CN104950344A - Seabed heat flow long-term observation probe based on underwater robot platform - Google Patents
Seabed heat flow long-term observation probe based on underwater robot platform Download PDFInfo
- Publication number
- CN104950344A CN104950344A CN201510299825.2A CN201510299825A CN104950344A CN 104950344 A CN104950344 A CN 104950344A CN 201510299825 A CN201510299825 A CN 201510299825A CN 104950344 A CN104950344 A CN 104950344A
- Authority
- CN
- China
- Prior art keywords
- temperature
- probe
- self
- temperature measuring
- heat flow
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K13/00—Thermometers specially adapted for specific purposes
- G01K13/02—Thermometers specially adapted for specific purposes for measuring temperature of moving fluids or granular materials capable of flow
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V9/00—Prospecting or detecting by methods not provided for in groups G01V1/00 - G01V8/00
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The invention discloses a seabed heat flow long-term observation probe based on an underwater robot platform. The seabed heat flow long-term observation probe comprises a support probe lever and a plurality of self-capacitance temperature measuring units. The self-capacitance temperature measuring units are helically distributed at equal distance and fixed on the support probe lever to form a distributed multipoint temperature measuring structure, and temperature fluctuation of sediments in different depths of the seabed is observed in the long term. Each self-capacitance temperature measuring unit comprises a housing, a battery, a temperature measuring circuit board, a sensor packaging probe and a temperature sensor, wherein the battery and the temperature measuring circuit board are mounted in the housing, the sensor packaging probe is fixed at one end of the housing, and the temperature sensor is mounted in the sensor packaging probe and electrically connected with the temperature measuring circuit board. The temperature sensors closely contact with the sediments in the seabed, the self-capacitance temperature measuring units helically distributed guarantee that each temperature sensor can contact undisturbed sediments, and fastness and accuracy in temperature measurement of the sediments are guaranteed to the greatest extent.
Description
Technical field
The present invention relates to temperature detection technique field, be specifically related to a kind of oceanic heat flow long-term observation probe based on underwater robot platform.
Background technology
Oceanic heat flow is the important component part of terrestrial heat flow, is the important foundation data of research ocean geodynamics, Sedimentary Basin Evolution process, oil-gas hydrate resource evaluation and hydrothermal circulation mechanism.Oceanic heat flow can utilize subsea borehole or oceanic heat flow probe to record, and the Bottom-simulating reflection of reflection earthquake section (BSR) also can be utilized to calculate.Subsea borehole (deep-sea drilling, petroleum drilling etc. of ODP or DSDP) is although the heat flow value obtained is less by the impact of shallow surface effect, reliability is higher, and erect-position distribution is few, and cost is higher, and thus its application is restricted; BSR hot-fluid, by the impact of the factor such as inconsistency on boundary at the bottom of the uncontinuity of BSR, sediment thermal conductivity estimation error and natural gas hydrate stability zone, in its result of calculation of some marine site, there is some difference compared with actual measurement heat flow value, and its scope of application is wideless; Comparatively speaking, the oceanic heat flow of boat-carrying probe-type is measured, and its operating flexibility, cost are lower, and measurement range can profundal zone, cover part, is therefore widely applied in global marine site.
Because heat flow probe inserts the sedimental degree of depth more shallow (being generally less than 10 meters), therefore higher to seabed superficial part environmental requirement, need comparatively constant environment temperature.The bottom-water temperature of major part profundal zone is all more constant, but in shallow sea and part profundal zone, by season, day temperature, stream, wave, the factor such as tide affect, the bottom water temperature in seabed often fluctuates comparatively large (Bottom water temperature variation is called for short BWTV).The part waters that such as China East Sea degree of depth is greater than 50 meters, the BWTV monthly average change of winter and summer can differ 5 DEG C more than; Japan Nankai trough is about the dark marine site of 2900m, and the fluctuation (Fig. 1) of 0.8 DEG C has also appearred in the end coolant-temperature gage in a year; The end coolant-temperature gage fluctuation monitoring that inventor place seminar carries out in 2013 and 2014 in Northern Part of South China Sea Xisha and hydrate, finds one of them erect-position (about depth of water 900m), and in 48 hours, its end coolant-temperature gage fluctuation reaches 0.42 DEG C.It should be noted that this is the fluctuation situation observed in the short time (about 2 days), in longer time yardstick, its fluctuating range should be able to be larger.
Does BWTV have anything to affect on oceanic heat flow measurement result? according to the research of forefathers, BWTV by heat transfer, will affect the underground temperature gradient of surface deposit from temperature fluctuation amplitude and phase place.Exponential law is obeyed in the decay of its amplitude, and rate of decay is then relevant with the cycle of BWTV.BWTV is formed by stacking by the influence factor mixing of different cycles usually.Wherein macrocyclic part decay is comparatively slow, affects darker; Short period part then decay is fast.Such as one is that the BWTV in cycle can only have influence on about 0.5 meter of degree of depth with sky, and one is that the BWTV in cycle then can have influence on 8 ~ 9 meters of dark sediments with season.General oceanic heat flow probe investigation depth can reach 6 ~ 10 meters, after removing top layer underground temperature gradient data, short-period BWTV substantially can be avoided to affect.But for macrocyclic BWTV, conventional oceanic heat flow probe possibly cannot penetrate its influence depth, causes the underground temperature gradient recorded truly cannot reflect the Warm status of this erect-position.In this case, conventional oceanic heat flow probe is not be well suited for obtaining ground thermal parameter for the marine site larger in the fluctuation of end coolant-temperature gage.
How to avoid BWTV on the impact of heat flow measurement? solution route has be try every possible means as far as possible increase fathom at two: one, avoids the influence depth of top layer by end coolant-temperature gage; Two is the fluctuation Changing Patterns trying every possible means to obtain surface deposit different depth place temperature, then by the data analysis to these long-term sequence, thus eliminates the impact of end coolant-temperature gage fluctuation, obtains reliable background ground thermal information.In the first solution route, heat flow probe length is once oversize, the various problems such as its task difficulty will highlight (such as to the implementing ability of weight of equipment, scientific investigation ship, the restriction etc. of sediment situation), thus not be a good solution.Along with the continuous progress of science and technology, the temperature monitoring carrying out long-time (more than a year) in seabed becomes possibility, therefore many scholars start to develop long-term observation equipment, and for observing the larger marine site of end coolant-temperature gage fluctuation and study.This scheme current is practical and highly significant.
Hereafter have chosen several representative equipment to briefly introduce.
(1) hole drilling type oceanic heat flow long-term observation system
Ocean research and development organization of Japan (JAMSTEC) have employed a kind of reusable long-term thermometry (Fig. 2) based on boring, and they are referred to as Circulation Obviation Retrofit Kits and (are called for short CORKs or ACORKs.Boring reaches hundreds of rice deeply, except mounting temperature sensor, also has the multiple sensors such as pore water pressure simultaneously, is mainly used to observation earthquake coseis-mic effect, and such as BEFORE AND AFTER EARTHQUAKE is holed the situations of change such as each depth temperature, hydraulic pressure.Certainly, the long-term temperature fluctuation data got, also can be used to explain not by ground temperature distribution situation during end coolant-temperature gage influence of fluctuations).CORKs core component mainly comprises data record cabin (comprising battery) and sensor chain.During concrete operation, under the assistance of robot under water, multisensor (comprising temperature) the chain type measuring instrument of band sinker is vertically transferred to (such as IODP boring) in the hollow bushing of subsea borehole, recorded the environment temperature (or equilibrium temperature) at boring different depth place by multiple temperature sensor, all data are kept in the data record cabin of well head.During recovery, the data record cabin of well head is fetched by underwater robot, changes the data record cabin of a new battery of band, realizes long-term circulation and measures.In addition also have another way to be also taken out by whole sensor chain, this sensor chain is made up of the miniature temperature measuring unit of several self-tolerants (namely from charged pool and storer) often, and data are not stored in the data record cabin of well head.
The Measurement channel number flexibly changing of CORKs and replacement, fathom and can reach hundreds of rice (depending on drilling depth), and equipment can repeatedly use in seabed, and the data volume of acquisition is enriched.But its application purpose is mainly with shaking monitoring, and the Numerical Distribution of erect-position is confined to subsea borehole, is of limited application.Meanwhile, its temperature measured is the temperature of different depth place water in boring, and this is possible or differentiated with the actual temperature on corresponding depth stratum.
(2) self-floating oceanic heat flow long-term observation system
Tokyo Univ Japan's seismic study Yamano team adopt a kind of probe observation instrument of self-floating to realize hot-fluid long-term observation (Fig. 3), they are referred to as PLHF (Pop-up Long term Heat Flow instrument).In this equipment, 6 thermistor temperature sensors are encapsulated in one and are about in the elongated metal probe of 2 meters, and probe inner sensor is connected with the record cell in recovery capsule by watertight cable, realizes temperature acquisition.Observation instrument is when input, and probe, pouring weight and recovery capsule are fixed together, and are devoted in the sea from scientific investigation ship.Under the pressure of pouring weight, probe inserts in marine bottom sediment.During recovery, the line between the sensor in probe and recovery capsule is cut off by an electric slicer by recovery capsule, abandons metal probe and pouring weight simultaneously, realize the floating of recovery capsule by acoustic releaser.
Subsea borehole formula oceanic heat flow long-term observation scheme relatively above, PLHF is a real system for the purpose of oceanic heat flow long-term observation, and its operating type is convenient, flexible, as long as operation sea situation is not too poor, namely undertaken throwing in by carrying scientific investigation ship and reclaim, being applicable to the work of most of marine site.But this equipment relies on self gravitation to realize the insertion of thermoprobe, if sediment is comparatively hard, then cannot successfully insert.Therefore, before input PLHF system, usually all need the thickness of deposits reflected by reference to seismic section, and utilize gravity corer sampling to carry out bottom characteristics exploration.And this self-floating device structure is more complicated, need to be waken up by underwater acoustic communication device when reclaiming, re-use electric slicer and cut off sensor cable in probe, to realize being separated of pouring weight and instrument room, therefore require higher to the reliability and stability of releasing arrangement.
(3) based on the oceanic heat flow long-term observation system of ROV
In YK06-03 and the NT07-E1 flight number of JAMSTEC, apply a kind of oceanic heat flow long-term observation system (Fig. 4) having cable underwater robot (ROV) operation based on boat-carrying, they are referred to as LTMS (Long-term Temperature Monitoring System).This system is made up of data record cabin (comprising battery and temperature measurement circuit) and two temperature sensor probes, and sensor probe is connected with data record cabin by the watertight cable of 2 meters long.6 temperature sensors are within the probe evenly distributed with spacing 10cm, and the long 0.76m of probe, diameter 13mm, the probe of structure and PLHF is similar.During operation, LTMS is carried into seabed by ROV, and temperature probe inserts in sediment by mechanical arm by ROV, and data record cabin is placed on one side; During recovery, temperature probe is extracted by ROV, takes back on scientific investigation ship together with data record cabin.
The PLHF system of relative self-floating, the structure based on the LTMS of ROV operation is relatively simple, and job success ratio is high.But the volume and weight of this LTMS is comparatively large, and its support and data record cabin length, width and height are 1.20m × 0.43m × 0.51m, and weight reaches 22kg under water, weight 39.6kg in air.And the lift-launch ability of ROV is normally limited, this just causes laying with when reclaiming LTMS, and the slightly weak ROV of carrying capacity is difficult to the seabed operation carrying out other equipment again.Therefore, its operating cost is higher, and synthetic job efficiency comparison is low.Simultaneously, the same with the sensor probe of PLHF, multiple temperature sensor is sealed in the metal tube of falling heat-transfer oil, metal tube diameter is greater than 13mm, due to buffer action that is oily and tube wall, therefore temperature sensor is to around sedimental temperature variation response lag, and some high frequencies temperature variation signal by a small margin, by filtering, causes the sensitivity decrease of temperature-sensitive.But after metal tube diameter is reduced, its intensity can be caused again to decline, easily bend in insertion process.
The brief comparison of table 1 three kinds of oceanic heat flow long-term observation schemes
Table 1 schematically illustrates feature and the applicability thereof of above-mentioned three kinds of oceanic heat flow long-term observation systems, and therefrom can find out, often kind of equipment has respective relative merits and applicability, is also subject to different restriction conditions simultaneously.The development trend of oceanic heat flow long-term observation equipment is wider towards the scope of application, job success ratio and efficiency is higher, sensitivity of thermometry is better, the portable future development such as small and exquisite.
Along with the renewal of the development of science and technology and offshore operation equipment is with universal, the operation of boat-carrying underwater robot is ripe gradually and be in Rapid Popularization.Underwater robot is divided into boat-carrying ROV (having cable robot under water), AUV (under water without cable robot) and manned submersible, they under water operation time the realtime graphic transmission that has and the function such as mechanical arm manipulation, bring huge facility to oceanic heat flow detection, substantially increase reliability and the success ratio of hot-fluid operation.In heat flow survey from now on, underwater robot will be played a greater and greater role, and also be a development trend based on the hot-fluid equipment development of underwater robot.
Summary of the invention
For the deficiencies in the prior art, the object of the present invention is to provide a kind of oceanic heat flow long-term observation probe based on underwater robot workbench, structurally probe is by supporting feeler lever and multiple self-tolerant temperature measuring unit forms, sensor package probe diameter is less than 5mm, seabed and deposit contact tight, therefore sensor is faster to the response speed of sediment temperature variation, and accuracy is better.
To achieve these goals, the technical scheme that the present invention takes is:
A kind of oceanic heat flow long-term observation probe based on underwater robot platform, it comprises support feeler lever and multiple satisfied self-tolerant temperature measuring unit reaching the oceanic heat flow long-term observation of more than 1 year, multiple self-tolerant temperature measuring unit equidistantly and twist distribution is fixed on described support feeler lever, multi-point temperature measurement structure to form a distributed, realizes the sedimental temperature fluctuation long-term observation in different depth place, seabed; ; The top of described support feeler lever is a grip shank, and its underpart is the stationary pipes be fixedly connected with grip shank; Each self-tolerant temperature measuring unit includes shell, battery, temperature measurement circuit plate, sensor package probe and temperature sensor, wherein, described battery and temperature measurement circuit plate are all installed in shell, temperature sensor to be installed in sensor package probe and to be electrically connected with temperature measurement circuit plate, and described sensor package is popped one's head in and fixed by screw thread and shell; When carrying out oceanic heat flow long-term observation operation, underwater robot makes in the sediment bottom stationary pipes insertion seawater by mechanical arm clamping grip shank, and grip shank is stayed in the seawater, the sensor package of one of them probe in described multiple self-tolerant temperature measuring unit is arranged upward, measure for coolant-temperature gage Long-term Fluctuation at the bottom of seabed, the sensor package probe of remaining self-tolerant temperature measuring unit is arranged, down for the long-term measurement of underground temperature gradient.
Temperature sensor is arranged in sensor package probe, and sensor package probe diameter is less than 5mm and contacts closely to make sensor with marine bottom sediment, can sense sedimental temperature variation fast and accurately; Multiple miniature temperature measuring unit at a certain distance helical arrangement is supporting on feeler lever, sensor probe down, can ensure that the tip probe of each temperature measuring unit in probe insertion process can touch undisturbed sediment all the time, ensure the authenticity of sediment hot-fluid in site measurement to greatest extent.
Described self-tolerant temperature measuring unit is installed on by U-shaped button and supports on feeler lever.The number of self-tolerant temperature measuring unit and arrangement pitches can adjust flexibly, realize the sedimental temperature fluctuation long-term observation in different depth place, seabed.Each temperature measuring unit independence self-tolerant work, forms distributed multi-point temperature measurement structure, makes the damage of wherein any one self-tolerant temperature measuring unit all can not have influence on the normal surveying work of other temperature measuring unit.Self-tolerant temperature measuring unit, has good interchangeability and versatility, is convenient to dismounting and the maintenance of equipment, very favourable to the actual job of oceanographic equipment.
Temperature measurement circuit plate in described self-tolerant temperature measuring unit comprises power module, temperature-measuring module, attitude measurement module, single-chip microcomputer and memory module, battery carries out being respectively temperature-measuring module, attitude measurement module for power supply after voltage transitions through power module, the data of temperature-measuring module and attitude measurement module acquires are all transferred to single-chip microcomputer process and are stored by memory module, and described single-chip microcomputer carries out communication by communication interface module and host computer.
A metal-oxide-semiconductor is all electrically connected between described power module and temperature-measuring module, attitude measurement module, memory module, the grid of each metal-oxide-semiconductor is connected to the output terminal of single-chip microcomputer, the drain electrode of each metal-oxide-semiconductor is all connected to power module, and the source electrode of each metal-oxide-semiconductor is connected to power module and temperature-measuring module, attitude measurement module respectively.
Described temperature-measuring module comprises reference voltage source U1 and analog to digital converter, the input end of this reference voltage source U1 is connected with power module, the output terminal of described reference voltage source U1 is connected to the positive reference edge of analog to digital converter by a resistance R3, one end of temperature sensor and the equal ground connection of the negative input end of analog to digital converter, the other end of temperature sensor is connected between resistance R3 and positive reference edge by resistance R2, the negative reference edge of analog to digital converter and positive input terminal are all connected between resistance R2 and temperature sensor, the output terminal of described analog to digital converter is connected to single-chip microcomputer, one first electric capacity is connect between the two ends of described temperature sensor, one second electric capacity is connected in series between the output and ground of described reference voltage source U1, one the 3rd electric capacity is connected in series between the input end of described reference voltage source U1 and earth terminal.
Described attitude measurement module is 3-axis acceleration sensor HAAM-313B, and three axle output terminals of this attitude measurement module are connected to three input ends of single-chip microcomputer, and line between attitude measurement module and single-chip microcomputer connects the filter capacitor of one end ground connection.
Described single-chip microcomputer is STM8L151G.
Described self-tolerant temperature measuring unit and host computer realize two-wire system serial communication by shell; The first metal shell that described shell comprises lower ending opening and second metal shell of filling at described opening, fixed by a plastic casing between described second metal shell and the first metal shell, the earth terminal of described temperature measurement circuit plate is connected to the first metal shell by one first electric wire, the RX/TX port of described single-chip microcomputer is connected to the second metal shell by one second electric wire, during with upper machine communication, this first metal shell is connected with host computer with the 4th electric wire respectively by one the 3rd electric wire with the second metal shell.
The entire length of described support feeler lever is less than 1m, its general assembly (TW) in water and air is less than 3kg respectively and is less than 8kg, its maximum operating water depth is 3000m, described self-tolerant temperature measuring unit is 4 ~ 5, sensor package probe is arranged all down, and the distance between adjacent two sensor package probes is 20 ~ 25cm.
The external diameter of described self-tolerant temperature measuring unit is less than 2cm, and length is less than 22cm, and its weight in water and air is less than 0.3kg respectively and is less than 0.5kg.
The present invention relates to a kind of oceanic heat flow long-term observation probe based on underwater robot workbench, be mainly used in the marine bottom sediment temperature profile Long-term Fluctuation rule obtaining the larger marine site of coolant-temperature gage fluctuation, the end, in order to eliminate the impact of end coolant-temperature gage fluctuation on marine bottom sediment temperature fluctuation, final with obtaining reliable seabed thermal parameter (the hot physical property of underground temperature gradient, oceanic heat flow and marine bottom sediment).This probe, primarily of support feeler lever and multiple self-tolerant temperature measuring unit composition, can carry out the hot-fluid long-term observation of more than a year in seabed.This probe relies on underwater robot to carry out laying and reclaimer operation, has the features such as operating flexibility, job success ratio is high, sediment thermometric is true and reliable and be easy to carry, and can be well oceanic heat flow detection service.Meanwhile, the core component of this probe---self-tolerant temperature measuring unit, can not only be applied to seabed original position hot-fluid long-term observation, can also be applied to the long-term thermometric of continent and many occasions such as deep sea core, environmental monitoring, be with a wide range of applications.
Compared with prior art, beneficial effect of the present invention is:
1) apparatus of the present invention are simple for structure, portable light, are very applicable to underwater robot operation; Compared with self-floating Thermal flow detection equipment, when the present invention carries out habitata, reliability is higher;
2) temperature sensor in apparatus of the present invention is encapsulated in diameter and is less than in the sensor package probe of 5mm, therefore temperature sensor contacts with marine bottom sediment closely, sedimental temperature variation can be sensed fast and accurately, the spiral helicine mounting means of self-tolerant temperature measuring unit simultaneously, ensure that each temperature sensor can touch undisturbed sediment, these two features ensure that the thermometric rapidity of sediment, accuracy to greatest extent;
3) the multiple self-tolerant temperature measuring unit independence self-tolerant work in apparatus of the present invention, form distributed multi-point temperature measurement structure, realize the sedimental temperature fluctuation long-term observation in different depth place, seabed, thus the impact of end coolant-temperature gage fluctuation can be eliminated, final acquisition reliable background ground thermal parameter, and can be general after calibration, be convenient to replace and safeguard; Meanwhile, self-tolerant temperature measuring unit can also be applied to the long-term thermometric of continent and many occasions such as deep sea core, environmental monitoring, and range of application is wide.
4) the self-tolerant temperature measuring unit described in has low power consumption characteristic, and its temperature survey sampling interval is that 1s ~ 1h is able to programme, and when sampling interval is not higher than 10 minutes, seabed stream time is greater than 1 year.
5) the thermometric passage (self-tolerant temperature measuring unit number) in apparatus of the present invention and thermometric spacing can adjust flexibly, and self-tolerant temperature measuring unit has interchangeability and versatility, is convenient to plant maintenance and assembling.
6) probe entire length is less than 1m, and in water, general assembly (TW) is less than 3kg, and in air, general assembly (TW) is less than 8kg, and maximum operating water depth is greater than 3000 meters; 4 ~ 5, thermometric passage, probe spacing 20 ~ 25cm, can realize flexible adjustment.
7) described self-tolerant temperature measuring unit, its external diameter is less than 2cm, and length is less than 22cm, and sensor package probe diameter is less than 5mm, and in air, weight is less than 0.5kg, and in water, weight is less than 0.3kg, and volume is small portable; Its thermometric resolution is less than 1mK, and thermometric long term drift is less than 5mK/year, and passage consistency is better than 5mK.
Accompanying drawing explanation
Fig. 1 is Nankai trough shallow sea water sediment Temperature-time section, wherein: (a) different depth sediment initial temperature fluctuation record; B () eliminates the sediment Temperature Distribution after end fluctuating temperature; CH1 is the thermometric passage of most shallow-layer, and CH7 is the darkest thermometric passage.
Fig. 2 is the structural representation of hole drilling type oceanic heat flow long-term observation equipment.
Fig. 3 is the structural representation of self-floating oceanic heat flow long-term observation equipment.
Fig. 4 is based on the oceanic heat flow long-term observation system of ROV.
Fig. 5 is the structural representation of a kind of oceanic heat flow long-term observation probe based on underwater robot workbench of the present invention.
Fig. 6 is the A district enlarged drawing of Fig. 5.
Structural representation when Fig. 7 is seabed operation of the present invention.
Fig. 8 is the structural representation of self-tolerant temperature measuring unit.
Fig. 9 is the circuit theory diagrams of temperature measurement circuit plate.
Figure 10 is the power management concepts figure of temperature measurement circuit plate.
Figure 11 is the circuit theory diagrams of temperature and attitude measurement module.
Figure 12 is the Principle of Communication figure of self-tolerant temperature measuring unit and host computer.
Reference numeral: 10, support feeler lever; 11, grip shank; 12, stationary pipes; 20, self-tolerant temperature measuring unit; 21, temperature sensor; 22, sensor package probe; 23, temperature measurement circuit plate; 231, power module; 232, temperature-measuring module; 233, attitude measurement module; 234, single-chip microcomputer; 235, memory module; 236, communication interface module; 237, host computer; 24, battery; 25, shell; 251, the first metal shell; 252, plastic casing; 253, the second metal shell; 30, U-shaped button; 100, seawater; 200, sediment; 300, underwater robot; 400, mechanical arm.
Embodiment
Below in conjunction with embodiment, the present invention is further illustrated.
Please refer to shown in Fig. 5 and Fig. 6, a kind of oceanic heat flow long-term observation probe based on underwater robot workbench, structure forms primarily of support feeler lever 10 and multiple self-tolerant temperature measuring unit 20.
Support feeler lever 10 to be made up of hard plastic material, be mainly used in fixing multiple self-tolerant temperature measuring unit 20, and insert seabed under the clamping of robot 300 under water.Supporting its top of feeler lever 10 is that a diameter is about 60mm, the grip shank 11 that the nylon handle being about 200mm is made, and the mechanical arm 400 being convenient to underwater robot 300 clamps, and effectively can alleviate probe weight simultaneously; Supporting feeler lever 10 bottom is that a diameter is about 20mm, be about the stationary pipes 12 that the duroplasts bar of 800mm or anticorrosion metal tube are made, and inserts in sediment, avoid being damaged by marine corrosion simultaneously for fixing self-tolerant temperature measuring unit 20.
Self-tolerant temperature measuring unit 20 is fixed on by U-shaped button 30 and supports on feeler lever 10.Multiple self-tolerant temperature measuring unit 20 is along the equidistant spiral installation of support feeler lever 10, the number of self-tolerant temperature measuring unit 20 and spacing can adjust flexibly, realize the long-term measurement of underground temperature gradient and end coolant-temperature gage, the data of acquisition can calculate background ground thermal information accurately after treatment.Sensor package probe 22 down, can ensure that the sensor package probe 22 at the tip of each self-tolerant temperature measuring unit 20 during insertion can touch undisturbed sediment all the time, ensured the authenticity of sediment heat flow measurement to greatest extent, this feature is the advantage that do not have of described hot-fluid long-term observation equipment above.
Please refer to shown in Fig. 7, during for oceanic heat flow long-term observation, underwater robot 300 is clamped in the sediment 200 that grip shank 11 makes stationary pipes 12 insert bottom seawater 100 by mechanical arm 400, and grip shank 11 is stayed in seawater 100.
Please refer to shown in Fig. 8, self-tolerant temperature measuring unit 20 has the independently function such as temperature acquisition, data storage, its by the shell 25 of corrosion-resistant metal, battery 4, temperature measurement circuit plate 23, sensor package pop one's head in 22 and temperature sensor 21 form.Wherein, battery 24 and temperature measurement circuit plate 23 are all installed in shell 25, sensor package probe 22 is fixed on the downside of shell 25, temperature sensor 21 to be installed in sensor package probe 22 and to be electrically connected with temperature measurement circuit plate 23, and sensor package probe 22 is less than 5mm away from the end diameter of shell 25.
Self-tolerant temperature measuring unit 20 volume is small, and the battery 24 that can carry is limited, and therefore, the low power capabilities of circuit is the primary factor of its mission life of restriction.Can seabed continuous working more than 1 year in order to realize temperature measuring unit, the circuit static power consumption of design is less than 10uA, and dynamic power consumption is less than 5mA, and the dynamic duty time is less than 2s.According to 10 minutes sample frequency once, the average power consumption in the sampling period was: I=(10uA* (10*60s-2s)+5mA*2s)/10*60s=26uA.The battery max cap. selected in permission space is 800mAh, consider the low and self discharge effect of battery discharge rate under subsea cryogenic environment, the electricity that its seabed can be put is approximately 600mAh, then temperature measurement circuit can stream time t=600mAh/0.026mA/24h/365d=2.6year.
Oceanic heat flow long-term observation probe based on underwater robot workbench involved in the present invention, major design index is as follows:
(1) number of self-tolerant temperature measuring unit 20 is 4 ~ 5, probe spacing 20 ~ 25cm, and wherein 3 ~ 4 for measuring underground temperature gradient, spacing 250mm, 1 for measuring end coolant-temperature gage fluctuation, its sensor package probe 22 presses close to seabed.The number of self-tolerant temperature measuring unit 20 and arrangement pitches can adjust as required flexibly, can replace mutually simultaneously, facilitate I&M between self-tolerant temperature measuring unit 20.
(2) self-tolerant temperature measuring unit 20 external diameter is less than 2cm, and length is less than 22cm, and sensor package probe diameter is less than 5mm, and in air, weight is less than 0.5kg, and in water, weight is less than 0.3kg, and volume is small portable;
(3) resolution is less than 1mK, and thermometric long term drift is less than 5mK/year, and passage consistency is better than 5mK;
(4) temperature survey sampling interval is that 1s ~ 1h is variable, and when sampling interval is not higher than 10 minutes, seabed stream time is greater than 1 year;
(5) probe entire length is less than 1 meter, in water, general assembly (TW) is less than 3kg, and in air, general assembly (TW) is less than 8kg, and operating depth is greater than 3000 meters, a whole set of probe terminal with compact integral structure, assembling, dismounting and adjustment thermometric number of active lanes and spacing are convenient in open connection design; Compact is light, is very suitable for underwater robot and carries out carrying and operation, and this is the advantage that do not have of described LTMS and PLHF equipment above.
The circuit theory of temperature measurement circuit plate 23 as shown in Figure 9, mainly comprise using lower module: as the single-chip microcomputer 234 of main control module, temperature-measuring module 232, attitude measurement module 233, power module 231, memory module 235 and communication interface module 236, be below the specific embodiments of each circuit module based on low power dissipation design:
1. power module 231.The electrical specification of normal electronics is supply voltage lower (in the reasonable scope), and its electric current consumed is lower, therefore for circuit provides lower supply voltage to contribute to saves energy.After considering, circuit adopts the operating voltage of 3.0V, has both met the power requirement of each device, and ensure that again the signal to noise ratio (S/N ratio) of simulating signal as much as possible.
When battery 24 volume is identical, the battery that rated output voltage is low has larger capacity, thus there is longer serviceable life, so the design selects output voltage to be the lithium ion battery of 3.7V, its nominal capacity is 800mAh, actual discharge amount is about 600mAh, and lithium ion battery forms the operating voltage of 3.0V after carrying out voltage transitions by power module 231
In the oceanic heat flow long-term observation of reality, the circuit overwhelming majority time is in park mode, and small quiescent current adds up for a long time still can cause many waste of energy.Therefore, in order to reduce quiescent dissipation to greatest extent, being necessary the modular power management of realizing circuit, under the control of single-chip microcomputer 234, realizing subregion, time sharing power supply.
As shown in Figure 10, in circuit, the power module of difference in functionality module (i.e. temperature-measuring module 232, attitude measurement module 233, memory module 235) is all independently, in each road power supply, be connected in series a P channel MOS tube, realizing every road power supply can be opened or closed separately under the control of single-chip processor i/o mouth.When circuit is in dormant state, the respective power supply of temperature-measuring module 232, attitude measurement module 233, memory module 235 can be closed, and now these circuit not current sinking substantially, achieves minimum quiescent dissipation.
2. single-chip microcomputer 234.In the course of the work, single-chip microcomputer 234 needs to possess following function and peripheral hardware resource to self-tolerant temperature measuring unit 20: the synchronous serial communication (SPI) for data acquisition, the asynchronous serial communication (UART) for data and command transfer, for the analog to digital converter (AD) of battery voltage monitoring and attitude monitoring, timer conter for accurate delay, real-time clock (RTC), volatile Random Access Memory (RAM) for multiple I/O pin, at least 1KByte of external interrupt input and power management.Therefore, need the single-chip microcomputer selecting integrated level higher, its low power capabilities will be taken into account simultaneously.
STM8L151 single-chip microcomputer is selected in the design.This chip, except possessing above-mentioned hardware capability, also has multiple low-power consumption mode.Because temperature measuring unit is when seabed works, the overwhelming majority time is all in dormant state, quiescent dissipation when therefore the application of low-power consumption mode can reduce temperature measuring unit dormancy greatly.
3. temperature-measuring module 232 and attitude measurement module 233.
Schematic diagram as shown in figure 11, in temperature-measuring module 232, is improve temperature measurement accuracy, selects low noise reference voltage source U1 (model is ADR380) to provide current excitation for platinum sensor Pt1000 (i.e. temperature sensor 21).The input end of reference voltage source U1 is connected with power module 231, the output terminal of described reference voltage source U1 is connected to the positive reference edge of analog to digital converter by a resistance R3, one end of temperature sensor 21 and the equal ground connection of the negative input end of analog to digital converter, the other end of temperature sensor 21 is connected between resistance R3 and positive reference edge by resistance R2, the negative reference edge of analog to digital converter and positive input terminal are all connected between resistance R2 and temperature sensor 21, the output terminal of described analog to digital converter is connected to single-chip microcomputer 234, one first electric capacity is connect between the two ends of described temperature sensor 21, one second electric capacity is connected in series between the output and ground of described reference voltage source U1, one the 3rd electric capacity is connected in series between the input end of described reference voltage source U1 and earth terminal.Resistance R3 plays metering function, and under its effect, the working current of platinum sensor Pt1000 is about 0.2mA, makes it have higher signal to noise ratio (S/N ratio) and reduces circuit power consumption.Because platinum sensor Pt1000 is encapsulated in inside self-tolerant temperature measuring unit 20 together with temperature measurement circuit plate 23, platinum sensor Pt1000 output impedance is little, and due to the shielding action of metal shell, signal is not easy to be subject to external interference, so voltage follower conventional in signal conditioning circuit can be saved, platinum sensor Pt1000 output signal directly sends into AD converter, reduces circuit power consumption with the use of IC.
In attitude measurement module 233, make full use of the feature that single-chip microcomputer 234 inside carries hyperchannel AD converter, select the attitude sensor HAAM-313B of analog signal output, and directly send into rear after filtering for three-axis attitude signal x, y, z in the inner AD of single-chip microcomputer.These behaves while ensure that measuring accuracy, can simplify circuit composition, reduce power consumption.
4. communicating circuit.Temperature measurement circuit plate 23 is contained in the cabin body of stainless steel pressure casing 25, realizes serial communication (as Figure 12) when not opening the cabin by metal shell and host computer.Particularly, shell 25 comprises the first metal shell 251 of lower ending opening, and at the second metal shell 253 do not contacted with the first metal shell 251 that opening is filled, fixed by a plastic casing 252 between second metal shell 253 and the first metal shell 251, this communicating circuit makes full use of the hardware semi-duplex serial port function (Half Duplex UART) of STM8 single-chip microcomputer uniqueness, directly by the RX/TX pin of single-chip microcomputer and circuit GND respectively by being wired on the contact of the second metal shell 253 and the first metal shell 251, this second metal shell 253 is connected with host computer 237 by one the 3rd electric wire, by writing the communications protocol corresponding with host computer, realize two-wire system serial communication.In this communicating circuit, owing to not needing to carry out remote and two-forty communication, so do not need to increase serial port chip to carry out communication signal conversion, eliminate the electric energy loss that conventional serial communication circuit causes.
5. memory circuit.Ferroelectric memory FM25V20 selected by memory circuit.Ferroelectric memory (FRAM) is storage medium of new generation, the advantage such as unlimited read-write, high-speed read-write of the non-volatile data storage characteristic of ROM and RAM combines by it, and significantly it has refreshed the minimum running current (being less than 1mA during read-write operation) of current main flow storage chip.FM25V20 has 2Mbit storage space, by every 10 minutes sampling rates once, can store the data volume of 24 months.Memory circuit adopts two panels FM25V20 to expand storage space, can preserve the data volume more than 3 years.
In addition, power consumption can also be reduced by optimizing storage program: each data by collection are first accumulated in internal RAM by single-chip microcomputer, until again by the data one-time write storer of multi collect when RAM is filled with soon.Like this, same quantity of data write-once, than the storage operation time that repeatedly write only need be shorter, thus can save electric energy.
Multiple self-tolerant temperature measuring unit 20 unit independence self-tolerant work in apparatus of the present invention, can be general after calibration, is convenient to replace and safeguard; Meanwhile, self-tolerant temperature measuring unit 20 can also be applied to the long-term thermometric of continent and many occasions such as deep sea core, environmental monitoring, and range of application is wide.(it is to be noted here, there is the multiple long-term temperature measuring equipment for fields such as above-mentioned boring, environmental monitorings at present, but because the self-tolerant temperature measuring unit 20 related in apparatus of the present invention possesses corresponding long-term thermometric performance and form factor, therefore can in above-mentioned field expansive approach scope.)
Above-listed detailed description is illustrating for possible embodiments of the present invention, and this embodiment is also not used to limit the scope of the claims of the present invention, and the equivalence that all the present invention of disengaging do is implemented or changed, and all should be contained in the scope of the claims of this case.
Claims (7)
1. the oceanic heat flow long-term observation probe based on underwater robot platform, it is characterized in that, it comprises support feeler lever (10) and multiple satisfied self-tolerant temperature measuring unit (20) reaching the oceanic heat flow long-term observation of more than 1 year, multiple self-tolerant temperature measuring unit (20) equidistantly and twist distribution is fixed on described support feeler lever (10), multi-point temperature measurement structure to form a distributed, realizes the sedimental temperature fluctuation long-term observation in different depth place, seabed, the top of described support feeler lever (10) is a grip shank (11), and its underpart is the stationary pipes (12) be fixedly connected with grip shank (11), each self-tolerant temperature measuring unit (20) includes shell (25), battery (24), temperature measurement circuit plate (23), sensor package probe (22) and temperature sensor (21), wherein, described battery (24) and temperature measurement circuit plate (23) are all installed in shell (25), temperature sensor (21) to be installed in sensor package probe (22) and to be electrically connected with temperature measurement circuit plate (23), described sensor package probe (22) by screw thread and shell (25) fixing, when carrying out oceanic heat flow long-term observation operation, underwater robot (300) makes stationary pipes (12) insert in the sediment (200) of seawater (100) bottom by mechanical arm (400) clamping grip shank (11), and grip shank (11) is stayed in seawater (100), the sensor package of one of them probe (22) in described multiple self-tolerant temperature measuring unit (20) is arranged upward, measure for coolant-temperature gage Long-term Fluctuation at the bottom of seabed, sensor package probe (22) of remaining self-tolerant temperature measuring unit (20) is arranged down, for the long-term measurement of underground temperature gradient.
2. the oceanic heat flow long-term observation probe based on underwater robot platform according to claim 1, is characterized in that, described self-tolerant temperature measuring unit (20) is installed on by U-shaped button (30) and supports on feeler lever (10).
3. the oceanic heat flow long-term observation probe based on underwater robot platform according to claim 1, is characterized in that, sensor package probe (22) diameter is less than 5mm and contacts closely with marine bottom sediment to make sensor.
4. the oceanic heat flow long-term observation probe based on underwater robot platform according to claim 1, it is characterized in that, temperature measurement circuit plate (23) in described self-tolerant temperature measuring unit (20) comprises power module (231), temperature-measuring module (232), attitude measurement module (233), single-chip microcomputer (234) and memory module (235), battery (24) is respectively temperature-measuring module (232) after power module (231) carries out voltage transitions, attitude measurement module (233) is powered, the data that temperature-measuring module (232) and attitude measurement module (233) gather all transfer to single-chip microcomputer (234) process and stored by memory module (235), described single-chip microcomputer (234) carries out communication by communication interface module (236) and host computer (237).
5. the oceanic heat flow long-term observation probe based on underwater robot platform according to claim 4, is characterized in that, described self-tolerant temperature measuring unit (20) and host computer (237) realize two-wire system serial communication by shell, described shell (25) comprises first metal shell (251) of lower ending opening, and at the second metal shell (253) that described opening is filled, fixed by a plastic casing (252) between described second metal shell (253) and the first metal shell (251), the earth terminal of described temperature measurement circuit plate (23) is connected to the first metal shell (251) by one first electric wire, the RX/TX port of described single-chip microcomputer (234) is connected to the second metal shell (253) by one second electric wire, during with host computer (237) communication, this first metal shell (251) is connected with host computer (237) with the 4th electric wire respectively by one the 3rd electric wire with the second metal shell (253).
6. the oceanic heat flow long-term observation probe based on underwater robot platform according to claim 1, it is characterized in that, the entire length of described support feeler lever (10) is less than 1m, its general assembly (TW) in water and air is less than 3kg respectively and is less than 8kg, its maximum operating water depth is 3000m, described self-tolerant temperature measuring unit (20) is 4 ~ 5, and the distance between adjacent two sensor package probe (22) is 20 ~ 25cm.
7. the oceanic heat flow long-term observation probe based on underwater robot platform according to claim 6, it is characterized in that, the external diameter of described self-tolerant temperature measuring unit (20) is less than 2cm, and length is less than 22cm, and its weight in water and air is less than 0.3kg respectively and is less than 0.5kg.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510299825.2A CN104950344A (en) | 2015-06-03 | 2015-06-03 | Seabed heat flow long-term observation probe based on underwater robot platform |
| PCT/CN2015/099582 WO2016192390A1 (en) | 2015-06-03 | 2015-12-29 | Subsea heat flow long-term observation probe based on underwater robot platform |
| CA2946611A CA2946611C (en) | 2015-06-03 | 2015-12-29 | Long-term seafloor heat flow monitoring probe based on underwater robot platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510299825.2A CN104950344A (en) | 2015-06-03 | 2015-06-03 | Seabed heat flow long-term observation probe based on underwater robot platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104950344A true CN104950344A (en) | 2015-09-30 |
Family
ID=54165138
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510299825.2A Pending CN104950344A (en) | 2015-06-03 | 2015-06-03 | Seabed heat flow long-term observation probe based on underwater robot platform |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN104950344A (en) |
| WO (1) | WO2016192390A1 (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105547515A (en) * | 2016-02-25 | 2016-05-04 | 中国科学院地质与地球物理研究所 | Self-floating undersea temperature detecting system |
| WO2016192390A1 (en) * | 2015-06-03 | 2016-12-08 | 中国科学院南海海洋研究所 | Subsea heat flow long-term observation probe based on underwater robot platform |
| CN106895828A (en) * | 2017-02-21 | 2017-06-27 | 青岛海洋地质研究所 | A kind of laying and recovery method from brill cable-free type seabed deformation long-term observation device |
| CN107607230A (en) * | 2017-09-21 | 2018-01-19 | 哈尔滨工业大学 | A kind of probe and method for measuring hall thruster wall ion hot-fluid |
| CN108279081A (en) * | 2017-12-05 | 2018-07-13 | 广州海洋地质调查局 | Long-term observation device and measurement method in a kind of seabed heat flux |
| CN108362399A (en) * | 2018-05-02 | 2018-08-03 | 吉林大学 | A kind of cable for measuring temperature |
| CN109142020A (en) * | 2018-09-04 | 2019-01-04 | 北京林电伟业电子技术有限公司 | Wireless microwave clears up instrument thermal field calibrating installation and Wireless microwave clears up instrument |
| CN110082386A (en) * | 2019-04-19 | 2019-08-02 | 山东省科学院海洋仪器仪表研究所 | A kind of adjustable tail fins bottom sediment temperature probe control system and control method |
| CN110525616A (en) * | 2019-09-17 | 2019-12-03 | 哈尔滨工程大学 | Submarine earthquake detection flight node aircraft and working method based on buoyancy adjustment |
| CN110617886A (en) * | 2019-10-18 | 2019-12-27 | 刘桥娣 | High-precision water body skin temperature measurer |
| CN112068141A (en) * | 2020-09-11 | 2020-12-11 | 中国海洋大学 | Deep sea polymetallic nodule exploitation deposit environment monitoring device |
| CN112762903A (en) * | 2020-12-24 | 2021-05-07 | 山东省国土测绘院 | Batch underwater data surveying and mapping method and device |
| CN112917514A (en) * | 2021-01-20 | 2021-06-08 | 云南电网有限责任公司电力科学研究院 | Cable temperature detection device based on snake-shaped robot |
| CN113825989A (en) * | 2019-05-21 | 2021-12-21 | Abb瑞士股份有限公司 | Test method for non-invasive temperature measuring instrument |
| CN114608724A (en) * | 2022-05-10 | 2022-06-10 | 杭州大祉机电有限公司 | Shallow sea real-time geothermal temperature gradient measuring device |
| NL2030427A (en) * | 2021-01-14 | 2022-07-25 | First Institute Of Oceanography Mini Of Natural Resources | Columnar sediment sampling system with in-situ data acquisition function |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114252049B (en) * | 2021-10-30 | 2022-11-18 | 浙江大学 | Seabed shallow layer topography deformation monitoring devices based on ROV |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006076758A1 (en) * | 2005-01-18 | 2006-07-27 | Benthic Geotech Pty Ltd | Instrumentation probe for in situ measurement and testing of seabed |
| CA2733876A1 (en) * | 2011-03-04 | 2012-09-04 | Dimo's Tool & Die Ltd. | Grain bin temperature probe |
| CN104570157A (en) * | 2015-01-07 | 2015-04-29 | 中国科学院南海海洋研究所 | Ocean floor heat flow long-time observed data collecting method |
| CN104568226A (en) * | 2015-01-07 | 2015-04-29 | 中国科学院南海海洋研究所 | Ocean floor heat flow long-time observing probe and using method thereof |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6290589A (en) * | 1985-10-17 | 1987-04-25 | Nec Corp | Geothermal heat flow measuring system |
| CN2847278Y (en) * | 2005-11-21 | 2006-12-13 | 国家***第一海洋研究所 | Heat conductivity in-site detecting probe |
| CN104950344A (en) * | 2015-06-03 | 2015-09-30 | 中国科学院南海海洋研究所 | Seabed heat flow long-term observation probe based on underwater robot platform |
-
2015
- 2015-06-03 CN CN201510299825.2A patent/CN104950344A/en active Pending
- 2015-12-29 WO PCT/CN2015/099582 patent/WO2016192390A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006076758A1 (en) * | 2005-01-18 | 2006-07-27 | Benthic Geotech Pty Ltd | Instrumentation probe for in situ measurement and testing of seabed |
| CA2733876A1 (en) * | 2011-03-04 | 2012-09-04 | Dimo's Tool & Die Ltd. | Grain bin temperature probe |
| CN104570157A (en) * | 2015-01-07 | 2015-04-29 | 中国科学院南海海洋研究所 | Ocean floor heat flow long-time observed data collecting method |
| CN104568226A (en) * | 2015-01-07 | 2015-04-29 | 中国科学院南海海洋研究所 | Ocean floor heat flow long-time observing probe and using method thereof |
Non-Patent Citations (2)
| Title |
|---|
| MARION PFENDER 等: "Miniaturized data loggers for deep sea sediment temperature gradient measurements", 《MARINE GEOLOGY 186》 * |
| 丁忠军 等: "基于DPHP理论的海洋沉积物热导率检测***的研究", 《电子器件》 * |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016192390A1 (en) * | 2015-06-03 | 2016-12-08 | 中国科学院南海海洋研究所 | Subsea heat flow long-term observation probe based on underwater robot platform |
| CN105547515A (en) * | 2016-02-25 | 2016-05-04 | 中国科学院地质与地球物理研究所 | Self-floating undersea temperature detecting system |
| CN106895828A (en) * | 2017-02-21 | 2017-06-27 | 青岛海洋地质研究所 | A kind of laying and recovery method from brill cable-free type seabed deformation long-term observation device |
| CN106895828B (en) * | 2017-02-21 | 2018-02-16 | 青岛海洋地质研究所 | It is a kind of from bore cable-free type seabed deformation long-term observation device lay and recovery method |
| CN107607230A (en) * | 2017-09-21 | 2018-01-19 | 哈尔滨工业大学 | A kind of probe and method for measuring hall thruster wall ion hot-fluid |
| CN108279081A (en) * | 2017-12-05 | 2018-07-13 | 广州海洋地质调查局 | Long-term observation device and measurement method in a kind of seabed heat flux |
| CN108362399A (en) * | 2018-05-02 | 2018-08-03 | 吉林大学 | A kind of cable for measuring temperature |
| CN108362399B (en) * | 2018-05-02 | 2024-04-26 | 吉林大学 | Temperature measurement cable |
| CN109142020A (en) * | 2018-09-04 | 2019-01-04 | 北京林电伟业电子技术有限公司 | Wireless microwave clears up instrument thermal field calibrating installation and Wireless microwave clears up instrument |
| CN109142020B (en) * | 2018-09-04 | 2024-05-28 | 北京林电伟业电子技术有限公司 | Wireless microwave digestion instrument temperature field calibration device and wireless microwave digestion instrument |
| CN110082386A (en) * | 2019-04-19 | 2019-08-02 | 山东省科学院海洋仪器仪表研究所 | A kind of adjustable tail fins bottom sediment temperature probe control system and control method |
| CN110082386B (en) * | 2019-04-19 | 2022-04-12 | 山东省科学院海洋仪器仪表研究所 | Tail-adjustable submarine sediment temperature probe control system and control method |
| CN113825989A (en) * | 2019-05-21 | 2021-12-21 | Abb瑞士股份有限公司 | Test method for non-invasive temperature measuring instrument |
| CN110525616A (en) * | 2019-09-17 | 2019-12-03 | 哈尔滨工程大学 | Submarine earthquake detection flight node aircraft and working method based on buoyancy adjustment |
| CN110617886A (en) * | 2019-10-18 | 2019-12-27 | 刘桥娣 | High-precision water body skin temperature measurer |
| CN112068141B (en) * | 2020-09-11 | 2021-06-08 | 中国海洋大学 | Deep sea polymetallic nodule exploitation deposit environment monitoring device |
| CN112068141A (en) * | 2020-09-11 | 2020-12-11 | 中国海洋大学 | Deep sea polymetallic nodule exploitation deposit environment monitoring device |
| CN112762903A (en) * | 2020-12-24 | 2021-05-07 | 山东省国土测绘院 | Batch underwater data surveying and mapping method and device |
| CN112762903B (en) * | 2020-12-24 | 2023-08-11 | 山东省国土测绘院 | Mapping method and mapping device for batch underwater data |
| NL2030427A (en) * | 2021-01-14 | 2022-07-25 | First Institute Of Oceanography Mini Of Natural Resources | Columnar sediment sampling system with in-situ data acquisition function |
| CN112917514A (en) * | 2021-01-20 | 2021-06-08 | 云南电网有限责任公司电力科学研究院 | Cable temperature detection device based on snake-shaped robot |
| CN114608724A (en) * | 2022-05-10 | 2022-06-10 | 杭州大祉机电有限公司 | Shallow sea real-time geothermal temperature gradient measuring device |
| CN114608724B (en) * | 2022-05-10 | 2022-08-05 | 杭州大祉机电有限公司 | Shallow sea real-time geothermal temperature gradient measuring device |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2016192390A1 (en) | 2016-12-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104950344A (en) | Seabed heat flow long-term observation probe based on underwater robot platform | |
| CA2946611C (en) | Long-term seafloor heat flow monitoring probe based on underwater robot platform | |
| CN104713904B (en) | The calculation method of a kind of seabed in-situ heat conductance | |
| CN106404222B (en) | The deep section detection system of ocean temperature based on combined type high precision measuring temperature cable | |
| CN105181568A (en) | Device for monitoring corrosion of oil and gas field gathering pipelines and corrosion inhibitor filling system | |
| CN106198375A (en) | A kind of deep-sea multichannel corrosion electrochemistry in-situ testing device and method of testing thereof | |
| CN206905848U (en) | Tracking mode integration water-level remote measuring instrument | |
| CN202066608U (en) | Intelligent measuring instrument for measuring surface temperature of seawater | |
| CN103197040A (en) | Real-time offshore jump layer water quality monitoring system | |
| CN101980031A (en) | Method for measuring resistance of gas hydrate and special device thereof | |
| CN104950012A (en) | Integrated adjustable automatic soil longitudinal water recording instrument | |
| CN207093075U (en) | A kind of nearly bit measuring instrument with resistivity measurement function | |
| CN202974920U (en) | Storage type conducting probe moisture content meter | |
| CN200943488Y (en) | Storage type continuous metering downhole meter for pressure and temperature | |
| Wright et al. | Low-cost Internet of Things ocean observation | |
| CN201364362Y (en) | Seabed erosion and deposition dynamic process specific resistance monitoring device | |
| CN2872384Y (en) | Self-handing float geomagnetic diurnal-variation station | |
| CN207007229U (en) | Ocean offshore Big Dipper remote measurement tidal observation device | |
| CN205748254U (en) | A kind of self-operated measuring unit of different medium thickness | |
| CN204738809U (en) | Permanent electron pressure meter in pit that is fit for CCS | |
| EP4180622B1 (en) | Application method of device for accurately evaluating vertical content distribution of undersea hydrate reservoir | |
| CN103244102A (en) | Defoaming rotor flow pressure differential air injection profile tester, defoaming rotor flow pressure differential air injection profile testing system and defoaming rotor flow pressure differential air injection profile testing method | |
| CN104062692B (en) | High-precision seabed terrestrial heat flow detection device | |
| CN110006803A (en) | A kind of device and monitoring method of long-range monitoring seepage action of ground water speed | |
| Zaszewski et al. | A low-cost automatic system for long-term observations of soil temperature |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150930 |
|
| WD01 | Invention patent application deemed withdrawn after publication |