CN108519620B - A submarine seismometer vehicle that can be deployed and recovered autonomously - Google Patents

A submarine seismometer vehicle that can be deployed and recovered autonomously Download PDF

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CN108519620B
CN108519620B CN201810754648.6A CN201810754648A CN108519620B CN 108519620 B CN108519620 B CN 108519620B CN 201810754648 A CN201810754648 A CN 201810754648A CN 108519620 B CN108519620 B CN 108519620B
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CN108519620A (en
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秦洪德
吴哲远
朱仲本
田瑞菊
刘传奇
姜涛
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Harbin Engineering University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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Abstract

The invention relates to a submarine seismic wave detection aircraft capable of being distributed and recovered autonomously, which comprises a seismic wave detection and induction module, a multi-degree-of-freedom propulsion module, a communication module, a control management module and an energy supply module, wherein the multi-degree-of-freedom propulsion module is connected with the communication module; the seismic detection and induction module comprises a three-component acceleration detector, a hydrophone, an attitude sensor, an atomic clock and a depth detection and positioning module. The invention can detect the seismic waves and the sound waves of the sea bottom simultaneously, can more perfectly acquire the geographical information of the sea bottom, can communicate with the mother ship on the water surface in real time, can flexibly control the action of the sea bottom seismic wave detection navigation device, and can accurately distribute and recover by adopting the multi-degree-of-freedom propulsion module.

Description

一种可自主布放回收的海底地震检波航行器A submarine seismometer vehicle that can be deployed and recovered autonomously

技术领域technical field

本发明涉及一种可自主布放回收的海底地震检波航行器。The invention relates to a submarine seismophone vehicle that can be deployed and recovered autonomously.

背景技术Background technique

海底地震活动十分频繁，现代技术利用海底的地震情况，通过地震检测装置获得地震源，进而来分析海底的地震活动规律，为海底地质构造分析提供资料。目前的海底地震监测装置一般采用分布式的多点连续观测，检测深度可达6000米。然而普通的海底地震探测装置需要经过计算得到合理的地震检测器投放位置，一旦海底地震检测器没能达到理想的海底位置，一般很难进行位置的改变，从而无法进行自主布置和精确回收。现有的海底地震检测器无法根据水面母船的指令进行复杂的运动，大大降低了地震波检波的效率，浪费资源。Seabed seismic activity is very frequent. Modern technology uses the seismic situation on the seabed to obtain the seismic source through the seismic detection device, and then analyzes the seismic activity law of the seabed and provides data for the analysis of the seabed geological structure. The current submarine seismic monitoring device generally adopts distributed multi-point continuous observation, and the detection depth can reach 6000 meters. However, the common submarine seismic detection device needs to obtain the reasonable placement position of the seismic detector through calculation. Once the submarine seismic detector fails to reach the ideal submarine position, it is generally difficult to change the position, so that the autonomous arrangement and accurate recovery cannot be performed. 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.

发明内容SUMMARY OF THE INVENTION

有鉴于此，本发明提供一种解决或部分解决上述问题的可自主布放回收的海底地震检波航行器。In view of this, the present invention provides an autonomously deployable and recoverable submarine geophone that solves or partially solves the above problems.

2.为达到上述技术方案的效果，本发明的技术方案为：一种可自主布放回收的海底地震检波航行器，其特征在于，包括以下内容：2. In order to achieve the effect of the above-mentioned technical scheme, the technical scheme of the present invention is: a submarine seismophone vehicle that can be deployed and recovered autonomously, is characterized in that, comprises the following content:

地震检波和感应模块，多自由度推进模块，通讯模块，控制管理模块，供能模块；Seismic detection and induction module, multi-degree-of-freedom propulsion module, communication module, control management module, energy supply module;

地震检波和感应模块包括三分量加速度检波器，水听器，姿态传感器，原子钟，深度检测及定位模块；三分量加速度检波器，能够检测海底水平面上两个相互垂直方向的地震波加速度，以该两个方向建立水平面坐标系，并定义该两个方向分别为X轴、Y轴，X轴与Y轴的交点为水平面的原点，X轴与航行器的外形的一边平行；三分量加速度检波器，能够检测垂直于水平面方向的海底的地震波加速度，以水平面的原点为起点，该垂直于水平面的方向为方向，建立Z轴；地震检波和感应模块将得到的海底X轴、Y轴、Z轴方向的加速度实时传输给控制管理模块；水听器用于航行器在海底接收声波信号，同时将声波信号转化为电信号传输至控制管理模块；姿态传感器能够感应到航行器X轴、Y轴的实时运动加速度，通过公式(1)进行运动姿态测量，Seismic and sensing modules include three-component acceleration geophones, hydrophones, attitude sensors, atomic clocks, depth detection and positioning modules; three-component acceleration geophones, which can detect seismic wave accelerations in two mutually perpendicular directions on the seabed level. A horizontal plane coordinate system is established in two directions, and the two directions are defined as the X axis and the Y axis. The intersection 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 shape of the vehicle; the three-component acceleration detector, It can detect the seismic wave acceleration of the seabed perpendicular to the horizontal plane. The origin of the horizontal plane is the starting point, and the direction perpendicular to the horizontal plane is the direction to establish the Z-axis; the seismic detection and induction module will obtain the seabed X-axis, Y-axis, Z-axis directions The acceleration of the vehicle is transmitted to the control management module in real time; the hydrophone is used for the vehicle to receive the sound wave signal on the seabed, and at the same time, the sound wave signal is converted into an electrical signal and transmitted to the control management module; the attitude sensor can sense the real-time movement of the X-axis and Y-axis of the vehicle Acceleration, the motion attitude is measured by formula (1),

Figure BDA0001726427990000021
Figure BDA0001726427990000021

公式(1)中的ax为X轴方向上航行器的实时运动加速度，ax为有理数；ay为Y轴方向上航行器的实时运动加速度，ay为有理数；λ为X轴与磁子午线的切线方向的夹角，取值范围为(0°，360°)；θ为航行器水平面的前进方向与磁子午线的切线方向的夹角，取值范围为(0°，360°)；aθ为航行器在水平面的前进方向上的加速度，aθ为有理数；In formula (1), a x is the real-time motion acceleration of the vehicle in the X-axis direction, a x is a rational number; a y is the real-time motion acceleration of the vehicle in the Y-axis direction, a y is a rational number; λ is the X-axis and magnetic The included angle between the tangential direction of the meridian, the value range is (0°, 360°); θ is the included angle between the advancing direction of the vehicle's horizontal plane and the tangential direction of the magnetic meridian, and the value range is (0°, 360°); a θ is the acceleration of the vehicle in the forward direction of the horizontal plane, a θ is a rational number;

公式(1)中的为点乘符号；in formula (1) is the dot product symbol;

根据公式(1)实时输出姿态数据，得出航行器的姿态，并将该姿态信息传输至控制管理模块；原子钟用以精确地记录时间，为航行器提供时间信息；深度检测及定位模块能够实时检测出航行器的水深和航行器距海底的距离，同时通过GPS定位技术提供航行器的地理位置信息；According to formula (1), the attitude data is output in real time, the attitude of the aircraft is obtained, and the attitude information is transmitted to the control management module; the atomic clock is used to accurately record the time and provide time information for the aircraft; the depth detection and positioning module can real-time Detect the water depth of the vehicle and the distance from the vehicle to the seabed, and provide the geographic location information of the vehicle through GPS positioning technology;

多自由度推进模块包括4个与X轴平行的槽道螺旋桨推进器一，2个与Y轴平行的槽道螺旋桨推进器二；槽道螺旋桨推进器一布置于航行器的四周，可提供正反双向的推力；槽道螺旋桨推进器二布置于航行器的内部，可提供垂直于水平方向的推力；槽道螺旋桨推进器一与槽道螺旋桨推进器二同时工作，可以提供转向力矩，推动航行器转向，同时可以保持航行器的稳定性；多自由度推进模块接收来自控制管理模块的控制信号，来控制槽道螺旋桨推进器一与槽道螺旋桨推进器二的推力大小；The multi-degree-of-freedom propulsion module includes 4 channel propellers 1 parallel to the X axis and 2 channel propellers parallel to the Y axis; the channel propeller 1 is arranged around the vehicle and can provide positive Reverse two-way thrust; the second channel propeller is arranged inside the aircraft, which can provide thrust perpendicular to the horizontal direction; the first channel propeller and the second channel propeller work at the same time, which can provide steering torque and promote navigation The multi-degree-of-freedom propulsion module receives the control signal from the control management module to control the thrust of the first channel propeller and the second channel propeller;

通讯模块与控制管理模块相连，利用无线传输技术，与水面母船进行信息传递；The communication module is connected with the control and management module, and uses wireless transmission technology to transmit information with the surface mother ship;

控制管理模块与地震检波和感应模块，多自由度推进模块，通讯模块，供能模块，深度检测及定位模块相连；控制管理模块能够接收来自地震检波和感应模块，供能模块，深度检测及定位模块的信息和来自通讯模块的水面母船的信息，同时能够将控制信号传输给多自由度推进模块和将航行器的信息通过通讯模块传输至水面母船；The control and management module is connected with the seismic detection and induction module, the multi-degree-of-freedom propulsion module, the communication module, the energy supply module, the depth detection and positioning module; the control management module can receive data from the seismic detection and induction module, energy supply module, depth detection and positioning module The information of the 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 transmit the information of the vehicle to the surface mother ship through the communication module;

供能模块，设有电池组和电池备用系统，为航行器提供能量；Energy supply module, with battery pack and battery backup system, to provide energy for the aircraft;

本发明的有益效果为：同时检测海底的地震波和声波，能够更加完善地获取海底的地理信息，同时与水面母船进行实时通讯，能够灵活地控制海底地震检波航行器的行动，采用多自由度推进模块能够精确地进行布放和回收。The beneficial effects of the present invention are: simultaneous detection of the seismic waves and sound waves on the seabed, more perfect acquisition of the geographical information of the seabed, real-time communication with the surface mother ship at the same time, flexible control of the actions of the seabed seismometer vehicle, multi-degree-of-freedom propulsion Modules can be deployed and recycled precisely.

具体实施方式Detailed ways

为了使本发明所要解决的技术问题、技术方案及有益效果更加清楚明白，以下结合实施例，对本发明进行详细的说明。应当说明的是，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明，能实现同样功能的产品属于等同替换和改进，均包含在本发明的保护范围之内。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 with reference to the embodiments. It should be noted that the specific embodiments described herein are only used to explain the present invention, not to limit the present invention. Products that can achieve the same function belong to equivalent replacements and improvements, which are all included in the protection scope of the present invention.

实施例一进行一次海底地震波检测Embodiment 1 Carry out a submarine seismic wave detection

一种可自主布放回收的海底地震检波航行器，包括以下内容：地震检波和感应模块，多自由度推进模块，通讯模块，控制管理模块，供能模块；A submarine seismophone vehicle that can be deployed and recovered autonomously, comprising the following contents: a seismophony and induction module, a multi-degree-of-freedom propulsion module, a communication module, a control management module, and an energy supply module;

地震检波和感应模块包括三分量加速度检波器，水听器，姿态传感器，原子钟，深度检测及定位模块；Seismic and sensing modules include three-component acceleration detectors, hydrophones, attitude sensors, atomic clocks, depth detection and positioning modules;

根据此次海底地震波的检测计划，准备好足够的能量，即确定供能模块能够满足此次正常工作；水面母船根据需要检测海底地震波的航行器的大致位置，分别行驶至这些位置，每个位置布放一个海底地震检波航行器；According to the detection plan of the submarine seismic wave, prepare enough energy, that is, determine that the energy supply module can meet the normal operation of this time; the surface mother ship travels to these positions according to the approximate positions of the aircraft that detect the submarine seismic waves, and each position deploy a submarine seismometer vehicle;

航行器开始从海面进行下沉，地震检波和感应模块中的原子钟和深度检测及定位模块开始工作，原子钟用以精确地记录时间，为航行器提供时间信息；深度检测及定位模块能够实时检测出航行器的水深和航行器距海底的距离，同时通过GPS定位技术提供航行器的地理位置信息；地震检波和感应模块将上述信息实时传输至控制管理模块，控制管理模块通过通讯模块将上述信息实时传输至水面母船；当航行器下沉至海底时，此时地震检波和感应模块中的深度检测及定位模块实时检测出航行器距海底的距离为0，该信息通过控制管理模块，通讯模块传输给了水面母船；The vehicle begins to sink from the sea surface, and the atomic clock and the depth detection and positioning module in the seismic detection and induction module start to work. The atomic clock is used to accurately record the time and provide time information for the vehicle; the depth detection and positioning module can detect in real time. The water depth of the vehicle and the distance from the vehicle to the seabed, and the geographic location information of the vehicle is provided through GPS positioning technology; the seismic detection and sensing module transmits the above information in real time to the control management module, and the control management module transmits the above information in real time through the communication module. It is transmitted to the surface mother ship; when the vehicle sinks to the seabed, the depth detection and positioning module in the seismic detection and sensing module detects that the distance between the vehicle 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;

此时地震检波和感应模块中的三分量加速度检波器，水听器，姿态传感器，开始工作，地震检波和感应模块中的原子钟和深度检测及定位模块也同时工作；三分量加速度检波器，能够检测海底水平面上两个相互垂直方向的地震波加速度，以该两个方向建立水平面坐标系，并定义该两个方向分别为X轴、Y轴，X轴与Y轴的交点为水平面的原点，X轴与航行器的外形的一边平行；三分量加速度检波器，能够检测垂直于水平面方向的海底的地震波加速度，以水平面的原点为起点，该垂直于水平面的方向为方向，建立Z轴；水听器用于航行器在水中接收声波信号，同时将声波信号转化为电信号传输至控制管理模块；姿态传感器能够感应到航行器X轴、Y轴的实时运动加速度，通过公式计算进行运动姿态测量，实时输出姿态数据，得出航行器的姿态；地震检波和感应模块将上述信息实时传输至控制管理模块，控制管理模块通过通讯模块将上述信息实时传输至水面母船；At this time, the three-component accelerometer, hydrophone, and attitude sensor in the geophone and induction module start to work, and the atomic clock and depth detection and positioning module in the geophone and induction module also work at the same time; the three-component accelerometer, which can Detect the seismic wave accelerations in two mutually perpendicular directions on the horizontal plane of the seabed, establish a horizontal plane coordinate system based on the two directions, and define the two directions as the X axis and the Y axis respectively. The intersection of the X axis and the Y axis is the origin of the horizontal plane, X The axis is parallel to one side of the shape of the vehicle; the three-component acceleration detector can detect the seismic wave acceleration of the seabed perpendicular to the horizontal plane. The origin of the horizontal plane is the starting point, and the direction perpendicular to the horizontal plane is the direction to establish the Z-axis; hydrophone The sensor is used for the vehicle 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 vehicle's X-axis and Y-axis, and measure the motion attitude through formula calculation. Output attitude data to obtain the attitude of the aircraft; the seismic detection and sensing module transmits the above information in real time to the control management module, and the control management module transmits the above information to the surface mother ship in real time through the communication module;

水面母船根据上述信息决定是否让航行器进行位置改变；若需要进行改变，则母船发送航行器需要进行的运动信号，该信号通过通讯模块传输至控制管理模块，控制管理模块通过控制多自由度推进模块中的槽道螺旋桨推进器一与槽道螺旋桨推进器二的推力大小，提供转向力矩，推动航行器转向，同时保持航行器的稳定性；The surface mother ship decides whether to change the position of the vehicle according to the above information; if it needs to be changed, the mother ship sends the motion signal that the vehicle needs to perform, and the signal is transmitted to the control management module through the communication module. The thrust of the channel propeller propeller 1 and the channel propeller propeller 2 in the module is the magnitude of the thrust, which provides the steering torque, pushes the vehicle to turn, and maintains the stability of the vehicle at the same time;

当完成海底地震波检测工作后，可根据地震检波和感应模块中的深度检测及定位模块，通过GPS定位技术获得航行器的准确的地理位置，进行打捞回收。When the detection of seabed seismic waves is completed, the accurate geographical position of the vehicle can be obtained through GPS positioning technology according to the depth detection and positioning module in the seismic detection and sensing module, and salvage and recovery can be carried out.

Claims (1)

1. An ocean bottom geophone vehicle capable of autonomous deployment and recovery, comprising:
the system comprises a seismic detection and induction module, a multi-degree-of-freedom propulsion module, a communication module, a control management module and an energy supply module;
the seismic detection and induction module comprises a three-component acceleration detector, a hydrophone, an attitude sensor, an atomic clock and a depth detection and positioning module; the three-component acceleration detector can detect seismic wave acceleration in two mutually vertical directions on a seabed horizontal plane, a horizontal plane coordinate system is established according to the two directions, the two directions are defined as an X axis and a 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 appearance of the aircraft; the three-component acceleration detector can detect the acceleration of seismic waves of the seabed vertical to the horizontal plane, and establishes a Z axis by taking the origin of the horizontal plane as a starting point and the direction vertical to the horizontal plane as a direction; the seismic wave detection and induction module transmits the obtained accelerations of the seabed in the X-axis, Y-axis and Z-axis directions to the control management module in real time; the hydrophone is used for receiving sound wave signals at the seabed of the aircraft, converting the sound wave signals into electric signals and transmitting the electric signals to the control management module; the attitude sensor can sense the real-time motion acceleration of the X axis and the Y axis of the aircraft, the motion attitude measurement is carried out through a formula (1),
Figure FDA0002462671020000011
a in formula (1)xIs the real-time acceleration of the vehicle in the direction of the X-axis, axIs a rational number; a isyIs the real-time motion acceleration of the aircraft in the Y-axis direction, ayIs a rational number; lambda is an included angle between the X axis and the tangential direction of the magnetic meridian, and the value range is (0 degree, 360 degrees); theta is an included 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 degree and 360 degrees); a isθAcceleration of said vehicle in the direction of travel in the horizontal plane, aθIs a rational number;
in the formula (1), the symbol is dot-by-dot;
outputting attitude data in real time according to a formula (1) to obtain the attitude of the aircraft, and transmitting the attitude information to the control management module; the atomic clock is used for accurately recording time and providing 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 simultaneously provides the geographic position information of the aircraft through a GPS positioning technology;
the multi-degree-of-freedom propulsion module comprises 4 first channel propeller thrusters parallel to the X axis and 2 second channel propeller thrusters parallel to the Y axis; the channel propeller thruster is arranged around the aircraft and can provide forward and reverse thrust; the channel propeller II is arranged in the aircraft and can provide thrust perpendicular to the horizontal direction; the first channel propeller thruster and the second channel propeller thruster work simultaneously, so that steering torque can be provided, the aircraft can be pushed to steer, and the stability of the aircraft can be kept; the multi-degree-of-freedom propulsion module receives a control signal from the control management module to control the thrust of the first channel propeller thruster and the second channel propeller thruster;
the communication module is connected with the control management module and is used for transmitting information with the mother ship on the water surface by using a wireless transmission technology;
the control management module is connected with the seismic wave detection and induction 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 induction module, the energy supply module, the depth detection and positioning module and information from the communication module on the surface of the mother ship, and can transmit control signals to the multi-degree-of-freedom propulsion module and transmit information of the aircraft to the surface of the mother ship through the communication module;
the energy supply module is provided with a battery pack and a battery backup system and supplies energy to the aircraft; at the moment, a three-component acceleration detector, a hydrophone and an attitude sensor in the seismic demodulation and induction module start to work, and an atomic clock and a depth detection and positioning module in the seismic demodulation and induction module also work simultaneously; the three-component acceleration detector can detect seismic wave acceleration in two mutually vertical directions on a seabed horizontal plane, a horizontal plane coordinate system is established in the two mutually vertical directions, the two mutually vertical directions are defined as an X axis and a 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 appearance of the aircraft; the three-component acceleration detector can detect the seismic wave acceleration of the seabed vertical to the horizontal plane direction, and establishes a Z axis by taking the origin of the horizontal plane as a starting point and the direction vertical to the horizontal plane as a direction; the hydrophone is used for receiving the sound wave signals in water by the aircraft, converting the sound wave signals into electric signals and transmitting the electric signals to the control management module; the attitude sensor can sense real-time motion acceleration of an X axis and a Y axis of the aircraft, motion attitude measurement is carried out through formula calculation, and attitude data are output in real time to obtain the attitude of the aircraft; the earthquake detection and induction module transmits information to the control management module in real time, and the control management module transmits the information to the water surface mother ship in real time through the communication module;
the mother ship on the water surface determines whether the aircraft changes the position or not according to the information; if the change is needed, the surface mother ship sends a motion signal needed by the aircraft, the motion signal is transmitted to the control management module through the communication module, and the control management module provides steering torque by controlling the thrust of the channel propeller thruster I and the channel propeller thruster II in the multi-degree-of-freedom propulsion module, so that the aircraft is pushed to steer, and meanwhile, the stability of the aircraft is kept;
after the submarine seismic wave detection work is finished, the accurate geographic position of the aircraft can be obtained through a GPS positioning technology according to a depth detection and positioning module in the seismic wave detection and induction module, and the aircraft can be salvaged and recovered.
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