CN111595945A - System and method for testing in-situ acoustic characteristics of submarine sediments - Google Patents
System and method for testing in-situ acoustic characteristics of submarine sediments Download PDFInfo
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- CN111595945A CN111595945A CN202010552169.3A CN202010552169A CN111595945A CN 111595945 A CN111595945 A CN 111595945A CN 202010552169 A CN202010552169 A CN 202010552169A CN 111595945 A CN111595945 A CN 111595945A
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
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- G—PHYSICS
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- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/38—Seismology; Seismic or acoustic prospecting or detecting specially adapted for water-covered areas
- G01V1/3843—Deployment of seismic devices, e.g. of streamers
- G01V1/3852—Deployment of seismic devices, e.g. of streamers to the seabed
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Abstract
The invention discloses a system and a method for testing in-situ acoustic characteristics of submarine sediments. The system comprises: the system comprises a heave compensation platform, a base platform, a cable winding and unwinding device and a transducer detection device; the heave compensation platform is connected with the mother ship through a first deepwater cable; the fixed end of the cable winding and unwinding device is arranged on the heave compensation platform, the wire outlet end of the cable winding and unwinding device is connected with the traction end of the base platform, and the cable winding and unwinding device drives the base platform to carry out lifting motion by winding and unwinding a second deepwater cable. By adopting the system and the method, the heave disturbance of the first deepwater cable and the mother ship is compensated by the heave compensation platform, and the bottom-sitting platform cannot be disturbed by the heave disturbance of the first deepwater cable and the mother ship, so that the sediment cannot be disturbed by a test system, the undisturbed in-situ measurement of the acoustic characteristic of the sediment is realized, and the measurement precision and accuracy are improved.
Description
Technical Field
The invention relates to the technical field of submarine sediment in-situ acoustic characteristic testing, in particular to a submarine sediment in-situ acoustic characteristic testing system and method.
Background
The in-situ measurement technology for the acoustic characteristics of the sediment on the sea bottom refers to the technology for directly measuring the acoustic characteristics of the sediment by placing an instrument on the sea bottom. The seafloor sediment acoustic properties include seafloor sediment shear wave properties and sediment compressional wave properties. The acoustic in-situ measurement of the submarine sediments can obtain acoustic characteristic parameters in a submarine in-situ real state, can effectively avoid measurement errors caused by disturbance on the sediments due to sampling and carrying, and has higher precision and accuracy compared with the laboratory acoustic characteristic measurement of sediment samples.
However, the existing in-situ measurement technology for the acoustic characteristics of the submarine sediments does not consider the influence of the sediments on the disturbance of a test system, and the problems of measurement accuracy and accuracy caused by the reduction of measurement errors caused by the disturbance still exist.
Disclosure of Invention
The invention aims to provide a submarine sediment in-situ acoustic characteristic testing system and method, which can avoid the sediment from being disturbed by the heave disturbance of a first deepwater cable and a mother ship, and realize the undisturbed in-situ measurement of the sediment acoustic characteristic.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a submarine sediment in-situ acoustic characteristic test system, which comprises:
the system comprises a heave compensation platform, a base platform, a cable winding and unwinding device and a transducer detection device;
the heave compensation platform is connected with the mother ship through a first deepwater cable; the fixed end of the cable winding and unwinding device is arranged on the heave compensation platform, the wire outlet end of the cable winding and unwinding device is connected with the traction end of the bottom sitting platform, and the cable winding and unwinding device drives the bottom sitting platform to perform lifting motion by winding and unwinding a second deepwater cable; the fixed end of the transducer detection device is arranged on the base platform, and the detection end of the transducer detection device transmits and receives sound waves after penetrating into the submarine sediments.
Optionally, the system further includes:
an image monitoring device and a control device;
the control device is positioned on the mother ship, and the image monitoring device is arranged on the heave compensation platform; the control device is respectively connected with the image monitoring device, the heave compensation platform, the sitting platform and the cable winding and unwinding device; the control device is used for controlling the heave compensation platform to ascend and descend or move according to the image data transmitted by the image monitoring device, controlling the retraction speed of the cable retraction device, determining the relaxation state of the second deepwater cable and determining the sitting posture of the sitting platform;
the control device is connected with the transducer detection device and is used for measuring the acoustic characteristics of the seabed sediments according to the detection data transmitted by the transducer detection device.
Optionally, the heave compensation platform specifically includes:
the heave compensation platform carrying body, a first-layer platform of the heave compensation platform, a second-layer platform of the heave compensation platform, a control cabin of the heave compensation platform and a bearing device of the heave compensation platform;
the first-layer platform of the heave compensation platform is arranged at the top of the heave compensation platform carrying body; the heave compensation platform bearing device is arranged on the upper side of a first-layer platform of the heave compensation platform and is connected with the control device through the first deepwater cable; the fixed end of the cable winding and unwinding device is arranged on the lower side of the first-layer platform of the heave compensation platform;
the second-layer platform of the heave compensation platform is arranged in the middle of the heave compensation platform carrying body; the heave compensation platform control cabin is arranged on the second-layer platform of the heave compensation platform; the control cabin of the heave compensation platform is respectively connected with the cable winding and unwinding device and the control device, and the control cabin of the heave compensation platform is used for controlling the cable winding and unwinding device to discharge or recover the second deepwater cable and the winding and unwinding speed according to the control instruction transmitted by the control device.
Optionally, the cable winding and unwinding device specifically includes:
the system comprises a cable drum, a cable drum bracket, a drum motor, a heave compensation platform hydraulic cabin and a heave compensation platform hydraulic valve box;
the cable drum is arranged on the cable drum support, the second deepwater cable is wound on the cable drum, and the cable drum support is fixedly connected to the lower side of the first-layer platform of the heave compensation platform;
the control end of the drum motor is connected with the heave compensation platform control cabin, the output end of the drum motor is connected with the cable drum, and the input end of the drum motor is connected with the output end of the heave compensation platform hydraulic cabin;
the heave compensation platform control cabin is connected with the heave compensation platform hydraulic valve box; and the hydraulic valve box of the heave compensation platform is connected with the control end of the hydraulic cabin of the heave compensation platform.
Optionally, the bottom platform specifically includes:
the base platform carrying body, a first-layer platform of the base platform, a second-layer platform of the base platform, a base platform control cabin, a base platform bearing device and a base posture adjusting device;
the base platform bearing device is arranged at the top of the base platform carrying body and is connected with the cable winding and unwinding device through the second deepwater cable;
the first-layer platform of the base platform is arranged in the middle of the carrying body of the base platform; the bottom platform control cabin is arranged on a first-layer platform of the bottom platform;
the two-layer platform of the base platform is arranged at the bottom of the carrying body of the base platform; the bottom sitting posture adjusting device is arranged on the two-layer platform of the bottom sitting platform;
the sitting bottom platform control cabin is respectively connected with the sitting bottom posture adjusting device, the energy converter detecting device and the control device; the sitting bottom platform control cabin is used for controlling the sitting bottom posture adjusting device to adjust the sitting bottom posture according to the control instruction transmitted by the control device; the sitting bottom platform control cabin is also used for controlling the depth of the transducer detection device penetrating into the submarine sediments according to the control command transmitted by the control device.
Optionally, the transducer detecting device specifically includes:
the device comprises a first oil cylinder, a transducer carrying platform, a guide device, a displacement sensor, a bottom platform hydraulic cabin, a bottom platform hydraulic valve box and a transducer;
the fixed end of the first oil cylinder is arranged at the top of the carrying body of the bottom sitting platform, the output end of the first oil cylinder is connected with the first end of the guide device, the control end of the first oil cylinder is connected with the control cabin of the bottom sitting platform, and the input end of the first oil cylinder is connected with the output end of the hydraulic cabin of the bottom sitting platform;
the second end of the guide device is connected with the transducer carrying platform, and the transducer is arranged on the transducer carrying platform; the sitting bottom platform control cabin is used for driving the first oil cylinder according to a control instruction of the control device, so that the energy converter penetrates through an energy converter through hole of the second-layer platform of the sitting bottom platform and penetrates into the seabed sediment;
the base platform hydraulic valve box is respectively connected with the input end of the base platform hydraulic chamber and the base platform control chamber;
the displacement sensor is respectively connected with the guide device and the bottom-sitting platform control bin and is used for measuring the depth of the energy transducer penetrating into the submarine sediments.
Optionally, the device for adjusting the sitting posture specifically comprises:
the second oil cylinder, a bottom footing, a pressure sensor and a bottom counterweight;
the number of the bottom feet and the number of the second oil cylinders are equal and are multiple, the bottom feet are arranged on the lower surface of the second-layer platform of the bottom platform at equal intervals, and the second oil cylinders are arranged on the upper surface of the second-layer platform of the bottom platform at equal intervals;
the control end of the second oil cylinder is connected with the bottom-sitting platform control bin, the force output end of the second oil cylinder is connected with the bottom-sitting bottom foot, and the second oil cylinder is used for adjusting the extending length of the bottom-sitting bottom foot according to a control instruction of the bottom-sitting platform control bin;
the pressure sensor is respectively connected with the second oil cylinder and the bottom platform control cabin; the pressure sensor is used for measuring the pressure value of the second oil cylinder;
the number of the bottom-seated counterweights is equal to that of the bottom-seated bottom feet, and the bottom-seated counterweights are arranged on the upper surface of the two-layer platform of the bottom-seated platform.
Optionally, the transducer is a shear wave transducer or a compression wave transducer;
the transducer specifically comprises:
a transmitting transducer and a receiving transducer;
the fixed end of the transmitting transducer and the fixed end of the receiving transducer are both connected with the transducer carrying platform; the control device is connected with the input end of the transmitting transducer through a double-channel D/A conversion circuit and a double-channel transmitting drive circuit in sequence; the output end of the receiving transducer is connected with the control device through a double-channel receiving amplifying circuit and a double-channel A/D conversion circuit in sequence.
The invention also provides a method for testing the in-situ acoustic characteristics of the submarine sediments, which is applied to the system for testing the in-situ acoustic characteristics of the submarine sediments and comprises the following steps:
acquiring a sediment terrain image transmitted by an image monitoring device;
judging whether the sediment terrain meets preset terrain requirements according to the sediment terrain image to obtain a first judgment result;
if the first judgment result is yes, controlling the heave compensation platform to hover, controlling the cable winding and unwinding device to drive the bottom setting platform to submerge, and acquiring a cable relaxation state image transmitted by the image monitoring device and released by the cable winding and unwinding device in the submerging process;
if the first judgment result is negative, returning to the step of obtaining a sediment terrain image transmitted by the image monitoring device;
judging whether the cable released by the cable winding and unwinding device is loose according to the cable relaxation state image to obtain a second judgment result;
if the second judgment result is yes, acquiring a sitting posture image of the sitting bottom platform transmitted by the image monitoring device, and judging whether the sitting posture of the sitting bottom platform is in an upright state according to the sitting posture image to obtain a third judgment result;
if the second judgment result is negative, controlling the heave compensation platform to descend to a preset height, and then returning to the step of controlling the heave compensation platform to hover;
if the third judgment result is yes, controlling the detection end of the transducer detection device to penetrate into the submarine sediment and then transmitting and receiving sound waves, and carrying out submarine sediment acoustic characteristic measurement according to data collected by the transducer detection device;
and if the third judgment result is negative, controlling the bottom platform to adjust the bottom posture of the bottom platform.
Optionally, the controlling the transducer detecting device transmits and receives sound waves after the detecting end penetrates into the sediment on the sea bottom, and specifically includes:
acquiring the depth of a detection end of a transducer detection device transmitted by a displacement sensor penetrating into the submarine sediment;
judging whether the depth of the sediment penetrating into the seabed reaches a preset depth or not to obtain a fourth judgment result;
if the fourth judgment result is yes, controlling the detection end of the transducer detection device to penetrate into the submarine sediment and then transmitting and receiving sound waves;
and if the fourth judgment result is negative, controlling the transducer to detect to reach the preset depth.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a submarine sediment in-situ acoustic characteristic test system and a submarine sediment in-situ acoustic characteristic test method, wherein the system comprises a heave compensation platform, a bottom-sitting platform, a cable winding and unwinding device and a transducer detection device; the heave compensation platform is connected with the mother ship through a first deepwater cable; the fixed end of the cable winding and unwinding device is arranged on the heave compensation platform, the wire outlet end of the cable winding and unwinding device is connected with the traction end of the base platform, and the cable winding and unwinding device drives the base platform to move up and down by winding and unwinding the second deepwater cable, so that the heave disturbance of the first deepwater cable and the mother ship is compensated by the heave compensation platform, the base platform cannot be disturbed by the first deepwater cable and the mother ship, the sediment cannot be disturbed by the test system, the undisturbed in-situ measurement of the acoustic characteristics of the sediment is realized, and the measurement precision and accuracy are improved.
In addition, the system also comprises an image monitoring device and a control device; the image monitoring device is arranged on the heave compensation platform; the control device can control the heave compensation platform to ascend or descend or move according to the image data transmitted by the image monitoring device, control the retraction speed of the cable retraction device, determine the relaxation state of the second deepwater cable and determine the sitting posture of the sitting platform; the submarine sediment acoustic characteristic measurement can also be carried out according to the detection data transmitted by the transducer detection device. Therefore, the advantages of the video monitoring device are as follows: 1) the distance between the test system and the submarine sediment when the test system is near the sea bottom can be visually observed by an operator of the mother ship, at the moment, the test system is slowly close to the sediment by slowing down the submerging speed of the test system, and the heave compensation platform is suspended at a certain height, so that the test system is prevented from impacting the surface of the sediment under the invisible condition, the disturbance to the sediment is avoided, and the in-situ test effect is influenced. 2) The operator of the mother ship can visually observe the topography of the sediment at the sea bottom to judge whether the topography and the state of the sediment in the area are suitable for the in-situ test, and if the topography and the state of the sediment in the area are not suitable for the in-situ test, the mother ship can be shifted to find out the area of the sediment suitable for the in-situ test. 3) An operator of the mother ship can visually observe the bottom sitting posture of the bottom sitting platform, judge the inclination direction and the angle of the bottom sitting posture by combining the data of the pressure sensor arranged on the bottom sitting oil cylinder, and adjust the bottom sitting posture of the bottom sitting platform by controlling the action of the bottom sitting oil cylinder, so that the bottom sitting platform is perpendicular to the surface of the sediment, and the depth of the transducer in the sediment is consistent when the transducer penetrates into the sediment. 4) When the heave compensation platform discharges the second deepwater cable to lay the bottom-sitting platform, an operator of the mother ship can visually observe the distance between the bottom-sitting platform and the seabed sediment, and when the bottom-sitting platform approaches the surface of the sediment, the discharging speed of the second deepwater cable is controlled, so that the bottom-sitting platform slowly sits on the sediment to reduce the disturbance to the sediment; after the bottom platform is seated, the heave compensation platform continues to discharge the second deepwater cable, and an operator of the mother ship can visually observe whether the second deepwater cable is loose enough or not so as to avoid disturbance of the heave compensation platform on the bottom platform due to deep submergence.
The invention controls the action of the first oil cylinder through the bottom platform control cabin, and has the following advantages: 1) through the action of controlling the first oil cylinder, the transmitting transducer and the receiving transducer can penetrate into the sediment at different depths to obtain the acoustic characteristics of the sediment at different depths, and the penetration depth is obtained through the displacement sensor. 2) By controlling the action of the first oil cylinder, the transmitting transducer and the receiving transducer can penetrate into the sediment at a uniform speed, the disturbance to the sediment is reduced, and in the penetrating process, the transmitting transducer and the receiving transducer are excited and received by sound waves, so that a sediment profile acoustic characteristic continuous curve is obtained.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a block diagram of a system for in situ acoustic characterization of seafloor sediment in an embodiment of the present invention;
FIG. 2 is a schematic view of the pedestal platform and the transducer penetration in accordance with an embodiment of the present invention;
FIG. 3 is an electrical connection diagram of a system structure according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the connection between the transducer and the control device according to an embodiment of the present invention;
FIG. 5 is a flow chart of a method for testing in-situ acoustic properties of a seafloor sediment in an embodiment of the invention;
in the figure, 1, a deepwater optical cable; 2. a heave compensation platform; 3. a base platform;
2-1, a heave compensation platform bearing head; 2-2, a heave compensation platform bearing seat; 2-3, carrying the body by the heave compensation platform; 2-4, a first-layer platform of the heave compensation platform; 2-5, a cable drum support; 2-6, a deepwater optical cable between platforms; 2-7, a drum motor; 2-8, cable drum; 2-9, a hydraulic valve box of the heave compensation platform; 2-10, a second-layer platform of a heave compensation platform; 2-11, a heave compensation platform control cabin; 2-12, a hydraulic cabin of a heave compensation platform; 2-13, a deep water camera;
3-1, carrying the body by the base platform; 3-2, a base platform bearing head; 3-3, a base platform bearing seat; 3-4, a bottom platform control cabin; 3-5, a first-layer platform of the bottom-sitting platform; 3-6, a bottom platform hydraulic chamber; 3-7, a hydraulic valve box of the bottom platform; 3-8, a profile oil cylinder; 3-9, a bottom oil cylinder; 3-10, a bottom oil cylinder pressure sensor; 3-11, balancing the seat bottom; 3-12, a bottom platform two-layer platform; 3-13, a receiving transducer; 3-14, a transmitting transducer; 3-15, a bottom foot; 3-16, a guide post; 3-17, a guide sleeve; 3-18, a transducer carrying platform; 3-19 and a displacement sensor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a submarine sediment in-situ acoustic characteristic testing system and method, which can avoid the sediment from being disturbed by the heave disturbance of a first deepwater cable and a mother ship, and realize the undisturbed in-situ measurement of the sediment acoustic characteristic.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Examples
As shown in fig. 2, fig. 2(a) is a schematic view of the retracting state of the submersible platform, fig. 2(b) is a schematic view of the submersible platform, and fig. 2(c) is a schematic view of the transducer penetration. As shown in fig. 1 to 4, the invention provides an in-situ acoustic characteristic testing system for seafloor sediments, which comprises: the system comprises a heave compensation platform 2, a base platform 3, a cable winding and unwinding device, a transducer detection device, an image monitoring device (a deep water camera 2-13) and a control device.
The heave compensation platform is connected with the mother ship through a first deepwater cable (deepwater optical cable 1); the heave compensation platform is used for compensating disturbance of the first deepwater cable and the heave of the mother ship on the seabed sediment; the fixed end of the cable winding and unwinding device is arranged on the heave compensation platform, the wire outlet end of the cable winding and unwinding device is connected with the traction end of the bottom sitting platform, and the cable winding and unwinding device drives the bottom sitting platform to carry out lifting motion by winding and unwinding a second deepwater cable (deepwater optical cables 2-6 between platforms); the fixed end of the transducer detection device is arranged on the base platform, and the detection end of the transducer detection device transmits and receives sound waves after penetrating into the submarine sediments.
The control device comprises a video monitoring module, a shear wave transmitting and receiving module, a sound wave data real-time processing module and a motion control module. The video monitoring module monitors the form of underwater sediments and the action posture condition of each actuating mechanism of the system on line through an underwater camera. The motion control module monitors real-time data of the displacement sensors 3-19, the bottom-seated oil cylinder pressure sensors 3-10 and the attitude sensors, and controls the motion of the profile oil cylinders 3-8 and the bottom-seated oil cylinders 3-9. The shear wave transmitting and receiving module can adjust various parameters of the sound wave transmitting module and the sound wave receiving module in real time. And the acoustic data real-time processing module is used for storing, processing and uploading real-time section depth data, acoustic data received by the receiving transducers 3-13 and the like to obtain time domain waveforms, frequency spectrum curves and the like of shear wave signals so as to obtain the acoustic characteristics of the sediment in real time. The deepwater optical cable connects the heave compensation platform and the bottom-sitting platform with the mother ship, bears drag force in the process of lowering the heave compensation platform and the bottom-sitting platform to the seabed sediment, provides electric power for the operation of each part of the test system, and transmits interactive information among the heave compensation platform, the bottom-sitting platform and the control device.
The control device is positioned on the mother ship, and the image monitoring device is arranged on the heave compensation platform; the control device is respectively connected with the image monitoring device, the heave compensation platform, the base platform and the cable winding and unwinding device; the control device is used for controlling the heave compensation platform to ascend and descend or move according to the image data transmitted by the image monitoring device, controlling the retraction speed of the cable retraction device, determining the relaxation state of the second deepwater cable and determining the sitting posture of the sitting platform; the control device is connected with the transducer detection device and used for measuring the acoustic characteristics of the seabed sediments according to the detection data transmitted by the transducer detection device. The heave compensation platform is provided with a deep water camera 2-13, and the control device can obtain underwater real-time images through the deep water camera 2-13 and a deep water optical cable, so that the state of the sediment at the bottom and the height of the test system from the sea bottom can be observed on line.
Heave compensation platform specifically includes: the heave compensation platform carries the body 2-3, the first-layer platform 2-4 of the heave compensation platform, the second-layer platform 2-10 of the heave compensation platform, the control cabin 2-11 of the heave compensation platform and the load-bearing device of the heave compensation platform. The first-layer platform 2-4 of the heave compensation platform is arranged at the top of the heave compensation platform carrying body 2-3; the heave compensation platform bearing device is arranged on the upper side of the first-layer platform 2-4 of the heave compensation platform and is connected with the control device through a first deepwater cable; the fixed end of the cable winding and unwinding device is arranged on the lower side of the first-layer platform 2-4 of the heave compensation platform. The second-layer platform 2-10 of the heave compensation platform is arranged in the middle of the carrying body 2-3 of the heave compensation platform; the heave compensation platform control cabin 2-11 is arranged on the second-layer platform 2-10 of the heave compensation platform; and the control cabin 2-11 of the heave compensation platform is respectively connected with the cable winding and unwinding device and the control device, and the control cabin 2-11 of the heave compensation platform is used for controlling the cable winding and unwinding device to discharge or recover the second deepwater cable and the winding and unwinding speed according to a control command transmitted by the control device. The heave compensation platform bearing device comprises a heave compensation platform bearing seat 2-2 and a heave compensation platform bearing head 2-1, wherein the heave compensation platform bearing seat 2-2 is arranged at the top of the heave compensation platform and is connected with the heave compensation platform bearing head 2-1, and the heave compensation platform bearing head 2-1 is connected with the deepwater optical cable.
Cable winding and unwinding devices specifically includes: 2-8 parts of cable drum, 2-5 parts of cable drum bracket, 2-7 parts of drum motor, 2-12 parts of heave compensation platform hydraulic cabin and 2-9 parts of heave compensation platform hydraulic valve box. The cable drum 2-8 is arranged on the cable drum support 2-5, the second deepwater cable is wound on the cable drum 2-8, and the cable drum support 2-5 is fixedly connected to the lower side of the first-layer platform 2-4 of the heave compensation platform; the control end of the drum motor 2-7 is connected with the heave compensation platform control cabin 2-11, the output end of the drum motor 2-7 is connected with the cable drum 2-8, and the input end of the drum motor 2-7 is connected with the output end of the heave compensation platform hydraulic cabin 2-12; the heave compensation platform control cabin 2-11 is connected with the heave compensation platform hydraulic valve box 2-9; and the hydraulic valve box 2-9 of the heave compensation platform is connected with the control end of the hydraulic cabin 2-12 of the heave compensation platform. The control device can control the drum motors 2-7 and the cable drums 2-8 to act through the heave compensation platform control cabins 2-11 so as to release or withdraw the deepwater optical cables 2-6 among the platforms on the cable drums 2-8, and the arrangement and the recovery of the bottom-seated platform on the heave compensation platform are realized.
Sit the end platform, specifically include: the sitting bottom platform carrying body 3-1, the first-layer platform 3-5, the second-layer platform 3-12, the control cabin 3-4, the bearing device and the sitting bottom posture adjusting device are arranged on the sitting bottom platform. The base platform bearing device is arranged at the top of the base platform carrying body 3-1 and is connected with the cable winding and unwinding device through a second deepwater cable; the first-layer platform 3-5 of the base platform is arranged in the middle of the base platform carrying body 3-1; the bottom platform control cabin 3-4 is arranged on a first-layer platform 3-5 of the bottom platform; the two-layer platform 3-12 of the base platform is arranged at the bottom of the base platform carrying body 3-1; the sitting posture adjusting device is arranged on the two-layer platform 3-12 of the sitting platform; the sitting bottom platform control cabin 3-4 is respectively connected with the sitting bottom posture adjusting device, the transducer detecting device and the control device; the sitting bottom platform control cabin 3-4 is used for controlling the sitting bottom posture adjusting device to adjust the sitting bottom posture according to the control instruction transmitted by the control device; the control cabin 3-4 of the sitting bottom platform is also used for controlling the depth of the transducer detection device penetrating into the sediment on the seabed according to the control command transmitted by the control device. Six inverted cone-shaped bottom feet 3-15 are uniformly distributed at the bottom of the bottom platform, so that the feet can adapt to complex sediment terrains, and the bottom oil cylinders 3-9 can change the extending lengths of the bottom feet 3-15 on the bottom oil cylinders 3-9, so that the bottom platform adapts to different sediment terrains and is in an upright state. The base platform bearing device comprises a base platform bearing head 3-2 and a base platform bearing seat 3-3, the base bearing head is connected with the deepwater optical cable 2-6 between the platforms, and the base platform bearing seat 3-3 is arranged on the top of the base platform and connected with the base bearing head.
The control device is connected with a control cabin 3-4 of the bottom platform arranged on the bottom platform through a deepwater optical cable and an inter-platform deepwater optical cable 2-6. The control device can control the action of the bottom-sitting oil cylinder 3-9 through the bottom-sitting platform control cabin 3-4 and receive and display data of the bottom-sitting oil cylinder pressure sensor 3-10 in real time, in the bottom-sitting process of the bottom-sitting platform, an operator of a mother ship judges the bottom-sitting posture of the bottom-sitting platform by combining the data of the bottom-sitting oil cylinder pressure sensor 3-10 and the image of the bottom-sitting platform observed by the deepwater camera 2-13 and adjusts the bottom-sitting posture of the bottom-sitting platform by controlling the action of the bottom-sitting oil cylinder 3-9, so that the bottom-sitting platform is perpendicular to the surface of the sediment, and the depth of the transducer in the sediment is ensured to be equal when the transducer penetrates into the sediment.
The heave compensation platform is connected with the bottom platform through deep water optical cables 2-6 between the platforms. The deepwater optical cable 2-6 between the platforms is fixedly connected with the base platform through the base platform bearing head 3-2 and the base platform bearing seat 3-3, so that the deepwater optical cable 2-6 between the platforms can bear the drag force of the base platform on the deepwater optical cable 2-6 between the platforms in the base process. When the test system is lowered to about 4m from the height of the sea bottom, the deep water optical cable and the heave compensation platform stop being lowered, the bottom-seated platform is slowly lowered to the surface of the sediment through the inter-platform deep water optical cable 2-6 on the heave compensation platform, the inter-platform deep water optical cable 2-6 is enabled to be loose enough, at the moment, the heave disturbance of the deep water optical cable and the mother ship is compensated by the heave compensation platform, the bottom-seated platform cannot be disturbed by the deep water optical cable and the mother ship, and therefore the sediment cannot be disturbed by the test system.
Transducer detection device specifically includes: the device comprises a first oil cylinder (a section oil cylinder 3-8), a transducer carrying platform 3-18, a guide device, a displacement sensor 3-19, a bottom platform hydraulic chamber 3-6, a bottom platform hydraulic valve box 3-7 and a transducer. The fixed end of the first oil cylinder is arranged at the top of the carrying body 3-1 of the base platform, the output end of the first oil cylinder is connected with the first end of the guide device, the control end of the first oil cylinder is connected with the control cabin 3-4 of the base platform, and the input end of the first oil cylinder is connected with the output end of the hydraulic cabin of the base platform; the second end of the guiding device is connected with the transducer carrying platform 3-18, and the transducer is arranged on the transducer carrying platform 3-18; the sitting bottom platform control cabin 3-4 is used for driving a first oil cylinder according to a control instruction of the control device, so that the energy converter penetrates through an energy converter through hole of the second-layer platform 3-12 of the sitting bottom platform and penetrates into the submarine sediment; the base platform hydraulic valve boxes 3-7 are respectively connected with the input end of the base platform hydraulic chamber and the base platform control chamber 3-4; and the displacement sensors 3-19 are respectively connected with the guide device and the control cabin 3-4 of the sitting bottom platform, and the displacement sensors 3-19 are used for measuring the depth of the transducer penetrating into the submarine sediments. The guiding device comprises guiding columns 3-16 and a wire guide sleeve, and the guiding columns 3-16 are connected with the guiding sleeves 3-17.
The transducer is a shear wave transducer or a compression wave transducer. A transducer, particularly comprising: a transmitting transducer 3-14 and a receiving transducer 3-13. The fixed ends of the transmitting transducers 3-14 and the fixed ends of the receiving transducers 3-13 are connected with the transducer carrying platforms 3-18; the control device is connected with the input ends of the transmitting transducers 3 to 14 through a double-channel D/A conversion circuit and a double-channel transmitting drive circuit in sequence; the output ends of the receiving transducers 3-13 are connected with the control device through a double-channel receiving amplifying circuit and a double-channel A/D conversion circuit in sequence.
The transducers in the embodiment are three shear wave in-situ transducers, one of which is a transmitting transducer 3-14, and the other two of which are receiving transducers 3-13, so that the transmitting and receiving of shear waves can be realized; the transmitting transducers 3-14 and the two receiving transducers 3-13 have different space distances, and the acoustic characteristics can be calculated by using the propagation distance difference, the propagation time difference and the signal energy difference of the two received signals; the transmitting transducer 3-14 and the receiving transducer 3-13 are driven by the profile oil cylinder 3-8 to be slowly inserted into the sediment, so that the continuous profile measurement and the depth setting measurement of the acoustic characteristics of the sediment are realized.
The transmitting transducer 3-14 and the receiving transducer 3-13 are arranged on the transducer carrying platform 3-18, and the motion of the transducer carrying platform 3-18 is controlled by the profile oil cylinder 3-8, so that the fixed depth test and the profile test of the transmitting transducer 3-14 and the receiving transducer 3-13 in sediment are realized. When the transducer carrying platform 3-18 moves, the guide posts 3-16 fixedly connected on the transducer carrying platform 3-18 and the guide sleeves 3-17 fixedly connected on the second-layer platform 3-12 of the base platform realize the movement guide of the transducer carrying platform 3-18, and the stability of the transmitting transducer 3-14 and the receiving transducer 3-13 during movement is ensured. And displacement sensors 3-19 are arranged on the second-layer platform 3-12 of the sitting bottom platform, the displacement sensors 3-19 are connected with the guide columns 3-16, and the penetration depths of the transmitting transducers 3-14 and the receiving transducers 3-13 are obtained by measuring the moving displacement of the guide columns 3-16.
Sit end gesture adjusting device specifically includes: a second oil cylinder (a bottom-seated oil cylinder 3-9), a bottom-seated footing 3-15, a pressure sensor and a bottom-seated counterweight 3-11. The number of the bottom-sitting bottom feet 3-15 and the number of the second oil cylinders are equal and are multiple, the bottom-sitting bottom feet 3-15 are arranged on the lower surface of the second-layer platform 3-12 of the bottom-sitting platform at equal intervals, and the second oil cylinders are arranged on the upper surface of the second-layer platform 3-12 of the bottom-sitting platform at equal intervals; the control end of the second oil cylinder is connected with the bottom sitting platform control bin 3-4, the force output end of the second oil cylinder is connected with the bottom sitting footing 3-15, and the second oil cylinder is used for adjusting the extending length of the bottom sitting footing 3-15 according to the control instruction of the bottom sitting platform control bin 3-4; the pressure sensor is respectively connected with the second oil cylinder and the bottom platform control cabin 3-4; the pressure sensor is used for measuring the pressure value of the second oil cylinder; the number of the bottom-sitting counter weights 3-11 is equal to the number of the bottom-sitting bottom feet 3-15, and the bottom-sitting counter weights 3-11 are all arranged on the upper surfaces of the two-layer platforms 3-12 of the bottom-sitting platform.
In the embodiment, six bottom-sitting counterweights 3-11 are evenly distributed on the two-layer platform 3-12 of the bottom-sitting platform, so that the gravity center of the bottom-sitting platform is positioned at the bottom, the stability of the bottom-sitting platform is improved, the bottom-sitting platform can stably sit on sediment, and the disturbance to the sediment is reduced. The six bottom feet 3-15 are respectively connected with six bottom cylinders 3-9 and evenly distributed at the bottom of the bottom platform, and the six bottom cylinders 3-9 are all connected with bottom cylinder pressure sensors 3-10. In the process of the bottom platform, if the terrain of sediment is uneven, the contact state of the bottom feet 3-15 and the sediment is inconsistent, and the bottom platform can generate a certain side inclination. At the moment, the pressure values of the pressure sensors 3-10 of the bottom sitting oil cylinders are unequal, the bottom sitting oil cylinders 3-9 can be controlled to change the extension lengths of the bottom sitting feet 3-15 on the bottom sitting oil cylinders 3-9, so that the pressure values of the pressure sensors 3-10 of the six bottom sitting oil cylinders are equal, and the bottom sitting platform can be in an upright state.
The invention provides a method for testing in-situ acoustic characteristics of a submarine sediment, which is applied to a system for testing in-situ acoustic characteristics of the submarine sediment and comprises the following steps:
and acquiring a sediment topographic image transmitted by the image monitoring device.
And judging whether the sediment terrain meets the preset terrain requirement according to the sediment terrain image to obtain a first judgment result.
If the first judgment result is yes, the heave compensation platform is controlled to hover, the cable winding and unwinding device is controlled to drive the bottom setting platform to submerge, and a cable relaxation state image transmitted by the image monitoring device and released by the cable winding and unwinding device is acquired in the submerging process.
If the first judgment result is no, returning to the step of acquiring the sediment terrain image transmitted by the image monitoring device.
And judging whether the cable released by the cable winding and unwinding device is loose according to the cable relaxation state image to obtain a second judgment result.
If the second judgment result is yes, acquiring the sitting posture image of the sitting bottom platform transmitted by the image monitoring device, and judging whether the sitting posture of the sitting bottom platform is in an upright state according to the sitting posture image to obtain a third judgment result.
And if the second judgment result is negative, controlling the heave compensation platform to descend to a preset height, and then returning to the step of controlling the heave compensation platform to hover.
If the third judgment result is yes, controlling the detection end of the transducer detection device to penetrate into the submarine sediment and then transmitting and receiving sound waves, and carrying out submarine sediment acoustic characteristic measurement according to data collected by the transducer detection device. The method specifically comprises the following steps:
acquiring the depth of a detection end of a transducer detection device transmitted by a displacement sensor penetrating into the submarine sediment;
judging whether the depth of the sediment penetrating into the seabed reaches a preset depth or not to obtain a fourth judgment result;
if the fourth judgment result is yes, controlling the detection end of the transducer detection device to penetrate into the submarine sediment and then transmitting and receiving sound waves;
and if the fourth judgment result is negative, controlling the transducer to detect to reach the preset depth.
If the third judgment result is negative, controlling the bottom platform to adjust the bottom posture of the bottom platform.
In particular, as shown in figure 5,
after the testing system is laid on the seabed by the deepwater optical cable, an operator monitors pictures acquired by the deepwater camera in real time through the control device, and when the testing system is close to the seabed, the laying speed of the deepwater optical cable is reduced until the distance between the testing system and the seabed is about 4m, and the laying of the deepwater optical cable is stopped.
Observing the topography of the submarine sediment through a deepwater camera, judging whether the topography and the state of the sediment in the area are suitable for in-situ testing, and if not, shifting the mother ship to find out a sediment area suitable for in-situ testing; if the device is suitable for in-situ testing, the cable drum is controlled to act through the control device, the deepwater cables among the platforms are discharged, the bottom-seated platforms are distributed, the bottom-seated platforms are enabled to slowly seat on the surface of the sediment, and after the bottom-seated platforms seat, the deepwater cables among the platforms are continuously discharged, so that the deepwater cables among the platforms are kept to be sufficiently loosened.
The bottom sitting posture of the bottom sitting platform is judged through the data of the deepwater camera and the pressure sensor of the bottom sitting oil cylinder, and the posture of the bottom sitting platform is adjusted through controlling the action of the bottom sitting oil cylinder, so that the bottom sitting platform is vertical to the surface of the sediment.
After the bottom platform completes the vertical posture of bottom sitting, the in-situ test work of the sediment shear wave can be carried out.
The control device controls the section oil cylinder to act, so that the transmitting transducer and the receiving transducer are penetrated into the sediment, and the penetration depth can be obtained by collecting data of the displacement sensor. After the transmitting transducer and the receiving transducer reach the designated depth, the FPGA main control board receives a transmitting sound wave instruction sent by the central main control unit, and the transmitting transducer is excited to transmit shear waves through the multi-channel D/A conversion circuit and the multi-channel transmitting drive circuit; after the receiving transducer receives the shear wave, the shear wave data is demodulated through a double-channel receiving amplifying circuit and a double-channel A/D conversion circuit, stored in an external data storage device, sent to an upper computer/switch through an optical cable and processed in real time; the operator can adjust the sound wave parameters of the transmitting and receiving module according to the obtained real-time shear wave data effect so as to obtain the shear wave which is most suitable for the pre-sediment.
If the continuous section measurement is carried out on the sediment, the section oil cylinder can be controlled by the control device to penetrate into the sediment at a certain speed; in the penetration process, the control device sends an acoustic wave transmitting instruction to the central main control unit, and the central main control unit enables the transmitting transducer to transmit shear waves through the double-channel D/A conversion circuit and the double-channel transmitting drive circuit; after the receiving transducer receives the shear wave, the shear wave data is sent to an upper computer/switch through a double-channel receiving amplifying circuit and a double-channel A/D conversion circuit, and the obtained shear wave data is processed in real time, so that a sediment profile acoustic characteristic continuous curve can be obtained.
After the acoustic test is finished, the control device controls the profile oil cylinder to retract, and the transmitting transducer and the receiving transducer are retracted to initial positions; the cable drum retracts the deepwater cable between the platforms, so that the bottom platform retracts to the heave compensation platform; the deepwater cable retrieves the test system to the mother vessel.
The test system is not limited to be used for measuring the sediment shear wave characteristics, and can also realize the measurement of the sediment compression wave characteristics when the compression wave transducer is installed on the transducer carrying platform.
The invention provides a submarine sediment in-situ acoustic characteristic test system and method, which comprises the following steps:
(1) in-situ measurement of shear wave characteristics of seafloor sediments can be achieved. The system is provided with three shear wave in-situ transducers, wherein one transducer is a transmitting transducer, and the other two transducers are receiving transducers, so that the transmitting and receiving of shear waves can be realized. The transmitting transducer and the two receiving transducers adopt different space designs, and the shear wave speed and the attenuation coefficient can be calculated by utilizing signals under different sound wave propagation distances based on a time difference method; the transmitting transducer and the receiving transducer are driven by the profile oil cylinder to be slowly inserted into the sediment, so that the fixed depth measurement of the transmitting transducer and the receiving transducer on the sediment is realized, and the shear wave characteristic of the sediment of the target depth horizon is obtained.
(2) Real-time monitoring and real-time control in the in-situ measurement process can be realized. The heave compensation platform and the bottom sitting platform are connected with a control device of the mother ship through a deepwater optical cable, and the deepwater optical cable can transmit interactive information among the heave compensation platform, the bottom sitting platform and the control device of the mother ship; a deepwater camera is carried on the heave compensation platform, and the control device can obtain underwater real-time images through the deepwater camera and a deepwater optical cable and observe the state of bottom sediment on line; a displacement sensor and a bottom oil cylinder pressure sensor are carried on the bottom platform, and the control device can obtain real-time data of the displacement sensor and the bottom oil cylinder pressure sensor through a deepwater optical cable and provides a basis for adjusting the insertion depth of the transducer and the bottom posture of the bottom platform; the on-line monitoring system can adjust various parameters of the sound wave transmitting circuit and the sound wave receiving circuit in real time through the deepwater optical cable so as to obtain the shear wave which is most suitable for the previous sediment; the on-line monitoring system can process real-time profile depth data, sound wave data sent by the transmitting transducer, sound wave data received by the receiving transducer and the like through the deepwater optical cable to obtain time domain waveforms, frequency curves and the like of shear waves so as to calculate the acoustic characteristics of the sediment in real time.
(3) The method can avoid the disturbance of the test system on the sediment during the bottom setting, and realize the undisturbed in-situ measurement of the shear wave characteristic of the sediment. The deep water camera is carried on the heave compensation platform, the height of the test system from the sea bottom can be observed in real time through the deep water camera, and the lowering speed is reduced when the test system is closer to the sea bottom, so that the sediment is prevented from being disturbed by fast setting; when the test system is lowered to about 4m from the height of the sea bottom, the deep water optical cable and the heave compensation platform stop being lowered, the deep water optical cable between the platforms on the heave compensation platform slowly lowers the bottom-sitting platform to the surface of the sediment, at the moment, the heave disturbance of the deep water optical cable and the mother ship is compensated by the heave compensation platform, and the bottom-sitting platform cannot be disturbed by the heave disturbance of the deep water optical cable and the mother ship, so that the sediment cannot be disturbed by the test system; six bottom-sitting counter weights are evenly distributed on the two-layer platform of the bottom-sitting platform, so that the gravity center of the bottom-sitting platform is positioned at the bottom, the stability of the bottom-sitting platform is improved, the bottom-sitting platform can stably sit on sediment, and the disturbance to the sediment is reduced.
(4) The sediment in-situ profile acoustic characteristic measurement can be realized. The online monitoring system can control the action of the profile oil cylinder in real time through the deepwater optical cable, so that the transducer is driven to be inserted into the sediment at a set speed, and in the process of insertion, the transmitting transducer and the receiving transducer continuously work to obtain the shear wave acoustic characteristics of the sediment at different depths, thereby completing the measurement of the sediment in-situ profile acoustic characteristics; the profile oil cylinder can stop the transducer at the target depth of the sediment according to the measurement requirement, and various acoustic characteristics of the fixed depth of the sediment are obtained.
(5) In-situ acoustic property measurements of more complex sediment topography can be accommodated. Six inverted cone-shaped bottom feet are uniformly distributed at the bottom of the bottom platform, so that the feet can adapt to more complex sediment terrains; six bottom feet are respectively connected with six bottom oil cylinders, and the six bottom oil cylinders are all connected with bottom oil cylinder pressure sensors. In the process of the bottom platform, if the terrain of sediment is uneven, the contact state of the bottom feet and the sediment is inconsistent, and the bottom platform can generate a certain side inclination. At the moment, the pressure values of the pressure sensors of the bottom-seated oil cylinders are unequal, the bottom-seated oil cylinders can be controlled to change the extension lengths of bottom feet on the bottom-seated oil cylinders, so that the pressure values of the pressure sensors of the six bottom-seated oil cylinders are equal, and the bottom-seated platform can be in an upright state.
The test system is not limited to be used for measuring the sediment shear wave characteristics, and can also realize the measurement of the sediment compression wave characteristics when the compression wave transducer is arranged on the transducer carrying platform.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In summary, this summary should not be construed to limit the present invention.
Claims (10)
1. A seafloor sediment in-situ acoustic property testing system, comprising:
the system comprises a heave compensation platform, a base platform, a cable winding and unwinding device and a transducer detection device;
the heave compensation platform is connected with the mother ship through a first deepwater cable; the fixed end of the cable winding and unwinding device is arranged on the heave compensation platform, the wire outlet end of the cable winding and unwinding device is connected with the traction end of the bottom sitting platform, and the cable winding and unwinding device drives the bottom sitting platform to perform lifting motion by winding and unwinding a second deepwater cable; the fixed end of the transducer detection device is arranged on the base platform, and the detection end of the transducer detection device transmits and receives sound waves after penetrating into the submarine sediments.
2. The subsea sediment in situ acoustic characterization testing system of claim 1, further comprising:
an image monitoring device and a control device;
the control device is positioned on the mother ship, and the image monitoring device is arranged on the heave compensation platform; the control device is respectively connected with the image monitoring device, the heave compensation platform, the sitting platform and the cable winding and unwinding device; the control device is used for controlling the heave compensation platform to ascend and descend or move according to the image data transmitted by the image monitoring device, controlling the retraction speed of the cable retraction device, determining the relaxation state of the second deepwater cable and determining the sitting posture of the sitting platform;
the control device is connected with the transducer detection device and is used for measuring the acoustic characteristics of the seabed sediments according to the detection data transmitted by the transducer detection device.
3. The in-situ acoustic characterization testing system for seafloor sediments according to claim 2, wherein the heave compensation platform comprises:
the heave compensation platform carrying body, a first-layer platform of the heave compensation platform, a second-layer platform of the heave compensation platform, a control cabin of the heave compensation platform and a bearing device of the heave compensation platform;
the first-layer platform of the heave compensation platform is arranged at the top of the heave compensation platform carrying body; the heave compensation platform bearing device is arranged on the upper side of a first-layer platform of the heave compensation platform and is connected with the control device through the first deepwater cable; the fixed end of the cable winding and unwinding device is arranged on the lower side of the first-layer platform of the heave compensation platform;
the second-layer platform of the heave compensation platform is arranged in the middle of the heave compensation platform carrying body; the heave compensation platform control cabin is arranged on the second-layer platform of the heave compensation platform; the control cabin of the heave compensation platform is respectively connected with the cable winding and unwinding device and the control device, and the control cabin of the heave compensation platform is used for controlling the cable winding and unwinding device to discharge or recover the second deepwater cable and the winding and unwinding speed according to the control instruction transmitted by the control device.
4. The in-situ submarine sediment acoustic characteristic testing system according to claim 3, wherein the cable reeling and unreeling device specifically comprises:
the system comprises a cable drum, a cable drum bracket, a drum motor, a heave compensation platform hydraulic cabin and a heave compensation platform hydraulic valve box;
the cable drum is arranged on the cable drum support, the second deepwater cable is wound on the cable drum, and the cable drum support is fixedly connected to the lower side of the first-layer platform of the heave compensation platform;
the control end of the drum motor is connected with the heave compensation platform control cabin, the output end of the drum motor is connected with the cable drum, and the input end of the drum motor is connected with the output end of the heave compensation platform hydraulic cabin;
the heave compensation platform control cabin is connected with the heave compensation platform hydraulic valve box; and the hydraulic valve box of the heave compensation platform is connected with the control end of the hydraulic cabin of the heave compensation platform.
5. The in-situ acoustic characterization testing system for seafloor sediments according to claim 2, wherein the submersible platform specifically comprises:
the base platform carrying body, a first-layer platform of the base platform, a second-layer platform of the base platform, a base platform control cabin, a base platform bearing device and a base posture adjusting device;
the base platform bearing device is arranged at the top of the base platform carrying body and is connected with the cable winding and unwinding device through the second deepwater cable;
the first-layer platform of the base platform is arranged in the middle of the carrying body of the base platform; the bottom platform control cabin is arranged on a first-layer platform of the bottom platform;
the two-layer platform of the base platform is arranged at the bottom of the carrying body of the base platform; the bottom sitting posture adjusting device is arranged on the two-layer platform of the bottom sitting platform;
the sitting bottom platform control cabin is respectively connected with the sitting bottom posture adjusting device, the energy converter detecting device and the control device; the sitting bottom platform control cabin is used for controlling the sitting bottom posture adjusting device to adjust the sitting bottom posture according to the control instruction transmitted by the control device; the sitting bottom platform control cabin is also used for controlling the depth of the transducer detection device penetrating into the submarine sediments according to the control command transmitted by the control device.
6. The in-situ acoustic characterization testing system for seafloor sediments according to claim 5, wherein the transducer probe device specifically comprises:
the device comprises a first oil cylinder, a transducer carrying platform, a guide device, a displacement sensor, a bottom platform hydraulic cabin, a bottom platform hydraulic valve box and a transducer;
the fixed end of the first oil cylinder is arranged at the top of the carrying body of the bottom sitting platform, the output end of the first oil cylinder is connected with the first end of the guide device, the control end of the first oil cylinder is connected with the control cabin of the bottom sitting platform, and the input end of the first oil cylinder is connected with the output end of the hydraulic cabin of the bottom sitting platform;
the second end of the guide device is connected with the transducer carrying platform, and the transducer is arranged on the transducer carrying platform; the sitting bottom platform control cabin is used for driving the first oil cylinder according to a control instruction of the control device, so that the energy converter penetrates through an energy converter through hole of the second-layer platform of the sitting bottom platform and penetrates into the seabed sediment;
the base platform hydraulic valve box is respectively connected with the input end of the base platform hydraulic chamber and the base platform control chamber;
the displacement sensor is respectively connected with the guide device and the bottom-sitting platform control bin and is used for measuring the depth of the energy transducer penetrating into the submarine sediments.
7. The system for in-situ acoustic characterization of seafloor sediments according to claim 6, wherein the means for adjusting the attitude of the bottoming platform comprises:
the second oil cylinder, a bottom footing, a pressure sensor and a bottom counterweight;
the number of the bottom feet and the number of the second oil cylinders are equal and are multiple, the bottom feet are arranged on the lower surface of the second-layer platform of the bottom platform at equal intervals, and the second oil cylinders are arranged on the upper surface of the second-layer platform of the bottom platform at equal intervals;
the control end of the second oil cylinder is connected with the bottom-sitting platform control bin, the force output end of the second oil cylinder is connected with the bottom-sitting bottom foot, and the second oil cylinder is used for adjusting the extending length of the bottom-sitting bottom foot according to a control instruction of the bottom-sitting platform control bin;
the pressure sensor is respectively connected with the second oil cylinder and the bottom platform control cabin; the pressure sensor is used for measuring the pressure value of the second oil cylinder;
the number of the bottom-seated counterweights is equal to that of the bottom-seated bottom feet, and the bottom-seated counterweights are arranged on the upper surface of the two-layer platform of the bottom-seated platform.
8. The in situ subsea sediment acoustic characterization testing system of claim 7, wherein the transducer is a shear wave transducer or a compression wave transducer;
the transducer specifically comprises:
a transmitting transducer and a receiving transducer;
the fixed end of the transmitting transducer and the fixed end of the receiving transducer are both connected with the transducer carrying platform; the control device is connected with the input end of the transmitting transducer through a double-channel D/A conversion circuit and a double-channel transmitting drive circuit in sequence; the output end of the receiving transducer is connected with the control device through a double-channel receiving amplifying circuit and a double-channel A/D conversion circuit in sequence.
9. A method for testing in-situ acoustic properties of a seafloor sediment, which is applied to the system for testing in-situ acoustic properties of a seafloor sediment as claimed in any one of claims 1 to 8, and which comprises:
acquiring a sediment terrain image transmitted by an image monitoring device;
judging whether the sediment terrain meets preset terrain requirements according to the sediment terrain image to obtain a first judgment result;
if the first judgment result is yes, controlling the heave compensation platform to hover, controlling the cable winding and unwinding device to drive the bottom setting platform to submerge, and acquiring a cable relaxation state image transmitted by the image monitoring device and released by the cable winding and unwinding device in the submerging process;
if the first judgment result is negative, returning to the step of obtaining a sediment terrain image transmitted by the image monitoring device;
judging whether the cable released by the cable winding and unwinding device is loose according to the cable relaxation state image to obtain a second judgment result;
if the second judgment result is yes, acquiring a sitting posture image of the sitting bottom platform transmitted by the image monitoring device, and judging whether the sitting posture of the sitting bottom platform is in an upright state according to the sitting posture image to obtain a third judgment result;
if the second judgment result is negative, controlling the heave compensation platform to descend to a preset height, and then returning to the step of controlling the heave compensation platform to hover;
if the third judgment result is yes, controlling the detection end of the transducer detection device to penetrate into the submarine sediment and then transmitting and receiving sound waves, and carrying out submarine sediment acoustic characteristic measurement according to data collected by the transducer detection device;
and if the third judgment result is negative, controlling the bottom platform to adjust the bottom posture of the bottom platform.
10. The method for testing in-situ acoustic properties of seafloor sediments according to claim 9, wherein the controlling of the transmitting and receiving of the sound wave after the probe end of the transducer probe penetrates the seafloor sediments specifically comprises:
acquiring the depth of a detection end of a transducer detection device transmitted by a displacement sensor penetrating into the submarine sediment;
judging whether the depth of the sediment penetrating into the seabed reaches a preset depth or not to obtain a fourth judgment result;
if the fourth judgment result is yes, controlling the detection end of the transducer detection device to penetrate into the submarine sediment and then transmitting and receiving sound waves;
and if the fourth judgment result is negative, controlling the transducer to detect to reach the preset depth.
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| CN114537626A (en) * | 2020-11-24 | 2022-05-27 | 中国科学院沈阳自动化研究所 | Autonomous bottom-sitting control method for underwater robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114537626A (en) * | 2020-11-24 | 2022-05-27 | 中国科学院沈阳自动化研究所 | Autonomous bottom-sitting control method for underwater robot |
| CN114537626B (en) * | 2020-11-24 | 2022-12-20 | 中国科学院沈阳自动化研究所 | Autonomous bottom-sitting control method for underwater robot |
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