the detection sample data of the deep sea ultrahigh resolution shallow surface profiler and the working state information of the deep sea autonomous underwater robot, and transmits a working instruction to the deep sea autonomous underwater robot, so that remote parameter setting of the deep sea ultrahigh resolution shallow surface profiler and remote control of the deep sea autonomous underwater robot are realized.
Further, the deep sea autonomous underwater robot comprises a detection load control module, an integrated navigation positioning module and an energy module; the integrated navigation positioning module is connected with a positioning transceiver of the deep-sea underwater long baseline positioning system and is used for accurately positioning the autonomous underwater robot in the deep sea; the detection load control module is connected with the deep sea ultrahigh resolution shallow surface layer profile instrument, the combined navigation positioning module of the deep sea autonomous underwater robot is connected with the deep sea end communication machine of the deep sea acoustic communication system, provides electric energy for the deep sea ultrahigh resolution shallow surface layer profile instrument, establishes communication, sends positioning data and setting parameters, receives sample data detected by the deep sea ultrahigh resolution shallow surface layer profile instrument, sends the sample data to the deep sea end communication machine, and receives an instruction which is downloaded to the deep sea end communication machine by the deck unit through the acoustic communication system.
Further, the deep sea ultrahigh resolution shallow surface profiler also comprises a display control module and an embedded control processing module; the display control module is used for controlling the deep sea ultra-high resolution shallow surface profiler, setting parameters and displaying results; when the deep sea ultra-high resolution shallow surface profiler is tested, the embedded control processing module is connected with the display control module, receives a control command and setting parameters of the display control module, and the display control module receives detection data sent by the embedded control processing module and displays detection results.
Further, the deep sea mining plume redeposition thickness area detection device further comprises a deep sea underwater long baseline positioning system for determining the geodetic coordinates of the autonomous underwater robot.
Further, the deep sea underwater long baseline positioning system is composed of at least 3 long baseline positioning beacons and 1 positioning transceiver, the long baseline positioning beacons are distributed on the seabed of the operation area, the distance between the positioning beacons is not more than 5km, the positioning transceiver is installed in the deep sea autonomous underwater robot and connected with the combined navigation positioning module of the deep sea autonomous underwater robot, the position of the deep sea autonomous underwater robot is positioned with high precision, positioning data are provided for the deep sea ultra-high resolution shallow surface profiler through the detection load control module of the deep sea autonomous underwater robot, and the accuracy of the detection data position of the mining plume redeposition thickness area is ensured.
Further, the deep sea mining plume redeposition thickness area detection device further comprises a deep sea sound communication system, the deep sea sound communication system comprises a deep sea end sound communication machine, a water surface end sound communication machine and a dragging bracket, the water surface end sound communication machine is arranged in the dragging bracket, the dragging bracket is connected to a communication armoured cable of a survey ship and is hung into the sea through an A-shaped frame, the deep sea sound communication system is used for uploading detection sample data of a deep sea ultra-high resolution shallow surface profile instrument and working state information of a deep sea autonomous underwater robot to a deck display control unit, and transmitting instructions of the deck display control unit to the deep sea autonomous underwater robot, so that remote setting of parameters of the deep sea ultra-high resolution shallow surface profile instrument and remote control of emergency floating of the deep sea autonomous underwater robot are realized.
Further, the deep sea ultra-high resolution shallow surface profiler comprises a parametric array primary frequency receiving channel, a parametric array differential frequency receiving channel and a multi-channel hydrophone array receiving channel, wherein the parametric array primary frequency receiving channel and the parametric array differential frequency receiving channel are connected with a high-frequency parametric transmitting and receiving transducer array, the parametric array primary frequency receiving channel is used for receiving echo signals of primary frequency signals reflected by the seabed, the parametric array differential frequency receiving channel is used for receiving echo signals of differential frequency signals reflected or scattered by the seabed and the multi-metal tuberculosis, and the multi-channel hydrophone array receiving channel is connected with the deep sea multi-channel hydrophone array and is used for receiving echo signals of differential frequency signals reflected or scattered by the seabed and the multi-metal tuberculosis in a wide angle joint.
Further, the high-frequency parameter transmitting and receiving transducer array primary frequency signal frequency range in the deep sea ultrahigh resolution shallow surface profiler comprises: 700kHz-1000kHz, 250kHz-300kHz, beam angle: 0.5 ° x 0.5 °, maximum emission rate Ping: 50Hz; difference frequency signal frequency: 100kHz, 150kHz, 200kHz, 250kHz, and 300kHz.
Further, the multi-channel hydrophone array receives frequency ranges: the receiving angle of the hydrophone is 50 degrees, the channel spacing is 10cm, and the receiving channels are 8 channels and above from 100kHz to 300 kHz.
On the other hand, the invention also provides a mining plume redeposition thickness area detection method, which comprises the following steps:
Step 1: deep sea autonomous underwater robot submerged mission planning and long baseline beacon array design
1.1 Planning a surface area detection path of the deep sea autonomous underwater robot according to the operation range of the multi-metal nodule collecting machine and the underflow data;
1.2 Setting a deep sea autonomous underwater robot to adopt an equal-altitude operation mode with a distance of 5m from the sea bottom, wherein the navigational speed is 0.5kt-1kt;
1.3 Designing at least 3 positioning beacons of a long baseline positioning system of the submarine array, wherein the distance between the beacons is not more than 5km;
Step 2: long baseline positioning system and acoustic communication system sea surface testing
2.1, Hanging the positioning beacons and the positioning transceivers of the long baseline positioning system into the sea, and testing and confirming that the communication between all the positioning beacons and the positioning transceivers works normally;
2.2, hanging the deep sea end acoustic communication machine and the water surface end acoustic communication machine of the acoustic communication system into the sea, and testing and confirming that the acoustic communication machine works normally;
2.3, connecting the pressing block, the positioning beacon and the floating ball by using ropes, and confirming that the beacon works in a positioning mode;
Step 3: long baseline positioning beacon array and measuring array
3.1 Long baseline positioning beacon deployment: according to the layout design position of the positioning beacon, the mother ship drives to the layout design point of the positioning beacon, the ship speed is reduced to 2 knots from the design point by 500 meters, the pressing block is pushed into the sea, and the positioning beacon and the floating ball are driven to sink into the sea; the same method is used for arranging other positioning beacons according to the designed positions to complete the submarine arrangement of the long baseline positioning beacons;
3.2 Long baseline positioning beacon array: the positioning emitter is hung under the sea, the mother ship takes a single positioning beacon coordinate point as the center, takes the water depth as the radius, and makes a round around the single positioning beacon, the positioning emitter carries out distance measurement calibration on the positioning beacon, and the underwater positioning beacon geodetic coordinate is obtained and recorded; then, measuring other positioning beacons by the same method, obtaining all the positioning beacon geodetic coordinates, finishing the position measurement of the submarine positioning beacons, and inputting all the positioning beacon geodetic coordinates into a positioning transceiver of a long baseline positioning system;
Step 4: deck installation inspection and testing
4.1 Installing a deep sea ultra-high resolution shallow surface profiler, a positioning transceiver of a long baseline positioning system and a deep sea end communication machine of an acoustic communication system in a deep sea autonomous underwater robot, and checking and confirming that the deep sea end communication machine is firmly connected with the deep sea autonomous underwater robot in a watertight manner;
4.2 self-checking of the deck of the deep sea autonomous underwater robot system: checking and confirming that the deep sea autonomous underwater robot body, the deep sea ultrahigh resolution shallow surface profiler, the positioning transceiver of the long baseline positioning system and the deep sea end communication system work normally;
step 5: deep sea autonomous underwater robot and acoustic communication system towing platform deployment
5.1 The method comprises the steps that a deep sea autonomous underwater robot is deployed into the sea, and the deep sea autonomous underwater robot is unpowered and submerged;
5.2 The method comprises the steps that a towing platform of the acoustic communication system is hoisted into the sea through an investigation ship A-shaped frame to be in a towing state, the depth of the towing platform is adjusted to be 50-500 m, the deep sea communication system is in a good state, a deck unit can display the submerged position, depth and attitude information of a deep sea autonomous underwater robot, and the submerged state of the deep sea autonomous underwater robot is monitored;
step 6: deep sea autonomous underwater robot near-bottom plume redeposition thickness sample data detection and profiler parameter optimization
6.1 The deep sea autonomous underwater robot is in a hovering working mode when submerged to 5 meters away from the sea bottom by adopting power according to a mission planning, the deep sea autonomous underwater robot is submerged to 60m away from the sea bottom, the deep sea ultra-high resolution shallow surface profiler is powered by a deep sea autonomous underwater robot detection load control unit, the deep sea ultra-high resolution shallow surface profiler starts working, acquired sample data are sent to a deep sea autonomous underwater robot detection load control module, and the acquired sample data are uploaded to a deck unit through a deep sea acoustic communication system;
6.2 The deck unit plays back the collected sample data to analyze and process, if the collected data does not meet the requirement, parameters including the sending rate ping, the sending power, the frequency and the receiving gain are optimally set for the deep sea ultra-high resolution shallow surface profiler through the acoustic communication system, and the collected sample data after the receiving parameters are optimized are received until the satisfactory plume redeposition thickness area detection data quality is obtained;
Step 7: plume redeposition thickness area detection of autonomous underwater robot in deep sea
The deep sea autonomous underwater robot sails according to the designed planning path in a contour operation mode of 5 meters away from the sea bottom, and sailing speed of the deep sea autonomous underwater robot is: 0.5kt-1kt, deep sea ultra-high resolution shallow surface profiler firing rate ping:25Hz-50Hz; the emission rate of the deep sea ultra-high resolution shallow surface profiler is positively correlated with the navigation speed of the autonomous underwater robot in the deep sea, namely, the navigation speed is increased, the emission rate is accelerated, 1 Ping is ensured to be arranged on a detection path every 1cm, the detection horizontal resolution of a plume redeposition thickness area is ensured, and the detection echo information is arranged on each tuberculosis; the deep sea autonomous underwater robot completes the submerged detection task according to the design mission;
Step 8: deep sea autonomous underwater robot, acoustic communicator and long baseline array recovery
8.1, Completing a submerged mission task by the deep sea autonomous underwater robot, throwing and carrying an upward floating iron, and starting unpowered upward floating by the deep sea autonomous underwater robot;
8.2 When the deep sea autonomous underwater robot floats to the sea surface of 500m, recovering the dragging platform of the acoustic communication system;
8.3 When the deep sea autonomous underwater robot floats to the sea surface, recovering the deep sea autonomous underwater robot;
8.4 Recovering a positioning beacon of the submarine long baseline array system;
Step 9: plume redeposition thickness area detection data download and data interpretation
9.1 Downloading high-frequency parameter transmitting and receiving transducer array receiving data and deep sea multichannel hydrophone array receiving data;
9.2 And the high-frequency parameter transmitting and receiving transducer array receives data and the deep sea multi-channel hydrophone array receives data.
The invention has the beneficial effects that:
1. The deep sea ultrahigh resolution shallow surface profiler adopts parametric sonar, has high frequency of emitted sound waves, wide frequency band, high directivity and no side lobe wave beam, and has ultrahigh resolution when penetrating stratum.
The bandwidth of the parametric array is 250kHz-300kHz, calculated by sediment sound velocity 1600m/s and bandwidth of 250 kHz:
Formation resolution = C/2b = 1600 m/s/(2 x 250000)/s = 0.32cm
Where C is the speed of sound and B is the bandwidth.
2. The deep sea ultrahigh resolution shallow surface profiler has small volume and light weight, is convenient to be integrally installed in an autonomous underwater robot, utilizes the combination of a parametric receiving array and a multi-channel hydrophone receiving array for receiving, and improves the echo receiving capability of the device.
3. The device and the method solve the technical problem of the detection of the redeposition thickness area of the multi-metal tuberculosis mining plume, creatively integrate and fuse the deep sea ultra-high resolution shallow surface profiler with the deep sea autonomous underwater robot body, provide a detectable platform for the detection of the deep sea ultra-high resolution shallow surface profiler, realize the detection of the deep sea shallow surface profile with the resolution up to 0.4cm, meet the evaluation requirement of the environmental impact of the deep sea multi-metal tuberculosis mining, and provide scientific actual measurement data for the influence of mining on benthos and the establishment of a plume model;
4. in the detection process of the mining plume redeposition thickness area, the deck unit can acquire deep sea shallow surface layer detection sample data through an acoustic communication system and remotely set high-resolution profiler parameters, so that the quality reliability of the detection data is ensured;
5. In the deep sea operation process of the autonomous underwater robot, the deck unit can acquire the position and the working state of the autonomous underwater robot, monitor the deep sea operation of the autonomous underwater robot in real time, and ensure the safety of the operation of the autonomous underwater robot.
Drawings
FIG. 1 is a schematic diagram of the apparatus composition and deep sea exploration operations of the present invention;
FIG. 2 is a schematic diagram of the composition of a deep sea ultra-high resolution shallow skin profiler;
FIG. 3 is a flow chart for joint interpretation of multi-channel hydrophone arrays and parametric array detection data.
The reference numerals are as follows:
1: a deep sea autonomous underwater robot; 1.1: detection load control module, 1.2: energy module, 1.3: the integrated navigation positioning module;
2: deep sea ultra-high resolution shallow surface profiler; 2.1: display control module, 2.2: embedded control processing module, 2.3: deep sea high frequency parameter transmitting and receiving transducer array, 2.4: deep sea multichannel hydrophone array, 2.5: emission module, 2.6: receiving module, 2.7: data storage module, 2.8: power supply module, 2.9: electronic capsule, 2.10: a data cabin;
3: a deep sea underwater long baseline positioning system; 3.1: positioning beacons, 3.2: positioning a transceiver;
4: a deep sea acoustic communication system; 4.1: deep sea end sound communicator, 4.2: surface of water end sound communication machine, 4.3: a towing bracket;
5: a deck display control unit; 6: survey the ship; 7: sea surface; 8: the sea floor.
Detailed Description
The technical solution of the present invention is further described in detail below with reference to the accompanying drawings and the specific embodiments, in order to fully understand the present invention, but the present invention may be implemented in other ways than described herein, and thus the scope of the present invention is not limited by the specific embodiments disclosed below.
The embodiment of the device comprises:
As shown in fig. 1, the invention provides a mining plume redeposition thickness area detection device which comprises a deep sea autonomous underwater robot 1, a deep sea ultra-high resolution shallow surface profiler 2, a deep sea underwater long baseline positioning system 3, a deep sea acoustic communication system 4 and a deck display and control unit 5.
The deep sea autonomous underwater robot 1 consists of a carrier structure, a buoyancy regulation and control module, a navigation and collision prevention control module, an emergency safety response module, a power propulsion control module, a detection load control module 1.1, an energy module 1.2 and a combined navigation positioning module 1.3, and is used for carrying a deep sea ultrahigh resolution shallow surface profiler 2, a positioning transceiver 3.2 of a long baseline positioning system and a deep sea end communication machine 4.1 of a sound communication system; the combined navigation positioning module 1.3 comprises an inertial navigator and a Doppler velocimeter, is connected with a positioning transceiver 3.2 of the long baseline positioning system, and is used for determining the high-precision position of the autonomous underwater robot in the deep sea in a combined manner; the detection load control unit 1.1 is connected with the deep sea ultrahigh resolution shallow surface profiler 2, and is used for supplying power, communicating, sending positioning information and setting parameters for the deep sea ultrahigh resolution shallow surface profiler and receiving sample data detected by the deep sea ultrahigh resolution shallow surface profiler 2; the detection load control unit 1.1 is connected with the deep sea end communicator 4.1 of the acoustic communication system, supplies power to the deep sea end communicator of the acoustic communication system, receives an instruction transmitted by the deck unit through the acoustic communication system, and transmits sample data detected by the deep sea ultra-high resolution shallow surface profiler to the deep sea end communicator.
As shown in fig. 2, the deep sea ultra-high resolution shallow surface profiler 2 is composed of a display control module 2.1, an embedded control processing module 2.2, a deep sea high frequency parameter transmitting and receiving transducer array 2.3, a deep sea multi-channel hydrophone array 2.4, a transmitting module 2.5, a receiving module 2.6, a data storage module 2.7, a power supply module 2.8, an electronic cabin 2.9 and a data cabin 2.10; the display control module 2.1 is used for controlling the deep sea ultra-high resolution shallow surface profiler 2, setting parameters and displaying results; when the deep sea ultra-high resolution shallow surface profiler 2 is tested, the embedded control processing module 2.2 is connected with the display control module 2.1, receives a control command and setting parameters of the display control module 2.1, and sends detection data to the display control module 2.1, and the display control module 2.1 can graphically display a detection result; when the deep sea ultrahigh resolution shallow surface profiler 2 is integrated in the deep sea autonomous underwater robot 1, the embedded control processing module 2.1 is connected with the detection load control unit 1.1; the high-frequency parametric transmitting and receiving transducer array 2.3 integrates a transmitting transducer and a receiving transducer, is used for electroacoustic and acousto-electric signal conversion, and simultaneously transmits two primary frequency acoustic pulse signals with high frequency F1 and F2 approaching to each other under high-voltage driving, wherein F1> F2, and based on the nonlinearity of a medium and the nonlinearity between waves, the two acoustic pulse signals generate difference frequency effects in propagation to generate primary frequency (F1 and F2), difference frequency (F1-F2), sum frequency (F1+F2), harmonic frequency and other secondary frequency sound waves. The primary frequency F1 is used for detecting the height of the transducer from the sea bottom; the difference frequency F1-F2 is used for penetrating the shallow surface layer of the seabed and generating reflection and scattering when encountering multi-metal tuberculosis; the high-frequency parametric array transmitting and receiving transducer 2.3 and the deep sea multi-channel hydrophone array 2.4 are used for combined receiving, so that the echo receiving capability and the data combined interpretation are improved, and ultra-high resolution shallow surface stratum detection is realized; the data storage module 2.7 is used for storing detection data in the working process of the deep sea ultra-high resolution shallow surface profiler 2, and comprises setting parameters, a parametric array and echo information received by a hydrophone array; the power supply module 2.8 is used for providing electric energy for each module of the deep sea ultrahigh resolution shallow surface profiler; f1 and F2 original frequency acoustic pulse signal frequency range emitted by the deep sea ultra-high resolution shallow surface profiler 2: 700kHz-1000kHz, difference frequency signals F1-F2: 100kHz-300kHz. The receiving module 2.6 of the deep sea ultra-high resolution shallow surface profiler 2 comprises a parametric array primary frequency receiving channel, a parametric array difference frequency receiving channel and a multi-channel hydrophone array receiving channel, wherein the multi-channel hydrophone array receiving channel of the receiving module 2.6 is 8 channels or more, and the multi-channel hydrophone array receiving frequency range is as follows: 100kHz-300kHz, 50-degree hydrophone receiving angle and 10cm channel spacing.
The deep sea underwater long baseline positioning system 3 consists of at least 3 long baseline positioning beacons 3.1 and 1 positioning transceiver 3.2, wherein the long baseline positioning beacons 3.1 are distributed on the seabed of an operation area, the distance between the positioning beacons is not more than 5km, the positioning transceiver 3.2 is installed in the deep sea autonomous underwater robot 1 and is connected with an integrated navigation positioning module 1.3 of the deep sea autonomous underwater robot 1 to perform high-precision positioning on the position of the deep sea autonomous underwater robot, positioning data are provided for the deep sea ultra-high resolution shallow surface profiler 2 through a detection load control module 1.1, and the accuracy of the position of detection data of a mining plume redeposition thickness area is ensured;
The deep sea sound communication system 4 is composed of a deep sea sound communication machine 4.1, a water surface sound communication machine 4.2 and a towing bracket 4.3, wherein the deep sea sound communication machine 4.1 is arranged in the deep sea autonomous underwater robot 1, the water surface sound communication machine 4.2 is arranged in the towing bracket 4.3, is hung below the sea surface through a survey ship A-shaped frame, is used for uploading the data of a deep sea ultra-high resolution shallow surface profiler 2 to a deck display and control unit 5 and downloading the instruction of the deck display and control unit 5 to the underwater robot, realizes the monitoring of the data quality and AUV working condition of the deep sea ultra-high resolution shallow surface profiler 2, and ensures the data quality of the deep sea ultra-high resolution shallow surface profiler 2 and the working safety of the deep sea autonomous underwater robot 1 for remote setting parameters of the deep sea ultra-high resolution shallow surface profiler 2.
The deck display control unit 5 comprises an industrial personal computer and display control software, wherein the industrial personal computer is provided with a network port and a serial port communication interface, can receive the position and the bottom-off height information of the deep-sea autonomous underwater robot 1 through the acoustic communication system 4, and the detection sample data sent by the deep-sea ultrahigh resolution shallow surface profiler 2, and visually display the detection data and the data quality through the display control software; meanwhile, the deck display control unit 5 can also send an instruction to the deep sea autonomous underwater robot 1 through the acoustic communication system 4, for example, the emergency load-throwing up-floating instruction can enable the deep sea autonomous underwater robot 1 to stop underwater work and load up-floating iron to return to the sea; the deck display and control unit 5 can modify the working parameters of the deep sea ultra-high resolution shallow surface profiler 2 through the acoustic communication system 4 according to the received detection sample data, so as to ensure the quality of the detection data of the deep sea ultra-high resolution shallow surface profiler 2.
The autonomous underwater robot in the deep sea submerges to the sea floor at a height of about 5 meters, sails in a contour operation mode at a sailing speed of 0.5kt-1kt, and emits a ping at a transmitting speed of the ultra-high resolution shallow surface profiler in the deep sea: 25Hz-50Hz; the emission rate of the deep sea ultra-high resolution shallow surface profiler is positively correlated with the navigation speed of the deep sea autonomous underwater robot, namely the navigation speed is increased, the emission rate is accelerated, 1 Ping is guaranteed to be arranged on a detection path every 1cm, the detection horizontal resolution of a plume redeposition thickness area is guaranteed, detection echo information is arranged on each tuberculosis, an operation platform capable of effectively detecting is provided for the deep sea ultra-high resolution shallow surface profiler, and the deep sea autonomous underwater robot completes a submerged detection task according to design mission.
On the other hand, the invention also provides a mining plume redeposition thickness area detection method, which comprises the following specific steps:
step 1: mission planning and long baseline beacon array design
1.1 Planning a surface area detection path of the deep sea autonomous underwater robot according to the operation range of the multi-metal nodule collecting machine and the underflow data;
1.2 Setting a deep sea autonomous underwater robot to adopt an equal-altitude operation mode with a distance of 5m from the sea bottom, wherein the navigational speed is 0.5kt-1kt;
1.3 Designing at least 3 positioning beacons of a long baseline positioning system of the submarine array, wherein the distance between the beacons is not more than 5km;
Step 2: long baseline positioning system and acoustic communication system sea surface testing
2.1 Hanging the positioning beacons and the positioning transceivers of the long baseline positioning system into the sea, and testing and confirming that the communication between all the positioning beacons and the positioning transceivers works normally;
2.2 The deep sea end acoustic communication machine of the acoustic communication system and the water surface end acoustic communication machine are hung into the sea, and the working condition of the acoustic communication machine is tested and confirmed;
2.3 The pressing block, the positioning beacon and the floating ball are connected by a rope, and the beacon is confirmed to work in a positioning mode.
Step 3: long baseline positioning beacon array and measuring array
3.1 Long baseline positioning beacon deployment: according to the layout design position of the positioning beacon, the mother ship drives to the layout design point of the positioning beacon, the ship speed is reduced to 2 knots from the design point by 500 meters, the pressing block is pushed into the sea, and the positioning beacon and the floating ball are driven to sink into the sea; the same method is used for arranging other positioning beacons according to the designed positions to complete the submarine arrangement of the long baseline positioning beacons;
3.2 Long baseline positioning beacon array: the positioning emitter is hung under the sea, the mother ship takes a single positioning beacon coordinate point as the center, takes the water depth as the radius, and makes a round around the single positioning beacon, the positioning emitter carries out distance measurement calibration on the positioning beacon, and the underwater positioning beacon geodetic coordinate is obtained and recorded; then, measuring other positioning beacons by the same method, obtaining all the positioning beacon geodetic coordinates, finishing the position measurement of the submarine positioning beacons, and inputting all the positioning beacon geodetic coordinates into a positioning transceiver of a long baseline positioning system;
Step 4: deck installation inspection and testing
4.1 The deep sea ultra-high resolution shallow surface profiler, the positioning transceiver of the long baseline positioning system and the deep sea end communicator of the sound communication system of the device are arranged in the submersible vehicle, and the watertight connection with the submersible vehicle body is checked and confirmed to be firm;
4.2 Self-checking a deck of the deep sea autonomous underwater robot system: and checking and confirming that the deep sea autonomous underwater robot body, the deep sea ultrahigh resolution shallow surface profiler, the positioning transceiver of the long baseline positioning system and the deep sea end communication system of the acoustic communication system work normally.
Step 5: deep sea autonomous underwater robot and acoustic communication system towing platform deployment
5.1 The method comprises the steps that a deep sea autonomous underwater robot is deployed into the sea, and the deep sea autonomous underwater robot is unpowered and submerged;
5.2 The method comprises the steps that a towing platform of the acoustic communication system is hoisted into the sea through an investigation ship A-shaped frame to be in a towing state, the depth of the towing platform is adjusted to be 50-500 m, the deep sea communication system is in a good state, a deck unit can display the submerged position, depth and attitude information of a deep sea autonomous underwater robot, and the submerged state of the deep sea autonomous underwater robot is monitored;
step 6: deep sea autonomous underwater robot near-bottom plume redeposition thickness sample data detection and profiler parameter optimization
6.1 The deep sea autonomous underwater robot is in a hovering working mode when submerged to 5 meters away from the sea bottom by adopting power according to a mission planning, the deep sea autonomous underwater robot is submerged to 60m away from the sea bottom, the deep sea ultra-high resolution shallow surface profiler is powered by a deep sea autonomous underwater robot detection load control unit, the deep sea ultra-high resolution shallow surface profiler starts working, acquired sample data are sent to a deep sea autonomous underwater robot detection load control module, and the acquired sample data are uploaded to a deck unit through a deep sea acoustic communication system;
6.2 And the deck unit plays back the collected sample data to analyze and process, if the quality of the collected data is poor, the acoustic communication system is used for optimizing the parameters (such as the transmitting rate ping, the transmitting power, the frequency, the receiving gain and the like) of the deep sea ultra-high resolution shallow surface profiler, and the sample data collected after the optimization of the receiving parameters is received until the satisfactory quality of plume redeposition thickness area detection data is obtained.
Step 7: plume redeposition thickness area detection of autonomous underwater robot in deep sea
The deep sea autonomous underwater robot sails according to the designed planning path in a contour operation mode of 5 meters away from the sea bottom, and sailing speed of the deep sea autonomous underwater robot is: 0.5kt-1kt, deep sea ultra-high resolution shallow surface profiler firing rate ping:25Hz-50Hz; the emission rate of the deep sea ultra-high resolution shallow surface profiler is positively correlated with the navigation speed of the autonomous underwater robot in the deep sea, namely, the navigation speed is increased, the emission rate is accelerated, 1 Ping is ensured to be arranged on a detection path every about 1cm, the detection horizontal resolution of a plume redeposition thickness area is ensured, and the detection echo information is arranged on each tuberculosis; the deep sea autonomous underwater robot completes the submerged detection task according to the design mission.
Step 8: deep sea autonomous underwater robot, acoustic communicator and long baseline array recovery
8.1, Completing a submerged mission task by the deep sea autonomous underwater robot, throwing and carrying an upward floating iron, and starting unpowered upward floating by the deep sea autonomous underwater robot;
8.2 When the deep sea autonomous underwater robot floats to the sea surface of 500m, recovering the dragging platform of the acoustic communication system;
8.3 When the deep sea autonomous underwater robot floats to the sea surface, recovering the deep sea autonomous underwater robot;
8.4 Recovering a positioning beacon of the submarine long baseline array system;
Step 9: plume redeposition thickness area detection data download and data interpretation
9.1 Downloading high-frequency parameter transmitting and receiving transducer array receiving data and deep sea multichannel hydrophone array receiving data;
9.2 The joint interpretation of the data received by the high-frequency parametric transmitting and receiving transducer array and the data received by the deep sea multi-channel hydrophone array is shown in fig. 3.
The above-described embodiments are intended to illustrate the present invention, not to limit it, and any modifications and variations made thereto are within the spirit of the invention and the scope of the appended claims.
Claims (8)
1. The mining plume redeposition thickness area detection device is characterized by comprising a deep sea autonomous underwater robot, a deep sea ultrahigh resolution shallow surface profiler and a deck display control unit;
The deep sea autonomous underwater robot is used for carrying a deep sea ultrahigh resolution shallow surface profiler and comprises a detection load control module, a combined navigation positioning module and an energy module; the integrated navigation positioning module is connected with a positioning transceiver of the deep-sea underwater long baseline positioning system and is used for accurately positioning the autonomous underwater robot in the deep sea; the detection load control module is connected with the deep sea ultra-high resolution shallow surface profiler, the combined navigation positioning module of the deep sea autonomous underwater robot and the deep sea end communicator, and is used for providing electric energy for the deep sea ultra-high resolution shallow surface profiler to perform mining plume redeposition thickness area detection, establishing communication, sending positioning data and setting parameters, receiving sample data detected by the deep sea ultra-high resolution shallow surface profiler, sending the sample data to the deep sea end communicator, and receiving an instruction transmitted to the deep sea end communicator by the deck unit;
The deep sea ultra-high resolution shallow surface profiler comprises a high-frequency parametric transmitting and receiving transducer array and a deep sea multi-channel hydrophone array, wherein the high-frequency parametric transmitting and receiving transducer array integrates a transmitting transducer and a receiving transducer and is used for converting an electroacoustic signal and an acoustic signal, transmitting two original frequency acoustic pulse signals with high frequency approaching to each other, generating a difference frequency signal through nonlinearity of medium propagation, detecting the height from the seabed by the original frequency signal, and detecting the seabed shallow surface structure by the difference frequency signal; the multi-channel hydrophone array receiving channel is connected with the deep sea multi-channel hydrophone array and is used for receiving echo information of difference frequency signals after reflection or scattering by seafloor and multi-metal tuberculosis at a wide angle, so that the receiving capability of the profiler on the echo signals is improved;
The deck display control unit receives the detection sample data of the deep sea ultrahigh resolution shallow surface profiler and the working state information of the deep sea autonomous underwater robot, and transmits a working instruction to the deep sea autonomous underwater robot, so that remote parameter setting of the deep sea ultrahigh resolution shallow surface profiler and remote control of the deep sea autonomous underwater robot are realized.
2. The mining plume redeposition thickness area detection device according to claim 1, wherein the deep sea ultra-high resolution shallow surface profiler further comprises a display control module and an embedded control processing module; the display control module is used for controlling the deep sea ultra-high resolution shallow surface profiler, setting parameters and displaying results; when the deep sea ultra-high resolution shallow surface profiler is tested, the embedded control processing module is connected with the display control module, receives a control command and setting parameters of the display control module, and the display control module receives detection data sent by the embedded control processing module and displays detection results.
3. The mining plume redeposition thickness zone detection device of claim 1, further comprising a deep sea underwater long baseline positioning system for determining the geodetic coordinates of a deep sea autonomous underwater robot.
4. The mining plume redeposition thickness area detection device according to claim 3, wherein the deep sea underwater long baseline positioning system is composed of at least 3 long baseline positioning beacons and 1 positioning transceiver, the long baseline positioning beacons are arranged on the seabed of an operation area, the distance between the positioning beacons is not more than 5km, the positioning transceiver is arranged in the deep sea autonomous underwater robot and is connected with an integrated navigation positioning module of the deep sea autonomous underwater robot, the deep sea autonomous underwater robot is positioned with high precision, positioning data are provided for a deep sea ultra-high resolution shallow surface profiler through a detection load control module of the deep sea autonomous underwater robot, and the accuracy of the mining plume redeposition thickness area detection data is ensured.
5. The mining plume redeposition thickness area detection device according to claim 1, further comprising a deep sea acoustic communication system, wherein the deep sea mining plume redeposition thickness area detection device comprises a deep sea end acoustic communication machine, a water surface end acoustic communication machine and a towing bracket, the water surface end acoustic communication machine is arranged in the towing bracket, the towing bracket is connected to a communication armor cable of a survey vessel and hoisted into the sea through an A-shaped frame, the deep sea acoustic communication system is used for uploading deep sea ultra-high resolution shallow surface profiler detection sample data and deep sea autonomous underwater robot working state information to a deck display control unit, and transmitting a deck display control unit instruction to the deep sea autonomous underwater robot to realize remote setting of deep sea ultra-high resolution shallow surface profiler parameters and remote control of deep sea autonomous underwater robot emergency cast-in-place floating.
6. The mining plume redeposition thickness area detection device according to claim 1, wherein the high-frequency parameter transmitting and receiving transducer array primary frequency signal frequency range in the deep sea ultra-high resolution shallow surface profiler is characterized in that: 700kHz-1000kHz, 250kHz-300kHz, beam angle: 0.5 ° x 0.5 °, maximum emission rate Ping: 50Hz; difference frequency signal frequency: 100kHz, 150kHz, 200kHz, 250kHz, and 300kHz.
7. The mining plume redeposition thickness zone detection device of claim 1 wherein said multi-channel hydrophone array receives a range of frequencies: the receiving angle of the hydrophone is 50 degrees, the channel spacing is 10cm, and the receiving channels are 8 channels and above from 100kHz to 300 kHz.
8. A mining plume redeposition thickness area detection method, comprising the steps of:
Step 1: deep sea autonomous underwater robot submerged mission planning and long baseline beacon array design
1.1 Planning a surface area detection path of the deep sea autonomous underwater robot according to the operation range of the multi-metal nodule collecting machine and the underflow data;
1.2 Setting a deep sea autonomous underwater robot to adopt an equal-altitude operation mode with a distance of 5m from the sea bottom, wherein the navigational speed is 0.5kt-1kt;
1.3 Designing at least 3 positioning beacons of a long baseline positioning system of the submarine array, wherein the distance between the beacons is not more than 5km;
Step 2: long baseline positioning system and acoustic communication system sea surface testing
2.1 Hanging the positioning beacons and the positioning transceivers of the long baseline positioning system into the sea, and testing and confirming that the communication between all the positioning beacons and the positioning transceivers works normally;
2.2 The deep sea end acoustic communication machine of the acoustic communication system and the water surface end acoustic communication machine are hung into the sea, and the working condition of the acoustic communication machine is tested and confirmed;
2.3 The pressing block, the positioning beacon and the floating ball are connected by a rope, and the beacon is confirmed to work in a positioning mode;
Step 3: long baseline positioning beacon array and measuring array
3.1 Long baseline positioning beacon deployment: according to the layout design position of the positioning beacon, the mother ship drives to the layout design point of the positioning beacon, the ship speed is reduced to 2 knots from the design point by 500 meters, the pressing block is pushed into the sea, and the positioning beacon and the floating ball are driven to sink into the sea; the same method is used for arranging other positioning beacons according to the designed positions to complete the submarine arrangement of the long baseline positioning beacons;
3.2 Long baseline positioning beacon array: the positioning emitter is hung under the sea, the mother ship takes a single positioning beacon coordinate point as the center, takes the water depth as the radius, and makes a round around the single positioning beacon, the positioning emitter carries out distance measurement calibration on the positioning beacon, and the underwater positioning beacon geodetic coordinate is obtained and recorded; then, measuring other positioning beacons by the same method, obtaining all the positioning beacon geodetic coordinates, finishing the position measurement of the submarine positioning beacons, and inputting all the positioning beacon geodetic coordinates into a positioning transceiver of a long baseline positioning system;
Step 4: deck installation inspection and testing
4.1 Installing a deep sea ultra-high resolution shallow surface profiler, a positioning transceiver of a long baseline positioning system and a deep sea end communication machine of an acoustic communication system in a deep sea autonomous underwater robot, and checking and confirming that the deep sea end communication machine is firmly connected with the deep sea autonomous underwater robot in a watertight manner;
4.2 self-checking of the deck of the deep sea autonomous underwater robot system: checking and confirming that the deep sea autonomous underwater robot body, the deep sea ultrahigh resolution shallow surface profiler, the positioning transceiver of the long baseline positioning system and the deep sea end communication system work normally;
step 5: deep sea autonomous underwater robot and acoustic communication system towing platform deployment
5.1 The method comprises the steps that a deep sea autonomous underwater robot is deployed into the sea, and the deep sea autonomous underwater robot is unpowered and submerged;
5.2 The method comprises the steps that a towing platform of the acoustic communication system is hoisted into the sea through an investigation ship A-shaped frame to be in a towing state, the depth of the towing platform is adjusted to be 50-500 m, the deep sea communication system is in a good state, a deck unit can display the submerged position, depth and attitude information of a deep sea autonomous underwater robot, and the submerged state of the deep sea autonomous underwater robot is monitored;
step 6: deep sea autonomous underwater robot near-bottom plume redeposition thickness sample data detection and profiler parameter optimization
6.1 The deep sea autonomous underwater robot is in a hovering working mode when submerged to 5 meters away from the sea bottom by adopting power according to a mission planning, the deep sea autonomous underwater robot is submerged to 60m away from the sea bottom, the deep sea ultra-high resolution shallow surface profiler is powered by a deep sea autonomous underwater robot detection load control unit, the deep sea ultra-high resolution shallow surface profiler starts working, acquired sample data are sent to a deep sea autonomous underwater robot detection load control module, and the acquired sample data are uploaded to a deck unit through a deep sea acoustic communication system;
6.2 The deck unit plays back the collected sample data to analyze and process, if the collected data does not meet the requirement, parameters including the sending rate ping, the sending power, the frequency and the receiving gain are optimally set for the deep sea ultra-high resolution shallow surface profiler through the acoustic communication system, and the collected sample data after the receiving parameters are optimized are received until the satisfactory plume redeposition thickness area detection data quality is obtained;
Step 7: plume redeposition thickness area detection of autonomous underwater robot in deep sea
The deep sea autonomous underwater robot sails according to the designed planning path in a contour operation mode of 5 meters away from the sea bottom, and sailing speed of the deep sea autonomous underwater robot is: 0.5kt-1kt, deep sea ultra-high resolution shallow surface profiler firing rate ping:25Hz-50Hz; the emission rate of the deep sea ultra-high resolution shallow surface profiler is positively correlated with the navigation speed of the autonomous underwater robot in the deep sea, namely, the navigation speed is increased, the emission rate is accelerated, 1 Ping is ensured to be arranged on a detection path every 1cm, the detection horizontal resolution of a plume redeposition thickness area is ensured, and the detection echo information is arranged on each tuberculosis; the deep sea autonomous underwater robot completes the submerged detection task according to the design mission;
Step 8: deep sea autonomous underwater robot, acoustic communicator and long baseline array recovery
8.1, Completing a submerged mission task by the deep sea autonomous underwater robot, throwing and carrying an upward floating iron, and starting unpowered upward floating by the deep sea autonomous underwater robot;
8.2 When the deep sea autonomous underwater robot floats to the sea surface of 500m, recovering the dragging platform of the acoustic communication system;
8.3 When the deep sea autonomous underwater robot floats to the sea surface, recovering the deep sea autonomous underwater robot;
8.4 Recovering a positioning beacon of the submarine long baseline array system;
Step 9: plume redeposition thickness area detection data download and data interpretation
9.1 Downloading high-frequency parameter transmitting and receiving transducer array receiving data and deep sea multichannel hydrophone array receiving data;
9.2 And the high-frequency parameter transmitting and receiving transducer array receives data and the deep sea multi-channel hydrophone array receives data.
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