WO2016192390A1 - Subsea heat flow long-term observation probe based on underwater robot platform - Google Patents

Abstract

A subsea heat flow long-term observation probe based on an underwater robot platform (300) comprises: a supporting probe rod (10) a plurality of self capacitive temperature measuring units (20). The plurality of self capacitive temperature measuring units (20) is distributed and fixed on the supporting probe rod (10) at an equal interval and in a spiral form, to form a distributed multi-point temperature measuring structure, thereby implementing long-term observation on temperature fluctuation of settlings (200) at different depths under the sea. Each self capacitive temperature measuring unit (20) comprises a housing (25), a battery (24), a temperature measuring circuit board (23), a sensor packaging probe (22), and a temperature sensor (21). The battery (24) and the temperature sensing circuit board (23) are both mounted in the housing (25), the sensor packaging probe (22) is fixed to one end of the housing (25), and the temperature sensor (21) is mounted in the sensor packaging probe (22) and is electrically connected to the temperature measuring circuit board (23). The temperature sensor (21) is in tight contact with the settlings (200) under the sea. Meanwhile, the spiral manner in which the self capacitive temperature measuring units (20) are mounted ensures that each temperature sensor (21) may be in contact with undisturbed settlings (200), and ensures to the greatest extent that the temperature of the settlings (200) is measured rapidly and accurately.

Description

一种基于水下机器人平台的海底热流长期观测探针Long-term observation probe for submarine heat flow based on underwater robot platform 技术领域Technical field

本发明涉及温度探测技术领域，具体涉及一种基于水下机器人平台的海底热流长期观测探针。The invention relates to the technical field of temperature detection, in particular to a long-term observation probe for seabed heat flow based on an underwater robot platform.

背景技术Background technique

海底热流是大地热流的重要组成部分，是研究海洋地球动力学、沉积盆地演化过程、油气水合物资源评价以及热液循环机制的重要基础数据。海底热流可以利用海底钻孔或海底热流探针测得，也可以利用反射地震剖面的似海底反射(BSR)计算出来。海底钻孔(ODP或DSDP的深海钻探、石油钻井等)获得的热流值虽然受地表浅层作用的影响较小、可靠性较高，但站位分布少，且成本较高，因而其应用受到制约；BSR热流，受BSR的不连续性、沉积物热导率估算误差及天然气水合物稳定带底界的不一致性等因素的影响，在某些海域其计算结果与实测热流值相比存在一定差异，其适用范围并不广；相对而言，船载探针式的海底热流测量，其作业灵活、成本较低，且测量范围可以覆盖部分深水区，因此在全球海域内得到了广泛应用。Submarine heat flow is an important part of geothermal heat flow, and it is an important basic data for studying marine geodynamics, sedimentary basin evolution process, oil and gas hydrate resource evaluation and hydrothermal circulation mechanism. The submarine heat flow can be measured using a subsea borehole or a submarine heat flow probe, or it can be calculated using a submarine reflection (BSR) of the reflected seismic profile. Although the heat flow value obtained by submarine drilling (Deep Sea drilling of ODP or DSDP, oil drilling, etc.) is less affected by the shallow surface effect and higher reliability, but the station distribution is less and the cost is higher, so its application is affected. Restriction; BSR heat flow is affected by factors such as discontinuity of BSR, estimation error of thermal conductivity of sediment and inconsistency of bottom boundary of natural gas hydrate stability zone. In some sea areas, the calculation result is compared with the measured heat flow value. Differences, its scope of application is not wide; relatively speaking, ship-borne probe-type submarine heat flow measurement, its flexible operation, low cost, and measurement range can cover part of the deep water area, so it has been widely used in the global sea area.

由于热流探针***沉积物的深度较浅(一般小于10米)，因此对海底浅部环境要求较高，需要较为恒定的环境温度。大部分深水区的海底温度都比较恒定，但在浅海和部分深水区，受季节、日变温度、流、浪、潮等因素影响，海底的底层水温往往波动较大(Bottom water temperature variation,简称BWTV)。例如我国东海深度大于50米的部分水域，冬季和夏季的BWTV月平均变化可相差5℃之多；日本Nankai海槽约2900m深的海域，一年中的底水温度也出现了0.8℃的波动(图1)；发明人所在课题组于2013年和2014年在南海北部西沙和东沙海域进行的底水温度波动监测，发现其中一个站位(水深900m左右)，在48小时内，其底水温度波动达到0.42℃。值得注意的是，这只是短时间(约2天)内观测到的波动情况，在更长时间尺度内，其波动幅度应该会更大。Since the depth of the heat flow probe inserted into the deposit is shallow (generally less than 10 meters), the shallow sea environment is required to be relatively high, requiring a relatively constant ambient temperature. The seabed temperature in most deep water areas is relatively constant, but in shallow seas and some deep water areas, due to seasonal, daily temperature, flow, wave, tide and other factors, the bottom water temperature of the seabed tends to fluctuate greatly (Bottom water temperature variation, referred to as BWTV). For example, in some waters with a depth of more than 50 meters in the East China Sea, the average monthly variation of BWTV in winter and summer can be as much as 5 °C; in the sea area of 2900 m deep in the Nankai trough in Japan, the bottom water temperature in the year also shows a fluctuation of 0.8 °C. (Fig. 1); The inventor's research group monitored the bottom water temperature fluctuations in the Xisha and Dongsha sea areas in the northern part of the South China Sea in 2013 and 2014, and found one of the stations (water depth of about 900 m), within 48 hours, the bottom water The temperature fluctuation reached 0.42 °C. It is worth noting that this is only a volatility observed in a short period of time (about 2 days), and the volatility should be greater in a longer time scale.

BWTV对海底热流测量结果有什么影响呢？根据前人的研究，BWTV将通过热传导，从温度波动幅度和相位上影响表层沉积物的地温梯度。其幅度的衰减服从指数规律，衰减速率则与BWTV的周期有关。BWTV通常由不同周期的影 响因素混合叠加而成。其中长周期的部分衰减较慢，影响较深；而短周期部分则衰减快。例如一个以天为周期的BWTV只能影响到约0.5米深度，而一个以季节为周期的BWTV则可影响到8～9米深的沉积物。一般的海底热流探针探测深度可达6～10米，去除表层地温梯度数据后，基本可以避免短周期的BWTV影响。但是对于长周期的BWTV，常规海底热流探针可能无法穿透其影响深度，导致测得的地温梯度无法真实反映该站位的热状态。这种情况下，常规的海底热流探针不是很适合用于在底水温度波动较大的海域获取地热参数。What effect does BWTV have on seafloor heat flow measurements? According to previous studies, BWTV will influence the geothermal gradient of surface sediments from the temperature fluctuation amplitude and phase through heat conduction. The attenuation of the amplitude obeys the exponential law, and the decay rate is related to the period of the BWTV. BWTV usually consists of different periods of shadow The sound factors are mixed and superimposed. The long-term partial attenuation is slower and the effect is deeper, while the short-period part is faster. For example, a day-cycle BWTV can only affect about 0.5 meters depth, while a seasonal cycle BWTV can affect sediments 8 to 9 meters deep. The general depth of the seabed heat probe can reach 6-10 meters. After removing the surface temperature gradient data, the short-term BWTV effect can be avoided. However, for long-period BWTV, the conventional submarine heat flow probe may not penetrate the depth of influence, resulting in the measured geothermal gradient not truly reflecting the thermal state of the station. In this case, the conventional subsea heat flow probe is not well suited for obtaining geothermal parameters in sea areas where the bottom water temperature fluctuates greatly.

如何避免BWTV对热流测量的影响？解决途径有二：一是想办法尽量增大测量深度，避开表层受底水温度的影响深度；二是想办法获取表层沉积物不同深度处温度的波动变化规律，然后通过对这些长时间序列的数据进行分析，从而消除底水温度波动的影响，获取可靠的背景地热信息。第一种解决途径中，热流探针长度一旦太长，其作业难度等各种问题将突显出来(比如对设备重量、科考船的实施能力、海底底质情况的限制等)，因而并不是一个很好的解决办法。随着科技的不断进步，在海底进行长时间(超过一年)的温度监测已经成为可能，故不少学者开始研制长期观测设备，并用于对底水温度波动较大的海域进行观测和研究。这个方案在目前来说是切实可行而且很有意义的。How to avoid the impact of BWTV on heat flow measurement? There are two solutions: one is to try to increase the depth of measurement as much as possible, avoiding the depth of the surface layer affected by the temperature of the bottom water; the second is to find a way to obtain the fluctuation law of the temperature at different depths of the surface sediment, and then pass these long time series The data is analyzed to eliminate the effects of bottom water temperature fluctuations and obtain reliable background geothermal information. In the first solution, if the length of the heat flow probe is too long, various problems such as the difficulty of operation will be highlighted (such as the weight of the equipment, the ability to implement the scientific research ship, the limitation of the seafloor quality, etc.), and thus it is not A good solution. With the continuous advancement of technology, it has become possible to carry out long-term (more than one year) temperature monitoring on the seabed. Therefore, many scholars have begun to develop long-term observation equipment and use it to observe and study the sea area where the bottom water temperature fluctuates greatly. This program is practical and meaningful at the moment.

下文选取了几种具有代表性的设备进行简要介绍。A few representative devices are selected below for a brief introduction.

(1)钻孔式海底热流长期观测***(1) Long-term observation system for bored submarine heat flow

日本海洋研究开发机构(JAMSTEC)采用了一种基于钻孔的可重复使用的长期测温技术(图2)，他们称之为Circulation Obviation Retrofit Kits(简称CORKs或者ACORKs。钻孔深达几百米，除了安装温度传感器，同时还有孔隙水压力等多种传感器，主要用来观测地震同震效应，比如地震前后钻孔各深度处温度、水压等变化情况。当然，获取到的长期温度波动数据，也可用来解释未受底水温度波动影响时的地温分布情况)。CORKs核心部件主要包括数据记录舱(包括电池)和传感器链。具体作业时，在水下机器人的协助下，将带沉块的多传感器(包括温度)链式测量仪垂直下放到海底钻孔的空心套管中(比如IODP钻孔)，通过多个温度传感器测得钻孔不同深度处的环境温度(或平衡温度)，所有数据保存在井口的数据记录舱中。回收时，水下机器人将井口的数据记录舱取回，换上一个带新电池的数据记录舱，实现长期的循环测量。此外还有另外一种做法是将 整个传感器链也取出来，这种传感器链往往是由若干个自容式微型测温单元(即自带电池和存储器)组成，数据不存储在井口的数据记录舱中。The Japan Marine Research and Development Agency (JAMSTEC) uses a re-useable long-term temperature measurement technique based on drilling (Fig. 2), which they call Circulation Obviation Retrofit Kits (CORKs or ACORKs for short). In addition to the installation of temperature sensors, there are also a variety of sensors, such as pore water pressure, which are mainly used to observe seismic coseismic effects, such as changes in temperature and water pressure at various depths of the borehole before and after the earthquake. Of course, long-term temperature fluctuations obtained. The data can also be used to explain the ground temperature distribution when it is not affected by the fluctuation of the bottom water temperature). The core components of CORKs mainly include data logging compartment (including battery) and sensor chain. In the specific operation, with the assistance of the underwater robot, the multi-sensor (including temperature) chain measuring instrument with the sinking block is vertically lowered into the hollow casing of the subsea drilling (such as IODP drilling), and through multiple temperature sensors. The ambient temperature (or equilibrium temperature) at different depths of the borehole is measured and all data is stored in the data log compartment of the wellhead. When recycling, the underwater robot retrieves the data log cabin at the wellhead and replaces it with a data log cabin with a new battery for long-term cyclic measurements. There is another way to do this. The entire sensor chain is also taken out. This sensor chain is often composed of several self-contained miniature temperature measuring units (ie, self-contained battery and memory), and the data is not stored in the data logging compartment of the wellhead.

CORKs的测量通道数目可灵活改变与替换，测量深度可以达到数百米(取决于钻孔深度)，且设备可以在海底多次重复使用，获取的数据量丰富。不过其应用目的主要在于同震监测，且站位的分布与数量局限于海底钻孔，应用范围有限。同时，其测量的温度是钻孔中不同深度处水的温度，这与对应深度处地层的实际温度可能还是有差别的。The number of measurement channels of CORKs can be flexibly changed and replaced, the measurement depth can reach several hundred meters (depending on the drilling depth), and the equipment can be reused many times on the seabed, and the amount of data acquired is rich. However, its application is mainly for co-seismic monitoring, and the distribution and number of stations are limited to submarine drilling, and the application range is limited. At the same time, the temperature measured is the temperature of the water at different depths in the borehole, which may still differ from the actual temperature of the stratum at the corresponding depth.

(2)自浮式海底热流长期观测***(2) Self-floating submarine heat flow long-term observation system

日本东京大学地震研究所的Yamano团队采用一种自浮式的探针观测仪器实现热流长期观测(图3)，他们称之为PLHF(Pop-up Long term Heat Flow instrument)。该设备中，6个热敏电阻温度传感器被封装在一条长约2米的细长的金属探针内，探针内传感器通过水密电缆与回收舱中的记录单元相连，实现温度采集。观测仪器在投放的时候，探针、重块与回收舱固定在一起，从科考船上被投放到海里。在重块的压力下，探针***海底沉积物中。回收时，回收舱通过一个电动切割机将探针内的传感器与回收舱之间的连线切断，同时通过声学释放器抛弃金属探针和重块，实现回收舱的上浮。The Yamano team at the Institute of Earthquake Research at the University of Tokyo in Japan used a self-floating probe observation instrument to achieve long-term heat flow observations (Fig. 3), which they called the Pop-up Long Term Heat Flow Instrument (PLHF). In this device, six thermistor temperature sensors are packaged in an elongated metal probe about 2 meters long. The sensor inside the probe is connected to the recording unit in the recovery compartment through a watertight cable to achieve temperature collection. When the observation instrument is placed, the probe and the weight are fixed together with the recovery compartment, and are placed in the sea from the scientific research ship. The probe is inserted into the seafloor deposit under the pressure of the weight. When recycling, the recovery compartment cuts off the connection between the sensor and the recovery compartment through an electric cutter, while discarding the metal probes and weights through the acoustic release to achieve the floating of the recovery compartment.

相对上文的海底钻孔式海底热流长期观测方案，PLHF是一个真正以海底热流长期观测为目的的***，且其作业方式方便、灵活，只要作业海况不太差，即可通过搭载科考船进行投放与回收，适用于大部分海域工作。不过该设备依靠自身重力实现测温探针的***，若海底底质较硬，则无法成功***。因此，在投放PLHF***前，通常都需要通过参考地震剖面所反映的沉积物厚度，并利用重力取样器采样进行底质调查。且该自浮式设备结构较复杂，在回收时需要通过水声通讯器进行唤醒，再使用电动切割机割断探针中的传感器电缆，以实现重块与仪器舱的分离，因此对释放设备的可靠性和稳定性要求较高。Compared with the above-mentioned long-term observation scheme of seabed-drilled submarine heat flow, PLHF is a system for the purpose of long-term observation of submarine heat flow, and its operation mode is convenient and flexible, as long as the sea conditions are not too bad, it can be passed through the scientific research ship. For distribution and recycling, it is suitable for most sea areas. However, the device relies on its own gravity to achieve the insertion of the temperature probe. If the bottom of the seabed is hard, it cannot be successfully inserted. Therefore, before the PLHF system is placed, it is usually necessary to refer to the thickness of the sediment reflected by the seismic section and use the gravity sampler to sample the sediment. Moreover, the structure of the self-floating device is relatively complicated, and needs to be awakened by a hydroacoustic communicator during recycling, and then the electric cable cutter is used to cut the sensor cable in the probe to realize separation of the weight from the instrument cabin, thus releasing the device. Reliability and stability requirements are high.

(3)基于ROV的海底热流长期观测***(3) ROV-based long-term observation system for submarine heat flow

在JAMSTEC的YK06-03和NT07-E1航次中，应用了一种基于船载有缆水下机器人(ROV)作业的海底热流长期观测***(图4)，他们称之为LTMS(Long-term Temperature Monitoring System)。该***由数据记录舱(包含电池和测温电路)和两支温度传感器探针组成，传感器探针通过2米长的水密电缆 与数据记录舱相连。6个温度传感器以间距10cm均匀排列在探针中，探针长0.76m，直径13mm，结构与PLHF的探针类似。作业时，LTMS由ROV携带至海底，ROV通过机械臂将温度探针***沉积物中，数据记录舱摆放在一旁；回收时ROV将温度探针拔出，与数据记录舱一起带回科考船上。In JAMSTEC's YK06-03 and NT07-E1 voyages, a long-term observation system for submarine heat flow based on ship-borne underwater robot (ROV) operations (Fig. 4), which they call LTMS (Long-term Temperature), is applied. Monitoring System). The system consists of a data logging compartment (including battery and temperature measurement circuitry) and two temperature sensor probes that pass a 2 meter long watertight cable Connected to the data log cabin. Six temperature sensors were evenly arranged in the probe at a pitch of 10 cm. The probe was 0.76 m long and 13 mm in diameter, and the structure was similar to that of the PLHF probe. During operation, the LTMS is carried by the ROV to the sea floor, and the ROV inserts the temperature probe into the sediment through the robot arm, and the data recording compartment is placed aside; when recycling, the ROV pulls out the temperature probe and brings it back to the scientific research with the data recording compartment. On board.

相对自浮式的PLHF***而言，基于ROV作业的LTMS的结构相对简单，作业成功率高。但该LTMS的体积和重量较大，其支架与数据记录舱长宽高为1.20m×0.43m×0.51m，水下重量达22kg，空气中重量39.6kg。而ROV的搭载能力通常是有限的，这就导致布放与回收LTMS时，运载能力稍弱的ROV很难再开展其他设备的海底作业。因此，其作业成本比较高，综合作业效率比较低。同时，与PLHF的传感器探针一样，多个温度传感器密封在充满导热油的金属管内，金属管直径大于13mm，由于油和管壁的隔离作用，因此温度传感器对周围沉积物的温度变化响应滞后，一些高频小幅度的温度变化信号被滤除，导致感温的灵敏度降低。但是将金属管直径减小后，又会导致其强度下降，***过程中容易弯折。Compared with the self-floating PLHF system, the structure of the LTMS based on the ROV operation is relatively simple and the operation success rate is high. However, the LTMS has a large volume and weight, and its bracket and data recording cabin have a length and height of 1.20 m × 0.43 m × 0.51 m, an underwater weight of 22 kg, and an air weight of 39.6 kg. The ROV's carrying capacity is usually limited, which makes it difficult for ROVs with less carrying capacity to carry out subsea operations of other equipment when deploying and recycling LTMS. Therefore, the operating cost is relatively high, and the comprehensive operation efficiency is relatively low. At the same time, like the PLHF sensor probe, multiple temperature sensors are sealed in a metal tube filled with heat-conducting oil. The diameter of the metal tube is greater than 13 mm. Due to the isolation of the oil and the tube wall, the temperature sensor responds to the temperature change of the surrounding deposits. Some high-frequency small-scale temperature change signals are filtered out, resulting in a decrease in sensitivity of temperature sensing. However, if the diameter of the metal tube is reduced, the strength thereof is lowered, and the bending is easy during the insertion process.

表1 三种海底热流长期观测方案的简要对比Table 1 Brief comparison of three long-term observation schemes for submarine heat flow

表1简要描述了上述三种海底热流长期观测***的特点及其适用性，从中可 以看出，每种设备都有各自的优缺点及适用性，同时也受到不同的制约条件。海底热流长期观测设备的发展趋势向着适用范围更广、作业成功率与效率更高、测温灵敏度更好、便携小巧等方向发展。Table 1 briefly describes the characteristics and applicability of the above three long-term observation systems for seabed heat flow, from which It can be seen that each device has its own advantages and disadvantages and applicability, and is subject to different constraints. The development trend of long-term observation equipment for submarine heat flow is developing in a wider range of applications, higher success rate and efficiency, better temperature sensitivity, and portability.

随着科技的发展和海上作业设备的更新与普及，船载水下机器人作业已经逐渐成熟并处于快速推广中。水下机器人分为船载ROV(水下有缆机器人)、AUV(水下无缆机器人)和载人潜器，它们在水下作业时具有的实时图像传输和机械臂操控等功能，给海底热流探测带来了巨大便利，大大提高了热流作业的可靠性和成功率。在今后的热流调查中，水下机器人将发挥越来越大的作用，而基于水下机器人的热流设备开发也是一个发展趋势。With the development of technology and the updating and popularization of offshore equipment, the operation of shipborne underwater robots has gradually matured and is rapidly expanding. The underwater robot is divided into a shipborne ROV (underwater cabled robot), an AUV (underwater cableless robot) and a manned submersible. They have real-time image transmission and manipulator control functions when working underwater, giving the seabed Heat flow detection brings great convenience and greatly improves the reliability and success rate of heat flow operations. In the future heat flow survey, underwater robots will play an increasingly important role, and the development of heat flow equipment based on underwater robots is also a development trend.

发明内容Summary of the invention

针对现有技术的不足，本发明的目的在于提供一种基于水下机器人工作平台的海底热流长期观测探针，在结构上探针由支撑探杆和多个自容式测温单元组成，传感器封装探头直径小于5mm，在海底与沉积物接触紧密，因此传感器对沉积物温度变化的响应速度更快，准确性更好。In view of the deficiencies of the prior art, the object of the present invention is to provide a long-term observation probe for a submarine heat flow based on an underwater robot working platform. The probe is composed of a support probe and a plurality of self-capacity temperature measuring units. The package probe is less than 5mm in diameter and is in close contact with the sediment on the sea floor, so the sensor responds faster to changes in sediment temperature and has better accuracy.

为了实现上述目的，本发明采取的技术方案是：In order to achieve the above object, the technical solution adopted by the present invention is:

一种基于水下机器人平台的海底热流长期观测探针，其包括支撑探杆以及多个满足长达1年以上的海底热流长期观测的自容式测温单元，多个自容式测温单元等间距且呈螺旋形分布固定在所述支撑探杆上，以形成分布式的多点测温结构，实现对海底不同深度处沉积物的温度波动长期观测；；所述支撑探杆的上部为一夹持柄，其下部为与夹持柄固定连接的固定管；每个自容式测温单元均包括外壳、电池、测温电路板、传感器封装探头和温度传感器，其中，所述电池和测温电路板均安装于外壳中，温度传感器安装于传感器封装探头中且与测温电路板电性连接，所述传感器封装探头通过螺纹与外壳固定；进行海底热流长期观测作业时，水下机器人通过机械臂夹持夹持柄使得固定管***海水底部的沉积物中，而夹持柄留在海水中，所述多个自容式测温单元中的其中一个的传感器封装探头朝上设置，用于海底底水温度长期波动测量，剩余的自容式测温单元的传感器封装探头朝下设置，用于地温梯度的长期测量。A long-term observation probe for submarine heat flow based on an underwater robot platform, comprising a supporting probe and a plurality of self-capacitance temperature measuring units for long-term observation of submarine heat flow for more than one year, and a plurality of self-capacitating temperature measuring units Equally spaced and spirally distributed on the support probe to form a distributed multi-point temperature measurement structure for long-term observation of temperature fluctuations of deposits at different depths of the seabed; the upper part of the support probe is a clamping handle, the lower part of which is a fixed tube fixedly connected with the clamping handle; each self-capacitive temperature measuring unit comprises a casing, a battery, a temperature measuring circuit board, a sensor packaging probe and a temperature sensor, wherein the battery and The temperature measuring circuit board is installed in the outer casing, the temperature sensor is installed in the sensor packaging probe and electrically connected to the temperature measuring circuit board, and the sensor packaging probe is fixed by the thread with the outer casing; when the seabed heat flow is observed for a long time, the underwater robot The clamping shank is clamped by the mechanical arm so that the fixing tube is inserted into the sediment at the bottom of the seawater, and the clamping shank is left in the seawater, and the plurality of self-capacitive temperature measuring units are One of the sensor package probes is placed upward for long-term fluctuations in the seabed bottom water temperature, and the remaining self-capacitance temperature measurement unit's sensor package probe is placed downward for long-term measurement of the geothermal gradient.

温度传感器安装在传感器封装探头内，传感器封装探头直径小于5mm以使 传感器与海底沉积物接触紧密，能快速、准确的感应到沉积物的温度变化；多个微型测温单元按一定间距螺旋排列在支撑探杆上，传感器探头朝下，可以保证在探针***过程中每个测温单元的尖端探头始终能接触到未受扰动的沉积物，最大限度的保障了沉积物热流原位测量的真实性。The temperature sensor is mounted in the sensor package probe, and the sensor package probe diameter is less than 5mm to enable The sensor is in close contact with the seafloor sediments, and can quickly and accurately sense the temperature change of the sediment; a plurality of micro temperature measuring units are spirally arranged on the supporting probe at a certain interval, and the sensor probe faces downward to ensure the insertion process of the probe. The tip probe of each of the temperature measuring units is always exposed to undisturbed deposits, maximizing the authenticity of the in situ measurement of the sediment heat flow.

所述自容式测温单元通过U型扣安装于支撑探杆上。自容式测温单元的个数和排列间距可以灵活调整，实现对海底不同深度处沉积物的温度波动长期观测。每个测温单元独立自容式工作，形成分布式的多点测温结构，使得其中任何一个自容式测温单元的损坏都不会影响到其他测温单元的正常测量工作。自容式测温单元，具有良好的互换性和通用性，便于设备的拆卸和维修，对海洋设备的实际作业极为有利。The self-capacity temperature measuring unit is mounted on the support probe through a U-shaped buckle. The number and arrangement spacing of self-contained temperature measuring units can be flexibly adjusted to achieve long-term observation of temperature fluctuations of sediments at different depths of the seabed. Each temperature measuring unit works independently and self-contained to form a distributed multi-point temperature measuring structure, so that the damage of any one of the self-capaciting temperature measuring units will not affect the normal measurement work of other temperature measuring units. Self-contained temperature measuring unit has good interchangeability and versatility, which is convenient for equipment disassembly and maintenance, and is extremely beneficial to the actual operation of marine equipment.

所述自容式测温单元中的测温电路板包括电源模块、温度测量模块、姿态测量模块、单片机和存储模块，电池经电源模块进行电压转换后分别为温度测量模块、姿态测量模块供电，温度测量模块和姿态测量模块采集的数据均交由单片机处理并由存储模块进行存储，所述单片机通过通讯接口模块与上位机进行通讯。The temperature measuring circuit board in the self-capaciting temperature measuring unit comprises a power module, a temperature measuring module, an attitude measuring module, a single chip microcomputer and a storage module, and the battery is powered by the temperature measuring module and the attitude measuring module after the voltage is converted by the power module. The data collected by the temperature measurement module and the attitude measurement module are processed by the single chip microcomputer and stored by the storage module, and the single chip microcomputer communicates with the upper computer through the communication interface module.

所述电源模块与温度测量模块、姿态测量模块、存储模块之间均电性连接一MOS管，每个MOS管的栅极分别连接于单片机的输出端，每个MOS管的漏极均连接至电源模块，每个MOS管的源极分别连接至电源模块与温度测量模块、姿态测量模块。The power module is electrically connected to a MOS transistor between the temperature measuring module, the attitude measuring module and the storage module, and the gate of each MOS transistor is respectively connected to the output end of the single chip, and the drain of each MOS transistor is connected to The power module, the source of each MOS tube is respectively connected to the power module, the temperature measuring module, and the attitude measuring module.

所述温度测量模块包括基准电压源U1和模数转换器，该基准电压源U1的输入端与电源模块相连，所述基准电压源U1的输出端通过一电阻R3连接于模数转换器的正参考端，温度传感器的一端以及模数转换器的负输入端均接地，温度传感器的另一端通过电阻R2连接至电阻R3和正参考端之间，模数转换器的负参考端和正输入端均连接于电阻R2和温度传感器之间，所述模数转换器的输出端连接于单片机，所述温度传感器的两端之间并接一第一电容，所述基准电压源U1的输出端和接地端之间串接一第二电容，所述基准电压源U1的输入端和接地端之间串接一第三电容。The temperature measuring module includes a reference voltage source U1 and an analog-to-digital converter. The input end of the reference voltage source U1 is connected to the power module, and the output end of the reference voltage source U1 is connected to the positive-to-digital converter through a resistor R3. The reference end, one end of the temperature sensor and the negative input end of the analog-to-digital converter are grounded, and the other end of the temperature sensor is connected between the resistor R3 and the positive reference terminal through the resistor R2, and the negative reference terminal and the positive input terminal of the analog-to-digital converter are connected. Between the resistor R2 and the temperature sensor, the output end of the analog-to-digital converter is connected to the single chip microcomputer, and a first capacitor is connected between the two ends of the temperature sensor, and the output end and the ground end of the reference voltage source U1 are connected. A second capacitor is connected in series, and a third capacitor is connected in series between the input terminal and the ground terminal of the reference voltage source U1.

所述姿态测量模块为三轴加速度传感器HAAM-313B，该姿态测量模块的三轴输出端分别连接于单片机的三个输入端，且在姿态测量模块和单片机之间的连线上连接一端接地的滤波电容。 The attitude measuring module is a three-axis acceleration sensor HAAM-313B, and the three-axis output ends of the attitude measuring module are respectively connected to three input ends of the single chip microcomputer, and one end of the connection between the attitude measuring module and the single chip is grounded. Filter capacitor.

所述单片机为STM8L151G。The microcontroller is STM8L151G.

所述自容式测温单元与上位机通过外壳实现两线制串行通讯；所述外壳包括下端开口的第一金属外壳、以及在所述开口填充的第二金属外壳，所述第二金属外壳与第一金属外壳之间通过一塑料外壳固定，所述测温电路板的接地端通过一第一电线连接于第一金属外壳，所述单片机的RX/TX端口通过一第二电线连接于第二金属外壳，与上位机通讯时，该第一金属外壳和第二金属外壳分别通过一第三电线和第四电线与上位机相连。The self-capacitating temperature measuring unit and the upper computer realize two-wire serial communication through the outer casing; the outer casing includes a first metal outer casing with a lower end opening, and a second metal outer casing filled with the opening, the second metal The outer casing and the first metal casing are fixed by a plastic casing, and the grounding end of the temperature measuring circuit board is connected to the first metal casing through a first wire, and the RX/TX port of the single chip microcomputer is connected to the second wire through a second wire. The second metal casing is connected to the host computer through a third electric wire and a fourth electric wire respectively when communicating with the upper computer.

所述支撑探杆的整体长度小于1m，其在水和空气中的总重量分别小于3kg和小于8kg，其最大工作水深为3000m，所述自容式测温单元为4～5个，传感器封装探头均朝下设置，相邻二传感器封装探头之间的距离为20～25cm。The overall length of the support probe is less than 1 m, and the total weight in water and air is less than 3 kg and less than 8 kg, respectively, and the maximum working water depth is 3000 m, and the self-capacity temperature measuring unit is 4-5, and the sensor package The probes are all facing downwards, and the distance between the adjacent two sensor package probes is 20 to 25 cm.

所述自容式测温单元的外径小于2cm，长度小于22cm，其在水和空气中的重量分别小于0.3kg和小于0.5kg。The self-capacitance temperature measuring unit has an outer diameter of less than 2 cm and a length of less than 22 cm, and its weight in water and air is less than 0.3 kg and less than 0.5 kg, respectively.

本发明涉及一种基于水下机器人工作平台的海底热流长期观测探针，主要用于获取底水温度波动较大海域的海底沉积物温度剖面长期波动规律，用以消除底水温度波动对海底沉积物温度波动的影响，最终获取可靠的海底地热参数(地温梯度、海底热流及海底沉积物热物性)。该探针主要由支撑探杆和多个自容式测温单元组成，可在海底进行一年以上的热流长期观测。该探针依靠水下机器人进行布放与回收操作，具有作业灵活、作业成功率高、沉积物测温真实可靠及便于携带等特点，能很好的为海底热流探测服务。同时，该探针的核心部件——自容式测温单元，不仅能应用于海底原位热流长期观测，还可以应用于大陆和深海钻孔、环境监测等诸多场合的长期测温，具有广泛的应用前景。The invention relates to a long-term observation probe for seabed heat flow based on an underwater robot working platform, which is mainly used for obtaining long-term fluctuation law of seafloor sediment temperature profile in a sea area with large bottom water temperature fluctuation, and is used for eliminating bottom water temperature fluctuation on seabed sediment. The effects of temperature fluctuations on the material finally lead to reliable submarine geothermal parameters (ground temperature gradient, seabed heat flow and seafloor sediment thermal properties). The probe is mainly composed of a supporting probe and a plurality of self-capacitating temperature measuring units, and can perform long-term observation of heat flow on the seabed for more than one year. The probe relies on underwater robots for deployment and recovery operations, and has the characteristics of flexible operation, high success rate of work, true and reliable temperature measurement of deposits, and easy portability, which can well serve the seabed heat flow detection. At the same time, the core component of the probe, the self-capacitance temperature measuring unit, can be applied not only to long-term observation of in-situ heat flow in the seabed, but also to long-term temperature measurement in many occasions such as drilling in the mainland and deep sea, environmental monitoring, etc. Application prospects.

与现有技术相比，本发明的有益效果在于：Compared with the prior art, the beneficial effects of the present invention are:

1)本发明装置结构简洁，便携轻便，非常适合水下机器人作业；与自浮式热流探测设备相比，本发明进行海底探测时可靠性更高；1) The device of the invention has simple structure, is portable and light, and is very suitable for underwater robot operation; compared with the self-floating heat flow detecting device, the invention has higher reliability when performing seabed detection;

2)本发明装置中的温度传感器封装在直径小于5mm的传感器封装探头内，因此温度传感器与海底沉积物接触紧密，能快速、准确的感应到沉积物的温度变化，同时自容式测温单元螺旋状的安装方式，保证了每个温度传感器可以接触到未受扰动的沉积物，这两个特点最大限度保证了沉积物温度测量的快速性、准确性； 2) The temperature sensor in the device of the invention is packaged in a sensor package probe with a diameter of less than 5 mm, so the temperature sensor is in close contact with the seafloor sediment, and can quickly and accurately sense the temperature change of the deposit, and the self-capacitance temperature measuring unit The spiral mounting method ensures that each temperature sensor can be exposed to undisturbed deposits. These two features ensure the rapidity and accuracy of sediment temperature measurement.

3)本发明装置中的多个自容式测温单元独立自容式工作，形成分布式的多点测温结构，实现对海底不同深度处沉积物的温度波动长期观测，从而可消除底水温度波动的影响，最终获取可靠的背景地热参数，而且经校准后可以通用，便于替换和维护；同时，自容式测温单元还可以应用于大陆和深海钻孔、环境监测等诸多场合的长期测温，应用范围广阔。3) The plurality of self-capacity temperature measuring units in the device of the invention work independently and self-contained to form a distributed multi-point temperature measuring structure, and realize long-term observation of temperature fluctuation of sediments at different depths of the seabed, thereby eliminating bottom water The influence of temperature fluctuations finally obtains reliable background geothermal parameters, and can be universally calibrated for easy replacement and maintenance. At the same time, the self-contained temperature measuring unit can also be applied to many occasions such as continental and deep sea drilling and environmental monitoring. Temperature measurement, a wide range of applications.

4)所述的自容式测温单元具有低功耗特性，其温度测量采样间隔为1s～1h可编程，在采样间隔不高于10分钟的情况下，海底连续工作时间大于1年。4) The self-capacitance temperature measuring unit has low power consumption characteristics, and the temperature measurement sampling interval is programmable from 1 s to 1 h, and the seabed continuous working time is greater than one year when the sampling interval is not higher than 10 minutes.

5)本发明装置中的测温通道(自容式测温单元个数)和测温间距可以灵活调整，自容式测温单元具有互换性和通用性，便于设备维护和组装。5) The temperature measurement channel (the number of self-capacitance temperature measurement units) and the temperature measurement interval in the device of the invention can be flexibly adjusted, and the self-capacity temperature measurement unit has interchangeability and versatility, which is convenient for equipment maintenance and assembly.

6)探针整体长度小于1m，水中总重量小于3kg，空气中总重量小于8kg，最大工作水深大于3000米；测温通道4～5个，探头间距20～25cm，可实现灵活调整。6) The overall length of the probe is less than 1m, the total weight in water is less than 3kg, the total weight in air is less than 8kg, the maximum working water depth is more than 3000m; the temperature measuring channel is 4~5, and the probe spacing is 20~25cm, which can be flexibly adjusted.

7)所述自容式测温单元，其外径小于2cm，长度小于22cm，传感器封装探头直径小于5mm，空气中重量小于0.5kg，水中重量小于0.3kg，体积微小便携；其测温分辨率小于1mK，测温长期漂移小于5mK/year，通道一致性优于5mK。7) The self-capacity temperature measuring unit has an outer diameter of less than 2 cm, a length of less than 22 cm, a sensor package probe diameter of less than 5 mm, an air weight of less than 0.5 kg, a water weight of less than 0.3 kg, and a small volume; a temperature resolution thereof Less than 1mK, the long-term drift of temperature measurement is less than 5mK/year, and the channel consistency is better than 5mK.

附图说明DRAWINGS

图1为Nankai海槽浅水海域沉积物温度-时间剖面，其中：(a)不同深度沉积物原始温度波动记录；(b)消除底水温波动后的沉积物温度分布；CH1是最浅层的测温通道，CH7是最深的测温通道。Figure 1 shows the temperature-time profile of the sediments in the shallow waters of the Nankai Trough, where: (a) the original temperature fluctuations of sediments at different depths; (b) the sediment temperature distribution after the fluctuation of the bottom water temperature; CH1 is the shallowest layer. The temperature channel, CH7 is the deepest temperature measurement channel.

图2为钻孔式海底热流长期观测设备的结构示意图。Figure 2 is a schematic view showing the structure of a long-term observation device for a borehole type seafloor heat flow.

图3为自浮式海底热流长期观测设备的结构示意图。Figure 3 is a schematic view showing the structure of a self-floating submarine heat flow long-term observation device.

图4基于ROV的海底热流长期观测***。Figure 4 is a long-term observation system for submarine heat flow based on ROV.

图5为本发明一种基于水下机器人工作平台的海底热流长期观测探针的结构示意图。FIG. 5 is a schematic structural view of a long-term observation probe for a submarine heat flow based on an underwater robot working platform according to the present invention.

图6为图5的A区放大图。Fig. 6 is an enlarged view of the area A of Fig. 5.

图7为本发明海底作业时的结构示意图。Figure 7 is a schematic view showing the structure of the seabed operation of the present invention.

图8为自容式测温单元的结构示意图。 FIG. 8 is a schematic structural view of a self-capacitance temperature measuring unit.

图9为测温电路板的电路原理图。Figure 9 is a circuit schematic of the temperature measuring circuit board.

图10为测温电路板的电源管理原理图。Figure 10 is a schematic diagram of power management of the temperature measuring circuit board.

图11为温度与姿态测量模块的电路原理图。Figure 11 is a circuit schematic of the temperature and attitude measurement module.

图12为自容式测温单元和上位机的通讯原理图。Figure 12 is a communication schematic diagram of the self-contained temperature measuring unit and the upper computer.

附图标记：10、支撑探杆；11、夹持柄；12、固定管；20、自容式测温单元；21、温度传感器；22、传感器封装探头；23、测温电路板；231、电源模块；232、温度测量模块；233、姿态测量模块；234、单片机；235、存储模块；236、通讯接口模块；237、上位机；24、电池；25、外壳；251、第一金属外壳；252、塑料外壳；253、第二金属外壳；30、U型扣；100、海水；200、沉积物；300、水下机器人；400、机械臂。Reference numerals: 10, support probe; 11, clamping handle; 12, fixed tube; 20, self-capacity temperature measuring unit; 21, temperature sensor; 22, sensor package probe; 23, temperature measuring circuit board; Power module; 232, temperature measurement module; 233, attitude measurement module; 234, single chip microcomputer; 235, storage module; 236, communication interface module; 237, host computer; 24, battery; 25, housing; 251, first metal casing; 252, plastic outer casing; 253, second metal outer casing; 30, U-shaped buckle; 100, seawater; 200, sediment; 300, underwater robot; 400, mechanical arm.

具体实施方式detailed description

下面结合具体实施方式对本发明作进一步的说明。The invention will now be further described in conjunction with specific embodiments.

请参照图5和图6所示，一种基于水下机器人工作平台的海底热流长期观测探针，结构上主要由支撑探杆10和多个自容式测温单元20组成。Referring to FIG. 5 and FIG. 6, a long-term observation probe for a submarine heat flow based on an underwater robot working platform is mainly composed of a support probe 10 and a plurality of self-capacity temperature measuring units 20.

支撑探杆10由硬塑料材料制成，主要用于固定多个自容式测温单元20，并在水下机器人300的夹持下***海底。支撑探杆10其上部是一个直径约60mm，长约200mm的尼龙柄制成的夹持柄11，便于水下机器人300的机械臂400夹持，同时可以有效减轻探针重量；支撑探杆10下部是一根直径约20mm，长约800mm的硬塑料杆或防腐蚀金属管制成的固定管12，用于固定自容式测温单元20并***沉积物中，同时避免被海水腐蚀损坏。The support probe 10 is made of a hard plastic material and is mainly used for fixing a plurality of self-capacitance temperature measuring units 20, and is inserted into the sea floor under the clamping of the underwater robot 300. The upper part of the supporting probe 10 is a clamping handle 11 made of a nylon handle with a diameter of about 60 mm and a length of about 200 mm, which is convenient for clamping the robot arm 400 of the underwater robot 300, and can effectively reduce the weight of the probe; and supports the probe 10 The lower part is a fixed plastic tube 12 made of a hard plastic rod or a corrosion-resistant metal tube having a diameter of about 20 mm and a length of about 800 mm for fixing the self-contained temperature measuring unit 20 and inserting it into the deposit while avoiding corrosion damage by seawater.

自容式测温单元20通过U型扣30固定在支撑探杆10上。多个自容式测温单元20沿支撑探杆10等间距螺旋式安装，自容式测温单元20的数目与间距可以灵活调整，实现地温梯度和底水温度的长期测量，获得的数据经过处理后可计算出准确的背景地热信息。传感器封装探头22朝下，可以保证在***过程中每个自容式测温单元20的尖端的传感器封装探头22始终能接触到未受扰动的沉积物，最大限度的保障了沉积物热流测量的真实性，这个特点是前文所述热流长期观测设备所不具有的优势。The self-capacitance temperature measuring unit 20 is fixed to the support probe 10 by a U-shaped buckle 30. The plurality of self-contained temperature measuring units 20 are spirally mounted along the supporting probes 10 at equal intervals. The number and spacing of the self-capacitive temperature measuring units 20 can be flexibly adjusted to achieve long-term measurement of the ground temperature gradient and the bottom water temperature, and the obtained data passes through. Accurate background geothermal information can be calculated after processing. The sensor package probe 22 is facing downward, which ensures that the sensor package probe 22 of the tip of each self-capacitance temperature measuring unit 20 can always contact the undisturbed deposit during the insertion process, thereby maximally ensuring the measurement of the heat flow of the deposit. Authenticity, this feature is an advantage that the heat flow long-term observation equipment described above does not have.

请参照图7所示，用于海底热流长期观测时，水下机器人300通过机械臂 400夹持夹持柄11使得固定管12***海水100底部的沉积物200中，而夹持柄11留在海水100中。Referring to FIG. 7, when used for long-term observation of submarine heat flow, the underwater robot 300 passes through the robot arm. The 400 gripping gripper 11 causes the fixed tube 12 to be inserted into the deposit 200 at the bottom of the seawater 100, while the gripping shank 11 remains in the seawater 100.

请参照图8所示，自容式测温单元20具有独立的温度采集、数据存储等功能，其由防腐蚀金属的外壳25、电池4、测温电路板23、传感器封装探头22和温度传感器21组成。其中，电池24和测温电路板23均安装于外壳25中，传感器封装探头22固定于外壳25的下侧，温度传感器21安装于传感器封装探头22中且与测温电路板23电性连接，传感器封装探头22远离外壳25的端部直径小于5mm。Referring to FIG. 8 , the self-capacitance temperature measuring unit 20 has independent functions of temperature acquisition, data storage, etc., and is provided by a corrosion-resistant metal casing 25 , a battery 4 , a temperature measuring circuit board 23 , a sensor package probe 22 , and a temperature sensor . 21 composition. The battery pack 24 and the temperature measuring circuit board 23 are both mounted in the outer casing 25, the sensor package probe 22 is fixed on the lower side of the outer casing 25, and the temperature sensor 21 is mounted in the sensor package probe 22 and electrically connected to the temperature measuring circuit board 23, The end of the sensor package probe 22 remote from the outer casing 25 has a diameter of less than 5 mm.

自容式测温单元20体积微小，能携带的电池24有限，因此，电路的低功耗性能是制约其工作寿命的首要因素。为了实现测温单元可以在海底连续工作一年以上，设计的电路静态功耗小于10uA，动态功耗小于5mA，动态工作时间小于2s。按照10分钟一次的采样频率，一个采样周期内的平均功耗为：I＝(10uA*(10*60s-2s)+5mA*2s)/10*60s＝26uA。在允许空间内选用的电池最大容量为800mAh，考虑到电池在海底低温环境下放电率低以及自放电效应，其海底能放的电量大约为600mAh，则测温电路可连续工作时间t＝600mAh/0.026mA/24h/365d＝2.6year。The self-contained temperature measuring unit 20 is small in size and has a limited battery 24 that can be carried. Therefore, the low power consumption of the circuit is the primary factor that restricts its working life. In order to realize that the temperature measuring unit can work continuously for more than one year under the seabed, the static power consumption of the designed circuit is less than 10uA, the dynamic power consumption is less than 5mA, and the dynamic working time is less than 2s. According to the sampling frequency of 10 minutes, the average power consumption in one sampling period is: I=(10uA*(10*60s-2s)+5mA*2s)/10*60s=26uA. The maximum capacity of the battery selected in the allowable space is 800mAh. Considering the low discharge rate and self-discharge effect of the battery in the low temperature environment of the seabed, the power discharged by the seabed can be about 600mAh, and the temperature measuring circuit can work continuously for t=600mAh/ 0.026 mA / 24h / 365d = 2.6year.

本发明所涉及的基于水下机器人工作平台的海底热流长期观测探针，主要设计指标如下：The main design indicators of the long-term observation probe for submarine heat flow based on the underwater robot working platform according to the present invention are as follows:

(1)自容式测温单元20的个数为4～5个，探头间距20～25cm，其中3～4个用于测量地温梯度，间距250mm，1个用于测量底水温度波动，其传感器封装探头22贴近海底。自容式测温单元20的数目和排列间距可以根据需要灵活调整，同时自容式测温单元20间可以互相替换，方便安装与维护。(1) The number of self-capacitance temperature measuring units 20 is 4 to 5, and the probe spacing is 20 to 25 cm, of which 3 to 4 are used to measure the geothermal gradient, the spacing is 250 mm, and one is used to measure the temperature fluctuation of the bottom water. The sensor package probe 22 is placed close to the sea floor. The number and arrangement spacing of the self-capacitance temperature measuring unit 20 can be flexibly adjusted according to requirements, and the self-capacitive temperature measuring units 20 can be replaced with each other for convenient installation and maintenance.

(2)自容式测温单元20外径小于2cm，长度小于22cm，传感器封装探头直径小于5mm，空气中重量小于0.5kg，水中重量小于0.3kg，体积微小便携；(2) The self-capacitance temperature measuring unit 20 has an outer diameter of less than 2 cm and a length of less than 22 cm, a sensor package probe diameter of less than 5 mm, an air weight of less than 0.5 kg, a water weight of less than 0.3 kg, and a small volume and portability;

(3)分辨率小于1mK，测温长期漂移小于5mK/year，通道一致性优于5mK；(3) The resolution is less than 1mK, the long-term drift of temperature measurement is less than 5mK/year, and the channel consistency is better than 5mK;

(4)温度测量采样间隔为1s～1h可变，在采样间隔不高于10分钟的情况下，海底连续工作时间大于1年；(4) The temperature measurement sampling interval is variable from 1 s to 1 h, and the seabed continuous working time is greater than 1 year when the sampling interval is not higher than 10 minutes;

(5)探针整体长度小于1米，水中总重量小于3kg，空气中总重量小于8kg，工作水深大于3000米，整套探针整体结构简洁，开放式的连接设计便于组装、 拆卸与调整测温通道数目和间距；体积小巧轻便，非常适合于水下机器人进行携带与操作，这是前文所述LTMS与PLHF设备所不具有的优势。(5) The overall length of the probe is less than 1 m, the total weight in water is less than 3 kg, the total weight in air is less than 8 kg, and the working water depth is more than 3000 m. The whole probe has a simple overall structure, and the open connection design is easy to assemble. Disassemble and adjust the number and spacing of temperature measurement channels; small and light, it is very suitable for underwater robots to carry and operate, which is the advantage that LTMS and PLHF equipment do not have before.

测温电路板23的电路原理如图9所示，主要包括以下模块：作为主控模块的单片机234、温度测量模块232、姿态测量模块233、电源模块231、存储模块235和通讯接口模块236，以下为各个电路模块基于低功耗设计的具体实施方案：The circuit principle of the temperature measuring circuit board 23 is as shown in FIG. 9 , and mainly includes the following modules: a single chip 234 as a main control module, a temperature measuring module 232 , an attitude measuring module 233 , a power module 231 , a storage module 235 , and a communication interface module 236 . The following are specific implementations of each circuit module based on low power design:

①电源模块231。普通电子元件的电气特性为电源电压越低(在合理范围内)，其消耗的电流越低，因此为电路提供较低的电源电压有助于节约电能。综合考虑之后，电路采用3.0V的工作电压，既满足了各器件的电源要求，又尽可能的保证了模拟信号的信噪比。1 power module 231. The electrical characteristics of common electronic components are that the lower the supply voltage (within a reasonable range), the lower the current consumed, so providing a lower supply voltage to the circuit helps conserve power. After comprehensive consideration, the circuit uses a working voltage of 3.0V, which not only satisfies the power requirements of each device, but also ensures the signal-to-noise ratio of the analog signal as much as possible.

在电池24体积相同的情况下，额定输出电压低的电池具有更大的容量，因而具有更长的使用寿命，所以本设计选用输出电压为3.7V的锂离子电池，其标称容量为800mAh，实际放电量约为600mAh，锂离子电池由电源模块231进行电压转换后形成3.0V的工作电压，In the case of the same battery 24, the battery with low rated output voltage has a larger capacity and thus has a longer service life. Therefore, the design uses a lithium ion battery with an output voltage of 3.7V, and its nominal capacity is 800 mAh. The actual discharge amount is about 600 mAh, and the lithium ion battery is converted by the power module 231 to form a working voltage of 3.0V.

在实际的海底热流长期观测中，电路绝大部分时间处在休眠模式，微小的静态电流长时间累加起来依然会造成不少的电能浪费。因此，为了最大限度的减小静态功耗，有必要实现电路模块化的电源管理，在单片机234的控制下实现分区、分时供电。In the long-term observation of the actual submarine heat flow, the circuit is mostly in the sleep mode. The accumulation of tiny quiescent current for a long time still causes a lot of power waste. Therefore, in order to minimize the static power consumption, it is necessary to realize the modular power management of the circuit, and realize the partition and time-sharing power supply under the control of the single chip microcomputer 234.

如图10所示，电路中不同功能模块(即温度测量模块232、姿态测量模块233、存储模块235)的电源模块都是独立的，在每一路电源中串接一个P沟道MOS管，实现每路电源可以在单片机I/O口的控制下被单独打开或关闭。当电路处于休眠状态时，温度测量模块232、姿态测量模块233、存储模块235各自的电源都可以被关闭，此时这几个电路基本上不消耗电流，实现了最低的静态功耗。As shown in FIG. 10, the power modules of the different functional modules (ie, the temperature measuring module 232, the attitude measuring module 233, and the storage module 235) in the circuit are independent, and a P-channel MOS transistor is connected in series in each power source to realize Each power supply can be turned on or off separately under the control of the I/O port of the microcontroller. When the circuit is in the sleep state, the respective power sources of the temperature measuring module 232, the attitude measuring module 233, and the storage module 235 can be turned off. At this time, the circuits basically consume no current and achieve the lowest static power consumption.

②单片机234。自容式测温单元20在工作过程中，单片机234需要具备如下功能和外设资源：用于数据采集的同步串行通讯(SPI)、用于数据和命令传输的异步串行通讯(UART)、用于电池电压监测和姿态监测的模数转换器(AD)、用于精确延时的定时计数器、实时时钟(RTC)、用于外部中断输入和电源管理的多个I/O引脚、至少1KByte的易失性随机存储器(RAM)。因此，需要选择集成度较高的单片机，同时要兼顾其低功耗性能。 2 single chip 234. During the operation of the self-contained temperature measuring unit 20, the single chip microcomputer 234 needs to have the following functions and peripheral resources: synchronous serial communication (SPI) for data acquisition, asynchronous serial communication (UART) for data and command transmission. Analog-to-digital converter (AD) for battery voltage monitoring and attitude monitoring, timing counter for precise delay, real-time clock (RTC), multiple I/O pins for external interrupt input and power management, At least 1KByte of volatile random access memory (RAM). Therefore, it is necessary to select a microcontroller with a high degree of integration, and at the same time, it must take into account its low power consumption performance.

本设计中选用STM8L151单片机。该芯片除了具备上述硬件功能外，还具有多种低功耗模式。由于测温单元在海底工作时，绝大部分时间都处在休眠状态，因此低功耗模式的应用可以极大的降低测温单元休眠时的静态功耗。This design uses STM8L151 microcontroller. In addition to the above hardware functions, the chip also has a variety of low power modes. Since the temperature measurement unit is in a sleep state most of the time while working on the seabed, the application of the low power mode can greatly reduce the static power consumption when the temperature measurement unit is sleeping.

③温度测量模块232与姿态测量模块233。3 temperature measurement module 232 and attitude measurement module 233.

原理图如图11所示，温度测量模块232中，为提高测温精度，选用低噪声基准电压源U1(型号为ADR380)为铂电阻传感器Pt1000(即温度传感器21)提供电流激励。基准电压源U1的输入端与电源模块231相连，所述基准电压源U1的输出端通过一电阻R3连接于模数转换器的正参考端，温度传感器21的一端以及模数转换器的负输入端均接地，温度传感器21的另一端通过电阻R2连接至电阻R3和正参考端之间，模数转换器的负参考端和正输入端均连接于电阻R2和温度传感器21之间，所述模数转换器的输出端连接于单片机234，所述温度传感器21的两端之间并接一第一电容，所述基准电压源U1的输出端和接地端之间串接一第二电容，所述基准电压源U1的输入端和接地端之间串接一第三电容。电阻R3起到限流作用，在其作用下，铂电阻传感器Pt1000的工作电流约为0.2mA，使其具有较高的信噪比并降低了电路功耗。由于铂电阻传感器Pt1000与测温电路板23一起封装在自容式测温单元20里面，铂电阻传感器Pt1000输出阻抗小，且由于金属外壳的屏蔽作用，信号不容易受到外界干扰，所以可以省去信号调理电路中常用的电压跟随器，铂电阻传感器Pt1000输出信号直接送入AD转换器，以IC的使用降低了电路功耗。The schematic diagram is shown in FIG. 11. In the temperature measuring module 232, in order to improve the temperature measurement accuracy, the low noise reference voltage source U1 (model ADR380) is used to provide current excitation for the platinum resistance sensor Pt1000 (ie, the temperature sensor 21). The input terminal of the reference voltage source U1 is connected to the power module 231, and the output terminal of the reference voltage source U1 is connected to the positive reference terminal of the analog-to-digital converter through a resistor R3, one end of the temperature sensor 21 and the negative input of the analog-to-digital converter. The terminal is grounded, and the other end of the temperature sensor 21 is connected between the resistor R3 and the positive reference terminal through a resistor R2. The negative reference terminal and the positive input terminal of the analog-to-digital converter are connected between the resistor R2 and the temperature sensor 21, the modulus The output end of the converter is connected to the single chip 234, and a first capacitor is connected between the two ends of the temperature sensor 21, and a second capacitor is connected in series between the output end of the reference voltage source U1 and the ground end. A third capacitor is connected in series between the input terminal and the ground terminal of the reference voltage source U1. The resistor R3 acts as a current limiting function. Under its action, the operating current of the platinum resistance sensor Pt1000 is about 0.2 mA, which makes it have a high signal to noise ratio and reduces the power consumption of the circuit. Since the platinum resistance sensor Pt1000 is packaged in the self-capacitance temperature measuring unit 20 together with the temperature measuring circuit board 23, the output resistance of the platinum resistance sensor Pt1000 is small, and the signal is not easily interfered by the outside due to the shielding effect of the metal casing, so the omission can be omitted. The voltage follower commonly used in signal conditioning circuits, the platinum resistance sensor Pt1000 output signal is directly sent to the AD converter, and the use of the IC reduces the power consumption of the circuit.

姿态测量模块233中，充分利用单片机234内部自带多通道AD转换器的特点，选用模拟信号输出的姿态传感器HAAM-313B，并将三轴姿态信号x、y、z经过滤波后直接送入单片机内部AD中。这些举措可以在保证了测量精度的同时，简化电路组成，降低功耗。The attitude measuring module 233 fully utilizes the characteristics of the multi-channel AD converter built in the single-chip microcomputer 234, selects the attitude sensor HAAM-313B of the analog signal output, and filters the three-axis attitude signals x, y, z directly into the single-chip microcomputer. Internal AD. These measures can simplify the circuit composition and reduce power consumption while ensuring measurement accuracy.

④通讯电路。测温电路板23装在不锈钢耐压外壳25的舱体中，在不开舱的情况下通过金属外壳与上位机实现串口通讯(如图12)。具体地，外壳25包括下端开口的第一金属外壳251、以及在开口填充的不与第一金属外壳251接触的第二金属外壳253，第二金属外壳253与第一金属外壳251之间通过一塑料外壳252固定，本通讯电路充分利用STM8单片机独特的硬件半双工串口功能(Half Duplex UART)，直接将单片机的RX/TX引脚与电路GND分别通过电线连接到 第二金属外壳253和第一金属外壳251的触点上，该第二金属外壳253通过一第三电线与上位机237相连，通过编写与上位机对应的通讯协议，实现两线制串口通讯。在本通讯电路中，由于不需要进行远距离和高速率通讯，所以不需要增加串口芯片进行通讯信号转换，省去了常用串口通讯电路引起的电能损耗。4 communication circuit. The temperature measuring circuit board 23 is installed in the cabin of the stainless steel pressure-resistant casing 25, and realizes serial communication with the host computer through the metal casing without opening the cabin (see Fig. 12). Specifically, the outer casing 25 includes a first metal outer casing 251 that is open at the lower end, and a second metal outer casing 253 that is not filled with the first metal outer casing 251 in the opening, and the second metal outer casing 253 and the first metal outer casing 251 pass through The plastic housing 252 is fixed. The communication circuit fully utilizes the unique hardware half-duplex serial port function (Half Duplex UART) of the STM8 single-chip microcomputer, and directly connects the RX/TX pin of the single-chip microcomputer and the circuit GND through wires. The second metal casing 253 and the contact of the first metal casing 251 are connected to the upper computer 237 through a third electric wire, and the two-wire serial communication is realized by writing a communication protocol corresponding to the upper computer. In this communication circuit, since long-distance and high-rate communication are not required, there is no need to increase the serial port chip for communication signal conversion, thereby eliminating the power loss caused by the common serial communication circuit.

⑤存储电路。存储电路选用铁电存储器FM25V20。铁电存储器(FRAM)是新一代存储介质，它将ROM的非易失性数据存储特性和RAM的无限次读写、高速读写等优势结合在一起，尤为重要的是它刷新了目前主流存储芯片的最低工作电流(读写操作时小于1mA)。FM25V20具有2Mbit存储空间，按每10分钟一次的采样率，可以存储24个月的数据量。存储电路采用两片FM25V20以扩大存储空间，可以保存超过3年的数据量。5 storage circuit. The storage circuit uses the ferroelectric memory FM25V20. Ferroelectric memory (FRAM) is a new generation of storage media that combines the non-volatile data storage features of ROM with the infinite read and write, high-speed read and write of RAM. It is especially important that it refreshes the current mainstream storage. The minimum operating current of the chip (less than 1mA for read and write operations). The FM25V20 has 2Mbit of storage space and can store 24 months of data at a sampling rate of 10 minutes. The memory circuit uses two FM25V20s to expand the storage space and can store more than 3 years of data.

此外，还可以通过优化存储程序来降低功耗：单片机将每次将采集的数据先累加在内部RAM中，直到RAM快存满时再将多次采集的数据一次性写入存储器。这样，相同数据量一次写入比多次写入只需更短的存储器操作时间，因而可以节省电能。In addition, you can reduce the power consumption by optimizing the stored program: the microcontroller will accumulate the collected data in the internal RAM each time, and then write the data collected multiple times to the memory once the RAM is full. Thus, writing the same amount of data at a time requires less memory operation time than writing multiple times, thereby saving power.

本发明装置中的多个自容式测温单元20单元独立自容式工作，经校准后可以通用，便于替换和维护；同时，自容式测温单元20还可以应用于大陆和深海钻孔、环境监测等诸多场合的长期测温，应用范围广阔。(这里需要指出的是，目前已经有多种用于上述钻孔、环境监测等领域的长期测温设备，但是由于本发明装置中涉及的自容式测温单元20具备相应的长期测温性能和外形条件，因此可以在上述领域拓展应用范围。)The plurality of self-capacity temperature measuring units 20 in the device of the invention independently work in a self-contained manner, and can be universally calibrated for easy replacement and maintenance; at the same time, the self-capacitive temperature measuring unit 20 can also be applied to the mainland and deep sea drilling. Long-term temperature measurement for many occasions such as environmental monitoring, and a wide range of applications. (It should be pointed out here that there are a variety of long-term temperature measuring devices for the above-mentioned drilling, environmental monitoring and other fields, but the self-capaciting temperature measuring unit 20 involved in the device of the present invention has corresponding long-term temperature measuring performance. And shape conditions, so you can expand the scope of application in the above areas.)

上列详细说明是针对本发明可行实施例的具体说明，该实施例并非用以限制本发明的专利范围，凡未脱离本发明所为的等效实施或变更，均应包含于本案的专利范围中。 The detailed description above is a detailed description of the possible embodiments of the present invention, which is not intended to limit the scope of the invention, and the equivalents and modifications of the present invention should be included in the scope of the patent. in.

Claims (7)

1. 一种基于水下机器人平台的海底热流长期观测探针，其特征在于，其包括支撑探杆(10)以及多个满足长达1年以上的海底热流长期观测的自容式测温单元(20)，多个自容式测温单元(20)等间距且呈螺旋形分布固定在所述支撑探杆(10)上，以形成分布式的多点测温结构，实现对海底不同深度处沉积物的温度波动长期观测；所述支撑探杆(10)的上部为一夹持柄(11)，其下部为与夹持柄(11)固定连接的固定管(12)；每个自容式测温单元(20)均包括外壳(25)、电池(24)、测温电路板(23)、传感器封装探头(22)和温度传感器(21)，其中，所述电池(24)和测温电路板(23)均安装于外壳(25)中，温度传感器(21)安装于传感器封装探头(22)中且与测温电路板(23)电性连接，所述传感器封装探头(22)通过螺纹与外壳(25)固定；进行海底热流长期观测作业时，水下机器人(300)通过机械臂(400)夹持夹持柄(11)使得固定管(12)***海水(100)底部的沉积物(200)中，而夹持柄(11)留在海水(100)中，所述多个自容式测温单元(20)中的其中一个的传感器封装探头(22)朝上设置，用于海底底水温度长期波动测量，剩余的自容式测温单元(20)的传感器封装探头(22)朝下设置，用于地温梯度的长期测量。A long-term observation probe for a submarine heat flow based on an underwater robot platform, characterized in that it comprises a supporting probe (10) and a plurality of self-capacitating temperature measuring units for long-term observation of submarine heat flow for more than one year (20) a plurality of self-contained temperature measuring units (20) are equally spaced and spirally distributed on the support probe (10) to form a distributed multi-point temperature measuring structure for depositing at different depths of the seabed The temperature fluctuation of the object is observed for a long time; the upper part of the supporting probe (10) is a clamping handle (11), and the lower part thereof is a fixed tube (12) fixedly connected with the clamping handle (11); each self-contained type The temperature measuring unit (20) comprises a housing (25), a battery (24), a temperature measuring circuit board (23), a sensor package probe (22) and a temperature sensor (21), wherein the battery (24) and the temperature measurement The circuit board (23) is mounted in the casing (25), the temperature sensor (21) is mounted in the sensor package probe (22) and electrically connected to the temperature measuring circuit board (23), and the sensor packaging probe (22) passes The thread is fixed to the outer casing (25); when performing long-term observation of the seabed heat flow, the underwater robot (300) holds the gripping handle (11) through the robot arm (400) The fixed tube (12) is inserted into the deposit (200) at the bottom of the seawater (100), and the gripping shank (11) is left in the seawater (100), in the plurality of self-capacitive temperature measuring units (20) One of the sensor package probes (22) is arranged upward for the long-term fluctuation of the seabed bottom water temperature, and the remaining self-capacitance temperature measuring unit (20) has the sensor package probe (22) facing downward for the geothermal gradient. Long-term measurement.
2. 根据权利要求1所述的基于水下机器人平台的海底热流长期观测探针，其特征在于，所述自容式测温单元(20)通过U型扣(30)安装于支撑探杆(10)上。The underwater underwater flow long-term observation probe based on the underwater robot platform according to claim 1, wherein the self-capacity temperature measuring unit (20) is mounted on the support probe (10) through a U-shaped buckle (30). on.
3. 根据权利要求1所述的基于水下机器人平台的海底热流长期观测探针，其特征在于，传感器封装探头(22)直径小于5mm以使传感器与海底沉积物接触紧密。The submarine heat flow long-term observation probe based on the underwater robot platform according to claim 1, wherein the sensor package probe (22) has a diameter of less than 5 mm to make the sensor in close contact with the seafloor sediment.
4. 根据权利要求1所述的基于水下机器人平台的海底热流长期观测探针，其特征在于，所述自容式测温单元(20)中的测温电路板(23)包括电源模块(231)、温度测量模块(232)、姿态测量模块(233)、单片机(234)和存储模块(235)，电池(24)经电源模块(231)进行电压转换后分别为温度测量模块(232)、姿态测量模块(233)供电，温度测量模块(232)和姿态测量模块(233)采集的数据均交由单片机(234)处理并由存储模块(235)进行存储，所述单片机(234) 通过通讯接口模块(236)与上位机(237)进行通讯。The underwater heat flow long-term observation probe based on the underwater robot platform according to claim 1, wherein the temperature measuring circuit board (23) in the self-capaciting temperature measuring unit (20) comprises a power module (231) The temperature measuring module (232), the attitude measuring module (233), the single chip microcomputer (234) and the storage module (235), and the battery (24) are respectively converted into voltage measuring modules (232) and postures by the power module (231). The measurement module (233) supplies power, and the data collected by the temperature measurement module (232) and the attitude measurement module (233) are processed by the single chip microcomputer (234) and stored by the storage module (235), and the single chip microcomputer (234) Communication with the host computer (237) via the communication interface module (236).
5. 根据权利要求4所述的基于水下机器人平台的海底热流长期观测探针，其特征在于，所述自容式测温单元(20)与上位机(237)通过外壳实现两线制串行通讯；所述外壳(25)包括下端开口的第一金属外壳(251)、以及在所述开口填充的第二金属外壳(253)，所述第二金属外壳(253)与第一金属外壳(251)之间通过一塑料外壳(252)固定，所述测温电路板(23)的接地端通过一第一电线连接于第一金属外壳(251)，所述单片机(234)的RX/TX端口通过一第二电线连接于第二金属外壳(253)，与上位机(237)通讯时，该第一金属外壳(251)和第二金属外壳(253)分别通过一第三电线和第四电线与上位机(237)相连。The submarine heat flow long-term observation probe based on the underwater robot platform according to claim 4, wherein the self-capacitance temperature measuring unit (20) and the upper computer (237) realize two-wire serial communication through the outer casing. The outer casing (25) includes a first metal casing (251) having a lower end opening, and a second metal casing (253) filled in the opening, the second metal casing (253) and the first metal casing (251) Between the two is fixed by a plastic casing (252), the grounding end of the temperature measuring circuit board (23) is connected to the first metal casing (251) through a first wire, the RX/TX port of the single chip microcomputer (234) When the second metal casing (253) is connected to the second metal casing (253), the first metal casing (251) and the second metal casing (253) respectively pass through a third wire and a fourth wire. Connected to the host computer (237).
6. 根据权利要求1所述的基于水下机器人平台的海底热流长期观测探针，其特征在于，所述支撑探杆(10)的整体长度小于1m，其在水和空气中的总重量分别小于3kg和小于8kg，其最大工作水深为3000m，所述自容式测温单元(20)为4～5个，相邻二传感器封装探头(22)之间的距离为20～25cm。The underwater vehicle flow-based long-term observation probe based on the underwater robot platform according to claim 1, wherein the overall length of the support probe (10) is less than 1 m, and the total weight in water and air is less than 3 kg, respectively. And less than 8kg, the maximum working water depth is 3000m, the self-capacitive temperature measuring unit (20) is 4-5, and the distance between adjacent two sensor package probes (22) is 20-25cm.
7. 根据权利要求6所述的基于水下机器人平台的海底热流长期观测探针，其特征在于，所述自容式测温单元(20)的外径小于2cm，长度小于22cm，其在水和空气中的重量分别小于0.3kg和小于0.5kg。 The underwater underwater platform long-term observation probe based on the underwater robot platform according to claim 6, wherein the self-capacitance temperature measuring unit (20) has an outer diameter of less than 2 cm and a length of less than 22 cm, and is in water and air. The weights therein are less than 0.3 kg and less than 0.5 kg, respectively.

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