CN109204747B - Cable-free type seabed observation system suitable for full sea depth - Google Patents
Cable-free type seabed observation system suitable for full sea depth Download PDFInfo
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- CN109204747B CN109204747B CN201811246923.XA CN201811246923A CN109204747B CN 109204747 B CN109204747 B CN 109204747B CN 201811246923 A CN201811246923 A CN 201811246923A CN 109204747 B CN109204747 B CN 109204747B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses a cable-free submarine observation system suitable for full sea depth, which comprises an above-water monitoring unit and a submarine observation platform, wherein the submarine observation platform comprises a frame-type main body, and a floating body, wing plates, a floating ball cabin, a leveling mechanism, a balance weight and a release mechanism which are arranged on the frame-type main body; the wing plate is unfolded when the submarine observation platform descends to a set height from the seabed, so that the submarine observation platform lands stably; the leveling mechanism adjusts the submarine observation platform to be horizontally erected on the seabed when the frame-type main body reaches the seabed; and after the submarine observation platform finishes underwater operation, the releasing mechanism discards the counter weight to realize recovery. The seabed observation platform adopts a cable-free arrangement mode, is not limited by the length of a cable, can reach a working water depth of 11000 m or more, and can realize seabed observation in the whole sea depth.
Description
Technical Field
The invention belongs to the technical field of marine observation, and particularly relates to a seabed observation system suitable for sea areas with different depths.
Background
At this stage, ocean research has progressed into the whole-sea deep era, and sea areas with water depths ranging from 6000 m to about 11000 m, which are called "sea fighting deep-water" (Hadal trench) by scientists, are the deepest ocean areas on earth. The area is mainly distributed at the edge of continents and consists of the sea ditches, although the area only accounts for 1% -2% of the global sea floor area, the vertical depth accounts for 45% of the ocean full depth, and the area has important significance in an ocean ecosystem. At present, the research on deep sea fighting is the latest frontier field of marine research, which also indicates that marine science has entered the whole-sea deep scientific times.
With the continuous development of seabed observation platforms, the working area of the seabed observation platforms is continuously deepened from shallow sea to deep sea. The existing submarine observation platform is mainly laid by cables, and long-term stable observation can be realized on the seabed with the depth of less than 7000 m. However, as the depth of the working water increases, especially when the observation area is a deep-sea area, the work cannot be carried out due to the limitation of the length of the geological cable on the scientific research ship. In order to meet the requirements of deep sea exploration, some ocean scientific research teams carry the existing measuring device on a submersible by means of the improvement of scientific technology at present, and carry the measuring device into the deep sea by utilizing a manned submersible or an unmanned submersible, and lay the measuring device in a deep-well area of a sea bucket for scientific research work. However, this arrangement is extremely expensive and is not suitable for a long-term continuous observation task, and therefore, is not suitable for use.
Disclosure of Invention
The invention aims to provide a cable-free type seabed observation system suitable for the whole sea depth, wherein a seabed observation platform for underwater operation adopts a cable-free arrangement mode, can automatically submerge to the seabed of the deep sea without carrying a submersible, and is convenient to arrange and recover.
In order to solve the technical problems, the invention adopts the following technical scheme:
a cable-free type seabed observation system suitable for full sea depth comprises an overwater monitoring unit and a seabed observation platform; the submarine observation platform comprises a frame-type main body, and a floating body, wing plates, a height measuring device, a floating ball cabin, a leveling mechanism, a balance weight, a releasing mechanism and an underwater acoustic communicator which are arranged on the frame-type main body; the height measuring device is used for detecting the height of the seabed observation platform from the seabed; the floating ball cabin is in a floating ball shape and is used for sealing a system circuit while providing buoyancy, and the system circuit is communicated with the water monitoring unit through the underwater acoustic communicator and uploads the height of the seabed observation platform from the seabed; the water monitoring unit issues a slow descending instruction when the height of the seabed observation platform from the seabed reaches a set height, and controls the wing plates to be unfolded outwards relative to the frame type main body so as to reduce the descending speed of the seabed observation platform; when the seabed observation platform reaches the seabed, the system circuit controls the leveling mechanism to adjust the posture of the frame type main body, so that the frame type main body is stably erected on seabed sediments; and after the observation operation is finished, the water monitoring unit issues a load rejection instruction, controls the releasing mechanism to reject the balance weight, and controls the wing plate to retract so that the seabed observation platform floats out of the water surface under the buoyancy action of the floating body.
Furthermore, a slow-lowering oil cylinder is further arranged in the seabed observation platform, one end of the slow-lowering oil cylinder is hinged to the frame-type main body, the other end of the slow-lowering oil cylinder is hinged to the wing plate, and after a slow-lowering instruction or a load rejection instruction sent by the overwater monitoring unit is received by the system circuit, the piston rod of the slow-lowering oil cylinder is controlled to stretch and retract so as to drive the wing plate to unfold or retract.
Preferably, the number of the wing plates is four, the wing plates are arranged around the frame type main body, and two descent control cylinders are preferably hinged to each wing plate. Two slowly falling oil cylinders are arranged to provide larger driving force for the wing plates so as to overcome larger seawater pressure and adapt to the deep sea operation environment.
As a preferred structural design of the leveling mechanism, the leveling mechanism is internally provided with a plurality of leveling support legs and a plurality of leveling oil cylinders, the leveling support legs are positioned at the bottom of the frame type main body, and each leveling support leg is connected with one leveling oil cylinder; an attitude sensor is arranged in the floating ball cabin, the attitude of the frame type main body is detected, attitude data is generated and sent to the system circuit; when the frame-type main body reaches the seabed, the system circuit controls the leveling oil cylinder to drive the leveling support legs to stretch according to the received attitude data so as to adjust the attitude of the frame-type main body, so that the frame-type main body can stably stand on the seabed and reach a horizontal state.
As a preferred structural design of the release mechanism, the release mechanism is provided with a release oil cylinder, a fixed pulley, a cable and a hook; the fixed pulley is arranged on the frame type main body, the cable is wound on the fixed pulley, one end of the cable is connected with the release oil cylinder, and the other end of the cable is connected with the hook; the hook extends into a hanging hole of the counterweight in a default state and hooks the counterweight so as to increase the weight of the seabed observation platform and enable the seabed observation platform to automatically descend to the seabed; when the seabed observation platform is recovered, the system circuit controls the release oil cylinder to lower the cable, so that the hook rotates under the dead weight to be separated from the lifting hole of the counter weight, the counter weight is separated from the frame type main body, and the counter weight is released.
Further, a hydraulic station is installed on the frame-type main body, the hydraulic station is connected with different oil cylinders such as a release oil cylinder, a slow-lowering oil cylinder and a leveling oil cylinder which are arranged on the seabed observation platform through different oil pipes, and each oil pipe is provided with an electromagnetic valve; when a certain oil cylinder needs to be controlled to work, the system circuit firstly controls an electromagnetic valve on an oil pipe connected with the oil cylinder to be opened, and then controls a piston rod in the oil cylinder to stretch out and draw back by controlling the hydraulic station to output hydraulic oil or recycling the hydraulic oil.
Preferably, the floating body preferably comprises a plurality of floating balls and a floating plate, and the floating balls are mounted on the top of the frame-type main body and are arranged to form an array structure.
In order to facilitate the scientific investigation ship to quickly search the submarine observation platform floating out of the water surface, an iridium beacon and an optical beacon are further installed at the top of the frame-type main body, the iridium beacon transmits a positioning signal to the water monitoring unit after the submarine observation platform goes out of water, and the scientific investigation ship is informed of the geographic coordinates of the submarine observation platform; the optical beacon automatically emits visible light after the submarine observation platform is out of water, and indicates the scientific investigation ship to find the position of the optical beacon.
In order to further increase the buoyancy of the submarine observation platform, four floating ball cabins are preferably installed, a data acquisition unit, a control unit, a power driving unit and a battery in a system circuit are respectively arranged in four different floating ball cabins, a watertight connector is installed on each floating ball cabin, a waterproof cable is connected between the watertight connectors, and circuits arranged in the different floating ball cabins are electrically connected through the waterproof cables so as to transmit power and signals.
In order to facilitate the installation of photographic or video equipment, the floating ball cabin is preferably made of transparent glass, and the installation space of the camera or the video camera is reserved in the floating ball cabin, so that a transparent box body special for sealing the camera or the video camera is not required to be additionally mounted on the seabed observation platform, and the aims of simplifying the platform structure and installing operation are further fulfilled.
In order to realize the reliable recovery of the submarine observation platform, the system circuit is set to judge that the underwater acoustic communicator is abnormal if a load rejection instruction sent by the overwater monitoring unit is not received after the submarine observation platform finishes observation operation and delays for a period of time, and at the moment, the system circuit automatically controls the release mechanism to discard the counter weight and execute recovery operation; if the system circuit is in fault and cannot send a control signal to the release mechanism, a mechanical timing trigger device can be arranged in the release mechanism, the mechanical timing trigger device starts timing when the seabed observation platform is launched, and the release mechanism is automatically triggered to abandon the counter weight when the timing reaches a set maximum time threshold. By adopting the two alternative recovery strategies, complementary control is realized on the release mechanism, and reliable recovery of the submarine observation platform can be ensured.
Compared with the prior art, the invention has the advantages and positive effects that: the seabed observation system can realize cable-free arrangement of the seabed observation platform, is not limited by the length of the cable, and can realize seabed observation in full sea depth, and the working water depth can reach 11000 m or more. In addition, the slow descending mechanism and the releasing mechanism are arranged on the submarine observation platform, so that the submarine observation platform can be ensured to automatically and stably sink and land, the submarine observation platform can be ensured to automatically and successfully unload and recover, long-term continuous observation operation can be independently carried out on the seabed at any depth without the assistance of a scientific investigation ship and a submersible, and comprehensive guarantee is provided for the effective ocean research.
Other features and advantages of the present invention will become more apparent from the detailed description of the embodiments of the present invention when taken in conjunction with the accompanying drawings.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of a submarine observation platform in a cable-free submarine observation system suitable for full-sea depth according to the present invention;
FIG. 2 is a schematic structural view of an embodiment of the frame body of FIG. 1;
FIG. 3 is a schematic structural view of one embodiment of the counterweight of FIG. 1;
FIG. 4 is a schematic structural view of one embodiment of a counterweight and release mechanism;
fig. 5 is a schematic block circuit diagram of an embodiment of the present invention, which is suitable for a full-sea-depth cableless ocean bottom observation system.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings.
The cableless seabed observation system of the embodiment comprises a water monitoring unit and a seabed observation platform, as shown in fig. 5. The aquatic monitoring unit can be arranged on a scientific research ship and comprises an upper computer and an underwater acoustic communication machine. The upper computer is communicated with the seabed observation platform through the underwater acoustic communicator, real-time monitoring of the running track, the height from the seabed, the underwater working environment and the working state of the seabed observation platform is achieved, remote instructions are issued to control the seabed observation platform to perform operations such as slow descent, injection and recovery, and observation data uploaded by the seabed observation platform are processed, displayed and stored and managed in a database. The submarine observation platform adopts a cable-free arrangement mode, can automatically sink to the seabed with any depth to observe the submarine environment, and automatically float and recover after the observation task is finished, thereby realizing the reutilization.
As shown in fig. 1, the seabed observation platform of the present embodiment is a cableless seabed observation platform, and mainly comprises a frame-type main body 10, and a floating body 20, a wing plate 30, a height measuring device, a floating ball chamber 40, a leveling mechanism 50, a weight 60, a releasing mechanism 70, an underwater acoustic communicator and the like mounted on the frame-type main body 10.
As shown in fig. 2, the frame-type main body 10 is preferably formed by welding a titanium alloy material and a high-strength aluminum alloy, so that the overall weight of the frame-type main body 10 is reduced as much as possible while the bearing capacity and the compressive strength are ensured, and the frame-type main body is convenient to recycle. The present embodiment preferably designs the frame body 10 as a rectangular cage structure to facilitate mounting of different equipment thereon.
The floating body 20 may be installed on top of the frame-type body 10 to provide sufficient upward buoyancy for the seabed observation platform when the seabed observation platform is recovered, so that the seabed observation platform can float out of the water surface by itself. The floating body 20 is preferably formed by combining a floating ball 21 and a buoyancy plate 22. Specifically, the top surface of the frame body 10 may be designed to be rectangular grids, and one floating ball 20 is installed in each rectangular grid 11, so that the floating balls 20 are arranged to form an array structure. Four assembling strips 12 are respectively welded on each rectangular grid 11, each assembling strip 12 and one corner of each rectangular grid 11 form a triangle, and the assembling strips 12 not only can reinforce the rectangular grids 11, but also can facilitate the installation and fixation of the floating balls 20 in the rectangular grids 11. The buoyancy plate 22 is coated around the top of the frame-type main body 10, so that the effect of buffering the impact force can be achieved while increasing the buoyancy.
The wing plates 30 are installed at the middle of the frame-type main body 10 below the buoyancy plate 22, and the distance between the wing plates 30 and the bottom of the frame-type main body 10 is preferably 2/3 which is the total height of the frame-type main body 10, so that the stability of the mechanical structure can be improved. The present embodiment preferably mounts four wings 30 on the frame body 10, distributed around the frame body 10. Each wing 30 is designed as a streamlined wing, the inner side of which is hinged to the frame-like body 10. The flaps 30 are driven to extend outward or retract inward relative to the frame body 10 by using a buffer cylinder 31, and specifically, one end (e.g., the bottom of the cylinder) of the buffer cylinder 31 may be hinged to the frame body 10, and the other end (e.g., the piston rod 32) may be hinged to the bottom surface of the flap 30. The piston rod 32 of the slow descending cylinder 31 is controlled to extend out, and the wing plate 30 can be pushed to be unfolded, so that the descending speed of the seabed observation platform is reduced. On the contrary, the piston rod 32 of the slow-descending cylinder 31 is controlled to be retracted, and the wing plate 30 can be pulled back, so that the descending resistance of the seabed observation platform is reduced, and the seabed observation platform can be quickly sunk into the seabed. The slow-descending cylinder 31 is hinged to the frame-type main body 10, so that the slow-descending cylinder 31 can automatically adjust the angle between the slow-descending cylinder 31 and the frame-type main body 10 along with the expansion or retraction of the wing plate 30 to adapt to the movement track of the wing plate 30. The extension length of the piston rod 32 of the slow-descending cylinder 31 is adjusted according to the submergence depth of the submarine observation platform, the unfolding angle of the wing plate 30 can be adjusted, the effect of multi-stage speed regulation and slow descending is achieved, and stable landing of the submarine observation platform on the seabed is achieved.
Considering that the pressure on the sea bottom is high during deep sea operation, the wing panels 30 need to overcome high resistance when being unfolded, and in order to ensure that the wing panels 30 can be reliably unfolded in the deep sea environment, in the present embodiment, two slow-lowering cylinders 31 are preferably respectively configured for each wing panel 30, and as shown in fig. 1, the slow-lowering cylinders are hinged on the left and right sides of the bottom surface of the wing panel 30 to provide larger pushing force for the wing panels 30.
The bottom of the frame-type main body 10 is provided with an orifice plate 13, and as shown in fig. 2, the orifice plate 13 is provided with a plurality of assembling holes with different sizes for installing the floating ball chamber 40, the leveling mechanism 50 and the measuring instrument to be carried.
In order to seal the system circuit of the submarine observation platform and adapt the system circuit to the underwater working environment, the floating ball cabin 40 is designed to encapsulate the system circuit in the embodiment. The floating ball chamber 40 is preferably made of transparent glass, is designed into a floating ball shape, and is installed on the orifice plate 13 at the bottom of the frame-type main body 10. The cabin body for packaging the system circuit is designed into a floating ball shape, so that the packaging requirement can be met, and meanwhile, auxiliary buoyancy force is provided for the seabed observation platform. Moreover, the floating ball cabin 40 is designed to be transparent, when photographic or video equipment needs to be installed, a camera or a video camera can be directly arranged in the floating ball cabin 40, and a box body special for packaging the camera or the video camera does not need to be additionally mounted on the seabed observation platform, so that the aim of simplifying the whole structure of the seabed observation platform can be achieved.
In order to obtain greater buoyancy, the present embodiment preferably mounts four buoyant chambers 40 on the aperture plate 13 at the bottom of the frame-like body 10, each for enclosing a different functional circuit in the system circuit. Referring to fig. 5, the system circuit of the present embodiment mainly includes four parts, namely, a data acquisition unit, a control unit, a power driving unit, and a battery, and the four parts of functional circuits are respectively disposed in four different buoyant ball chambers 40 to form a data acquisition chamber, a control chamber, a power driving chamber, and a battery chamber. At least one watertight connector 41 is respectively arranged on each floating ball cabin 40, a waterproof cable is connected between the watertight connectors 41 on different floating ball cabins 40, and functional circuits arranged in different floating ball cabins are electrically connected through the waterproof cable so as to transmit power supplies, analog signals and/or digital signals.
The data acquisition cabin is mainly internally provided with a data acquisition unit, such as various interface boards, interface circuits, acquisition instruments and the like, and is used for connecting various measurement instruments carried on the seabed observation platform to acquire measurement data detected by the various measurement instruments, process the data, and transmit the data to the control unit for data analysis and storage. The present embodiment preferably arranges a height measuring device (not shown in the figure) on the frame body 10, independent of the system circuit, and connects to the data acquisition unit. The height measuring device can be an altimeter, an acoustic distance meter and the like, detects the height of the frame-type main body 10 from the seabed by using the height measuring device, generates a height detection signal and sends the height detection signal to the data acquisition unit so as to process the height detection signal into a data format meeting the receiving requirement of the control unit and send the data format to the control unit, so that the real-time monitoring of the descending position of the seabed observation platform is realized. And a space for installing a camera or a video camera can be reserved in the data acquisition cabin, and the data acquisition unit is used for acquiring image data shot by the camera or the video camera and sending the image data to the control unit.
In the control cabin, a control unit and sensing elements such as an attitude sensor (e.g., a three-axis gyroscope, a three-axis accelerometer, a three-axis electronic compass, etc.), a temperature sensor, a humidity sensor, an air pressure sensor, a water leakage sensor, etc. connected to the control unit are mainly built in the control cabin, so as to detect the inclination angle of the seabed observation platform after landing and the environmental parameters in the floating ball cabin 40. The control unit may include a controller (e.g., a CPU, an MCU, a DSP, etc.) and a memory, where the controller is used as a control core of the whole system circuit, performs coordination control on each functional circuit, and sends the processed measurement data to the memory for storage.
The power driving cabin is mainly internally provided with a power driving unit, such as a motor driving circuit for driving a motor to operate, and is externally connected with a measuring instrument carried on the observation platform. When the motors in some measuring instruments need to be controlled to operate, the control unit can output control signals to the power driving unit, so that driving voltage is generated, the motors in the measuring instruments are controlled to operate, and seabed detection operation is carried out.
The battery cabin is mainly internally provided with a lithium battery and a seawater battery and used for providing power supply for the seabed observation platform and a measuring instrument carried on the seabed observation platform. The seawater battery can meet the power consumption requirement of the submarine observation platform for long-time continuous underwater operation.
In order to maintain the seabed observation platform in a horizontal state after the seabed is landed, so as to ensure the accuracy of certain measurement data, the present embodiment installs a leveling mechanism 50, including leveling feet 51 and leveling cylinders 52, on the bottom of the frame-type main body 10, as shown in fig. 1. The present embodiment preferably arranges four leveling cylinders 52 to control the four leveling feet 51 to cooperate with adjusting the balance state of the frame-type main body 10. Specifically, the leveling cylinder 52 may be mounted on the orifice plate 13 at the bottom of the frame-type body 10 with the piston rod facing downward, and the leveling legs 51 may be connected thereto. The frame type main body 10 is adjusted to a horizontal state by adjusting the extension length of the piston rod of the leveling cylinder 52 to change the posture of the frame type main body 10.
A weight 60 is mounted on the bottom of frame-type body 10, a release mechanism 70 is mounted on frame-type body 10, and weight 60 is hung by release mechanism 70. After the submarine observation platform enters the sea, the submarine observation platform is pulled down to sink into the sea by the weight of the balance weight 60, and the submarine environment is observed. After the observation operation is completed, the releasing mechanism 70 is controlled to discard the weight 60, so that the weight 60 is separated from the frame body 10. And then, the seabed observation platform floats upwards under the combined action of the floating ball 21, the buoyancy plate 22 and the floating ball cabin 40, floats out of the sea surface and waits for the scientific investigation ship to salvage and recover.
As a preferred structure design of the release mechanism 70, in this embodiment, a fixing bracket 71 is mounted on the frame-type main body 10, as shown in fig. 1, and a fixed pulley 72 and a hook 73 are mounted on the fixing bracket 71, as shown in fig. 4. A cable 74 is wound around the fixed pulley 72, and one end of the cable 74 is connected to the hook 73 and the other end is connected to the release cylinder 75. The release cylinder 75 may be installed on the frame-type main body 10, and the cable 74 may be pulled up or lowered down by controlling the piston rod of the release cylinder 75 to extend and retract, so as to change the angle of the hook 73, thereby hooking or releasing the counterweight 60. Specifically, as shown in fig. 3 and 4, a lifting hole 61 may be formed in the counterweight 60, and in a default state, the release cylinder 75 controls the piston rod to retract, and pulls up the cable 74, so that the hook 73 faces upward and extends into the lifting hole 61 of the counterweight 60, thereby lifting the counterweight 60. When it is desired to discard the weight 60, the release cylinder 75 is controlled to extend its piston rod and lower the cable 74. At this time, the hook 73 is rotated by a certain angle by its own weight and then is separated from the hanging hole 61 of the counterweight 60, as shown in fig. 4, to achieve the release of the counterweight 60. Then, the seabed observation platform floats upwards under the action of the floating body 20 and the floating ball cabin 40, and the balance weight 60 is discarded to realize recovery.
As a preferred design of this embodiment, the weights 60 and the releasing mechanism 70 are preferably configured in four sets, and are disposed at four bottom corner positions of the rectangular frame-type body 10 to balance the pulling force applied to the frame-type body 10, so as to ensure that the seabed observation platform is stably positioned during the submerging process.
In order to provide hydraulic oil for the slow-descending cylinder 31, the leveling cylinder 52 and the release cylinder 75, in this embodiment, a hydraulic station 14 is further installed on the seabed observation platform, as shown in fig. 1, preferably at the center of the bottom hole plate 13 of the frame-type main body 10, and the slow-descending cylinder 31, the leveling cylinder 52 and the release cylinder 75 are respectively communicated through different oil pipes. When one oil cylinder needs to be controlled to work, the electromagnetic valve on the oil pipe connected with the controlled oil cylinder is controlled to be opened through a system circuit, and then the hydraulic station 14 is controlled to supply oil or pump oil to the controlled oil cylinder so as to control the piston rod of the controlled oil cylinder to extend or retract, and further the working requirement of the controlled oil cylinder is met.
In addition, the present embodiment further mounts an iridium beacon 15 and a light beacon 16 on the top of the frame-type main body 10, as shown in fig. 1. The iridium beacon 15 can automatically emit a positioning signal, such as a GPS signal, after the submarine observation platform is out of water, and then send the geographic coordinates of the submarine observation platform to the water monitoring unit, so that the scientific investigation ship can quickly search the submarine observation platform in the sea area. The optical beacon 16 can automatically emit visible light after the submarine observation platform is out of water, and can indicate the scientific investigation ship in an optical signal mode, so that the scientific investigation ship can find the position of the submarine observation platform, and the submarine observation platform can be safely and quickly recovered even at night.
A hoisting mechanism 17 is further installed on the top of the frame-type main body 10 and is used for matching with fishing equipment on a scientific investigation ship so as to conveniently throw and fish the seabed observation platform. When the sea water in the sea area to be measured is not deep, the mooring rope on the scientific investigation ship can be connected to the hoisting mechanism 17 of the observation platform in a cable mode, and the submarine observation platform is laid and recovered through the mooring rope, so that the submarine observation platform can support two laying modes, namely a cable laying mode and a cable-free laying mode, and the application field of the observation system is expanded.
The specific operation of the cableless ocean bottom observation system of the present embodiment will be described in detail below.
After the scientific investigation ship-borne observation system reaches the arrangement position of the sea area to be detected, the ship-borne steel cable is used for hoisting the seabed observation platform to be transferred to the sea surface, the unhooking device is controlled to be separated, and the seabed observation platform is thrown into the sea.
After the submarine observation platform enters the sea, the system circuit starts the height measuring device to detect the height of the submarine observation platform from the sea bottom, and the system circuit is communicated with the water monitoring unit through the underwater acoustic communication machine. The seabed observation platform sinks under the gravity action of the seabed observation platform and the balance weight 60, the seabed observation platform is accelerated to submerge in the initial stage, and the seabed observation platform gradually enters a uniform submerging state under the action of buoyancy in the descending process. In the submerging process of the submarine observation platform, the overwater monitoring unit tracks the motion track of the submarine observation platform in real time through the underwater acoustic communication machine and feeds the motion track back to the control unit in the system circuit. The height measuring device detects the height of the seabed observation platform from the seabed in real time, transmits the height to the control unit and uploads the height to the overwater monitoring unit through the underwater acoustic communication machine. And the water monitoring unit sends a slow descending instruction when detecting that the height from the seabed observation platform to the seabed reaches a set height. After receiving the slow descending instruction, a control unit in the seabed observation platform outputs a slow descending control signal to control a piston rod 32 of a slow descending oil cylinder 31 to extend out and push a wing plate 30 to expand so as to reduce the submergence speed of the seabed observation platform, and the expansion angle of the wing plate 30 can be adjusted according to the height change of the seabed observation platform from the seabed so as to realize multi-stage speed-regulating slow descending. For example, when the seabed observation platform is about 200 m away from the seabed, the wing plates 30 may be controlled to be unfolded by an angle of 45 ° relative to the frame-type main body 10, so as to reduce the submerging speed of the seabed observation platform but not to slow down. When the distance between the seabed observation platform and the seabed is about 100 meters, the wing plates 30 can be controlled to be further unfolded to form an included angle of 90 degrees relative to the frame type main body 10, and the seabed observation platform is controlled to slowly descend until the seabed observation platform is stably landed.
After the seabed observation platform is stably landed on the seabed, the control unit detects the inclination angle of the frame type main body 10 after landing on the seabed through the attitude sensor, and then outputs a leveling control signal to control the leveling cylinder 52 to drive the four leveling support legs 51 to extend and retract until the frame type main body 10 is adjusted to be in a horizontal state.
And the seabed observation platform executes an observation task on the seabed until the underwater operation is finished.
After the submarine observation platform finishes underwater operation, the control unit firstly controls the wing plates 30 to retract, and then controls the release mechanism 70 to abandon the counterweight 60, so that the submarine observation platform floats upwards without power under the buoyancy action of the floating bodies 20 and the floating ball cabins 40, and recovery is realized.
In order to ensure reliable recovery of the subsea observation platform, the present embodiment proposes three sets of complementary release control schemes:
the first scheme is as follows: according to the main control scheme, the overwater monitoring unit sends a load rejection instruction after detecting that the seabed observation platform finishes observation operation. And after receiving the load rejection instruction through the underwater acoustic communication machine, the control unit in the submarine observation platform generates a load rejection control signal and controls the release mechanism 70 to discard the counterweight 60.
The second scheme is as follows: according to the remedial scheme, if the underwater acoustic communication machine fails and cannot normally communicate with the overwater monitoring unit or the control unit, the control unit cannot receive the load rejection instruction issued by the overwater monitoring unit. For this situation, in the present embodiment, after the submarine observation platform finishes the observation operation, the control unit is configured to reserve a waiting time (which may be specifically determined according to the actual situation), and after the waiting time is reached, if the control unit still does not receive the load rejection instruction issued by the topside monitoring unit, it is determined that the underwater acoustic communication machine is out of order, and a load rejection control signal is automatically generated, and the self-control release mechanism 70 discards the counterweight 60.
The third scheme is as follows: the remedy is to provide a mechanical timing trigger in the release mechanism 70 and to preset a maximum time threshold based on the actual operating conditions. And when the submarine observation platform is put in, starting the mechanical timing trigger device and recording the working time of the submarine observation platform. When the timing reaches a set maximum time threshold, the system circuit is considered to be abnormal, and the load rejection control signal cannot be normally sent. At this time, the release mechanism 70 can be triggered by a mechanical timing trigger device to discard the counterweight 60, so as to ensure the reliable recovery of the seabed observation platform. In order to realize the triggering of the release mechanism 70 by the mechanical timing trigger device, one way may be to design the mechanical timing trigger device to replace a system circuit to generate a load rejection control signal, control the hydraulic station 14 to deliver hydraulic oil to the release cylinder 75, so as to control the piston rod of the release cylinder 75 to extend, so that the hook 73 is disengaged from the counterweight 60, and release the counterweight 60; alternatively, a mechanical timing trigger may be designed to cut cable 74 when the timer reaches a set maximum time threshold to effect release of weight 60.
After the submarine observation platform emerges from the water surface, the iridium beacon 15 and the optical beacon 16 are started, the geographical coordinates of the submarine observation platform are sent to the overwater monitoring unit, and the light is sent to guide the scientific investigation ship to quickly find the position of the submarine observation platform. After the scientific investigation ship reaches the position of the seabed observation platform, a rope throwing gun can be used for shooting the Kevlar cable to be connected with the seabed observation platform, and the seabed observation platform is salvaged and recovered.
The seabed observation platform of this embodiment structural design scientific and reasonable both can guarantee that the platform is whole steadily to sink and land, can guarantee again that the platform successfully retrieves, and work is not restricted by scientific investigation ship geology hawser length, need not to utilize the submersible ware also can use, has reduced the scientific research cost, has alleviateed the operation degree of difficulty of seabed observation operation, has improved work efficiency, can be better for research and engineering activity service. Various measuring instruments can be carried on the seabed observation platform of the embodiment to execute various scientific research tasks and carry out long-time seabed resident operation tests.
Of course, the above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (7)
1. A cableless submarine observation system suitable for full sea depth comprises an above-water monitoring unit and a submarine observation platform, and is characterized in that the submarine observation platform comprises a frame type main body, and a floating body, wing plates, a height measuring device, a floating ball cabin, a leveling mechanism, a counterweight, a release mechanism and an underwater acoustic communicator which are arranged on the frame type main body; wherein the content of the first and second substances,
the height measuring device is used for detecting the height from the seabed observation platform to the seabed;
the floating ball cabin is in a floating ball shape and is used for sealing a system circuit while providing buoyancy, and the system circuit is communicated with the water monitoring unit through the underwater acoustic communicator and uploads the height of the seabed observation platform from the seabed;
the four wing plates are arranged around the periphery of the frame-type main body, are positioned below the floating body and are 2/3 the distance from the bottom of the frame-type main body to the total height of the frame-type main body; a slow-descending oil cylinder is respectively configured for each wing plate, one end of each slow-descending oil cylinder is hinged with the frame type main body, and the other end of each slow-descending oil cylinder is hinged with the bottom surface of each wing plate; the overwater monitoring unit issues a slow descending instruction when the height of the seabed observation platform from the seabed reaches a set height, the wing plates are controlled to be unfolded outwards relative to the frame type main body, the extending length of a piston rod of a slow descending oil cylinder is adjusted according to the submergence depth of the seabed observation platform, so that the unfolding angle of the wing plates is adjusted, and the seabed observation platform is controlled to perform multi-stage speed regulation and slow descending until the seabed observation platform lands stably on the seabed;
the leveling mechanism comprises a plurality of leveling support legs and a plurality of leveling oil cylinders, the leveling support legs are positioned at the bottom of the frame type main body, and each leveling support leg is connected with one leveling oil cylinder; an attitude sensor is arranged in the floating ball cabin, the attitude of the frame type main body is detected, attitude data is generated and sent to the system circuit; when the frame-type main body reaches the seabed, the system circuit controls the leveling oil cylinder to drive the leveling support legs to stretch and retract according to the received attitude data so as to adjust the frame-type main body to horizontally stand on seabed sediments;
after the observation operation is finished, the water monitoring unit issues a load rejection instruction, controls the release mechanism to reject the balance weight, and controls the wing plate to retract, so that the seabed observation platform floats out of the water surface under the buoyancy action of the floating body;
the frame type main body is provided with a hydraulic station which is connected with different oil cylinders arranged on the seabed observation platform through different oil pipes, and each oil pipe is provided with an electromagnetic valve; when a certain oil cylinder needs to be controlled to work, the system circuit firstly controls an electromagnetic valve on an oil pipe connected with the oil cylinder to be opened, and then controls a piston rod in the oil cylinder to stretch out and draw back by controlling the hydraulic station to output hydraulic oil or recycling the hydraulic oil.
2. The mooring type submarine observation system suitable for the whole sea depth according to claim 1, wherein two descent control cylinders are hinged on each wing plate.
3. The cable-free seafloor observation system suitable for full depths of the sea of claim 1, wherein the release mechanism comprises a release cylinder, a fixed pulley, a cable, and a hook; the fixed pulley is arranged on the frame type main body, the cable is wound on the fixed pulley, one end of the cable is connected with the release oil cylinder, and the other end of the cable is connected with the hook; the hook extends into a hanging hole of the counterweight in a default state and hooks the counterweight so as to increase the weight of the seabed observation platform and enable the seabed observation platform to automatically descend to the seabed; when the seabed observation platform is recovered, the system circuit controls the release oil cylinder to lower the cable, so that the hook rotates under the dead weight to be separated from the lifting hole of the counter weight, and the counter weight is separated from the frame type main body.
4. The cableless ocean bottom observation system according to claim 1, wherein the floating body comprises a plurality of floating balls and a floating plate, and the floating balls are installed on the top of the frame-type body and arranged in an array structure.
5. The cableless seafloor observation system for full sea depth of claim 1, wherein an iridium beacon and an optical beacon are further installed on the top of the frame-type main body, the iridium beacon transmits a positioning signal to the overwater monitoring unit after the seabed observation platform goes out of water, and the optical beacon automatically transmits visible light after the seabed observation platform goes out of water.
6. The cableless ocean bottom observation system suitable for the full sea depth according to claim 1, wherein the floating ball chamber is made of transparent glass, and comprises four floating ball chambers, and installation spaces of cameras or video cameras are reserved; the system circuit comprises a data acquisition unit, a control unit, a power driving unit and a battery, the data acquisition unit, the control unit, the power driving unit and the battery are respectively arranged in four different floating ball cabins, each floating ball cabin is provided with a watertight connector, a waterproof cable is connected between every two watertight connectors, and circuits arranged in different floating ball cabins are electrically connected through the waterproof cables.
7. The cable-less seafloor observation system for full sea depth of any one of claims 1 to 6,
after the submarine observation platform finishes observation operation and delays for a period of time, if a load rejection instruction issued by the overwater monitoring unit is not received, the system circuit automatically controls the release mechanism to discard the counter weight;
and a mechanical timing trigger device is arranged in the release mechanism, starts timing when the submarine observation platform is launched, and automatically triggers the release mechanism to abandon the counter weight when the timing reaches a set maximum time threshold.
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