CN108519620A - A Seabed Seismograph Vehicle That Can Be Deployed and Retrieved Autonomously - Google Patents

Abstract

The present invention relates to a kind of submarine earthquake detection aircraft that can independently lay recycling, including seismic detection and induction module, multiple degrees of freedom propulsion die, communication module controls management module, power module；The seismic detection and induction module include three-component acceleration detector, hydrophone, attitude transducer, atomic clock, depth detection and locating module.The present invention detects the seismic wave and sound wave in seabed simultaneously, the geography information in seabed can be obtained more perfectly, real-time communication is carried out with surface mother ship simultaneously, the action of submarine earthquake detection aircraft can be neatly controlled, can accurately be laid and be recycled using multiple degrees of freedom propulsion die.

Description

A Seabed Seismograph Vehicle That Can Be Deployed and Retrieved Autonomously

technical field

The invention relates to a submarine seismic detection aircraft capable of autonomous deployment and recovery.

Background technique

Submarine seismic activity is very frequent. Modern technology uses the seismic situation of the seabed to obtain the source of the earthquake through the seismic detection device, and then analyzes the law of seismic activity on the seabed to provide data for the analysis of the geological structure of the seabed. The current submarine seismic monitoring devices generally adopt distributed multi-point continuous observation, and the detection depth can reach 6000 meters. However, ordinary submarine seismic detection devices need to calculate the reasonable location of the seismic detector. Once the submarine seismic detector fails to reach the ideal seabed position, it is generally difficult to change the position, so that it cannot be independently arranged and accurately recovered. The existing submarine seismic detectors cannot perform complex movements according to the instructions of the surface mother ship, which greatly reduces the efficiency of seismic wave detection and wastes resources.

Contents of the invention

In view of this, the present invention provides a submarine geophone vehicle capable of autonomous deployment and recovery that solves or partially solves the above problems.

2. In order to achieve the effect of the above-mentioned technical solution, the technical solution of the present invention is: a kind of seabed seismic detection vehicle that can deploy and recover autonomously, is characterized in that, comprises the following content:

Seismic detection and sensing module, multi-degree-of-freedom propulsion module, communication module, control management module, energy supply module;

The seismic detection and sensing module includes three-component acceleration geophones, hydrophones, attitude sensors, atomic clocks, depth detection and positioning modules; the three-component acceleration geophones can detect seismic wave accelerations in two mutually perpendicular A horizontal plane coordinate system is established in two directions, and the two directions are defined as X-axis and Y-axis respectively, the intersection point of the X-axis and the Y-axis is the origin of the horizontal plane, and the X-axis is parallel to one side of the profile of the aircraft; the three-component acceleration detector, It can detect the seismic wave acceleration of the seabed perpendicular to the horizontal plane. Starting from the origin of the horizontal plane, the direction perpendicular to the horizontal plane is the direction to establish the Z-axis; the seismic detection and sensing module will obtain the seabed X-axis, Y-axis, and Z-axis directions The acceleration is transmitted to the control management module in real time; the hydrophone is used for the aircraft to receive the sound wave signal on the seabed, and at the same time convert the sound wave signal into an electrical signal and transmit it to the control management module; the attitude sensor can sense the real-time movement of the X-axis and Y-axis of the aircraft Acceleration, the motion attitude measurement is carried out by the formula (1),

a _x in the formula (1) is the real-time motion acceleration of the aircraft in the X-axis direction, and a _x is a rational number; a _y is the real-time motion acceleration of the aircraft in the Y-axis direction, and a _y is a rational number; The included angle of the tangential direction of the meridian, the value range is (0°, 360°); θ is the included angle between the advancing direction of the aircraft horizontal plane and the tangential direction of the magnetic meridian, and the value range is (0°, 360°); a _θ is the acceleration of the aircraft in the forward direction of the horizontal plane, and a _θ is a rational number;

In the formula (1) is the dot product symbol;

Output the attitude data in real time according to the formula (1), obtain the attitude of the aircraft, and transmit the attitude information to the control management module; the atomic clock is used to accurately record time and provide time information for the aircraft; the depth detection and positioning module can real-time Detect the water depth of the aircraft and the distance between the aircraft and the seabed, and provide the geographic location information of the aircraft through GPS positioning technology;

The multi-degree-of-freedom propulsion module includes 4 channel propeller propellers 1 parallel to the X axis, and 2 channel propeller propeller 2 parallel to the Y axis; the channel propeller 1 is arranged around the aircraft to provide positive Reverse two-way thrust; slotted propeller propeller 2 is arranged inside the aircraft, which can provide thrust perpendicular to the horizontal direction; slotted propeller propeller 1 and slotted propeller propeller 2 work at the same time, which can provide steering torque to promote navigation The steering of the aircraft can be maintained while maintaining the stability of the aircraft; the multi-degree-of-freedom propulsion module receives the control signal from the control management module to control the thrust of the channel propeller propeller 1 and the channel propeller propeller 2;

The communication module is connected with the control and management module, and uses wireless transmission technology to transmit information with the surface mother ship;

The control management module is connected with the seismic detection and sensing module, multi-degree-of-freedom propulsion module, communication module, energy supply module, depth detection and positioning module; the control management module can receive signals from the seismic detection and sensing module, energy supply module, depth detection and positioning The information of the module and the information of the surface mother ship from the communication module can simultaneously transmit the control signal to the multi-degree-of-freedom propulsion module and transmit the information of the aircraft to the surface mother ship through the communication module;

The energy supply module is equipped with a battery pack and a battery backup system to provide energy for the aircraft;

The beneficial effects of the present invention are: simultaneous detection of seismic waves and sound waves on the bottom of the sea, the ability to obtain geographic information on the bottom of the sea more perfectly, and real-time communication with the mother ship on the surface of the sea, the ability to flexibly control the action of the sea bottom geophone vehicle, and the use of multi-degree-of-freedom propulsion Modules can be deployed and retrieved with precision.

Detailed ways

In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be described in detail below in conjunction with the embodiments. It should be noted that the specific embodiments described here are only used to explain the present invention, and are not intended to limit the present invention. Products that can achieve the same function are equivalent replacements and improvements, and are included in the protection scope of the present invention.

Embodiment 1 Carry out a submarine seismic wave detection

A submarine seismic detection vehicle capable of autonomous deployment and recovery, including the following: a seismic detection and sensing module, a multi-degree-of-freedom propulsion module, a communication module, a control management module, and an energy supply module;

The seismic detection and sensing module includes three-component acceleration geophones, hydrophones, attitude sensors, atomic clocks, depth detection and positioning modules;

According to the detection plan of the seabed seismic wave, prepare enough energy, that is, to determine that the energy supply module can meet the normal work; the surface mother ship travels to these positions according to the approximate position of the aircraft that needs to detect the seabed seismic wave, and each position Deploying an ocean floor geophone;

The aircraft starts to sink from the sea surface, and the atomic clock and depth detection and positioning module in the seismic detection and sensing module start to work. The atomic clock is used to accurately record time and provide time information for the aircraft; the depth detection and positioning module can detect in real time The water depth of the aircraft and the distance between the aircraft and the seabed, and the geographic location information of the aircraft are provided through GPS positioning technology; the seismic detection and sensing module transmits the above information to the control management module in real time, and the control management module transmits the above information in real time through the communication module. Transmission to the surface mother ship; when the aircraft sinks to the seabed, the depth detection and positioning module in the seismic detection and sensing module detects that the distance between the aircraft and the seabed is 0 in real time, and the information is transmitted through the control management module and the communication module to the surface mother ship;

Now the three-component acceleration geophone, hydrophone, and attitude sensor in the seismometry and sensing module start to work, and the atomic clock and depth detection and positioning module in the seismometry and sensing module also work simultaneously; the three-component acceleration geophone can Detect the seismic wave acceleration in two mutually perpendicular directions on the seafloor level, establish a horizontal plane coordinate system based on these two directions, and define the two directions as X axis and Y axis respectively, and the intersection point of X axis and Y axis is the origin of the horizontal plane, X The axis is parallel to one side of the shape of the aircraft; the three-component acceleration detector can detect the seismic wave acceleration of the seabed perpendicular to the horizontal plane, with the origin of the horizontal plane as the starting point, and the direction perpendicular to the horizontal plane as the direction, the Z-axis is established; The aircraft is used for the aircraft to receive the sound wave signal in the water, and at the same time convert the sound wave signal into an electrical signal and transmit it to the control management module; the attitude sensor can sense the real-time motion acceleration of the X-axis and Y-axis of the aircraft, and measure the motion attitude through formula calculation, real-time Output the attitude data to obtain the attitude of the aircraft; the seismic detection and sensing module transmits the above information to the control management module in real time, and the control management module transmits the above information to the surface mother ship in real time through the communication module;

The surface mother ship decides whether to change the position of the aircraft according to the above information; if it needs to be changed, the mother ship sends the movement signal that the aircraft needs to perform, and the signal is transmitted to the control management module through the communication module, and the control management module controls the multi-degree-of-freedom propulsion The thrust of channel propeller 1 and channel propeller 2 in the module provides steering torque to push the aircraft to turn while maintaining the stability of the aircraft;

After completing the seabed seismic wave detection work, according to the depth detection and positioning module in the seismic detection and sensing module, the accurate geographical location of the aircraft can be obtained through GPS positioning technology for salvage and recovery.

Claims (1)

1. A seabed seismic survey vehicle that can be deployed and recovered autonomously, is characterized in that it includes the following content: Seismic detection and sensing module, multi-degree-of-freedom propulsion module, communication module, control management module, energy supply module; The seismic detection and sensing module includes a three-component acceleration geophone, a hydrophone, an attitude sensor, an atomic clock, a depth detection and a positioning module; the three-component acceleration geophone can detect seismic wave accelerations in two mutually perpendicular directions on the seafloor level , establish a horizontal plane coordinate system with these two directions, and define the two directions as the X axis and the Y axis respectively, the intersection point of the X axis and the Y axis is the origin of the horizontal plane, and the X axis and one side of the shape of the aircraft Parallel; the three-component acceleration detector can detect the seismic wave acceleration of the seabed perpendicular to the horizontal plane direction, take the origin of the horizontal plane as the starting point, and the direction perpendicular to the horizontal plane is the direction to establish the Z axis; the seismic detection and sensing module will The obtained accelerations in the X-axis, Y-axis, and Z-axis directions of the seabed are transmitted to the control management module in real time; the hydrophone is used for the vehicle to receive acoustic signals on the seabed, and at the same time convert the acoustic signals into electrical signals for transmission To the control management module; the attitude sensor can sense the real-time motion acceleration of the X-axis and Y-axis of the aircraft, and carry out motion attitude measurement by formula (1), A _x in the formula (1) is the real-time motion acceleration of the aircraft on the X-axis direction, and a _x is a rational number; a _y is the real-time motion acceleration of the aircraft on the Y-axis direction, and a _y is a rational number; λ is The included angle between the X axis and the tangential direction of the magnetic meridian has a value range of (0°, 360°); θ is the angle between the advancing direction of the horizontal plane of the aircraft and the tangential direction of the magnetic meridian, and the value range is (0 °, 360 °); a _θ is the acceleration of the aircraft in the forward direction of the horizontal plane, and a _θ is a rational number; In the formula (1) is the dot product symbol; Output attitude data in real time according to formula (1), obtain the attitude of the aircraft, and transmit the attitude information to the control management module; the atomic clock is used to accurately record time and provide time information for the aircraft ; The depth detection and positioning module can detect the water depth of the aircraft and the distance between the aircraft and the seabed in real time, and provide the geographic location information of the aircraft through GPS positioning technology; The multi-degree-of-freedom propulsion module includes 4 channel propeller propellers 1 parallel to the X axis, and 2 channel propeller propeller 2 parallel to the Y axis; the channel propeller 1 is arranged on the aircraft The surrounding area can provide forward and reverse bidirectional thrust; the second channel propeller propeller is arranged inside the aircraft and can provide thrust perpendicular to the horizontal direction; the first channel propeller propeller and channel propeller propulsion The second device works at the same time, can provide steering torque, push the aircraft to turn, and can maintain the stability of the aircraft at the same time; the multi-degree-of-freedom propulsion module receives the control signal from the control management module to control the propulsion of the channel propeller Thrust size of device one and channel propeller propeller two; The communication module is connected to the control management module, and uses wireless transmission technology to transmit information with the surface mother ship; The control management module is connected with the seismic detection and sensing module, the multi-degree-of-freedom propulsion module, the communication module, the energy supply module, and the depth detection and positioning module; the control management module can receive information from The seismic detection and sensing module, the energy supply module, the information of the depth detection and positioning module and the information of the surface mother ship from the communication module can simultaneously transmit control signals to the multi-degree-of-freedom propulsion module and transmitting the information of the aircraft to the surface mother ship through the communication module; The energy supply module is provided with a battery pack and a battery backup system to provide energy for the aircraft.