Submarine electric field detection device applied to underwater robot and method for detecting polymetallic sulfide

Abstract

The invention discloses a submarine electric field detection device applied to an underwater robot and a method for detecting polymetallic sulfide. The influence of a submersible vehicle body on a target electric field signal is reduced by adjusting the carrying position of an electric field sensor, and the influence on an electric field due to the change of the direction and posture of the submersible vehicle can be solved; three groups of electric field sensors in three directions are used for measuring three-component information of a submarine electric field; rotation correction is performed on a measurement result in combination with attitude data of the underwater robot, a difference matrix and a prediction natural field are constructed, a natural potential field is reconstructed byutilizing a least square inversion method, and whether polymetallic sulfide exists in the submarine or not is judged through negative anomaly in the natural potential field; effective application of the electric field sensor to the underwater robot is realized, the use is simple and efficient, the work is safe and reliable, and the near-seabed large-area scanning work can be completed in a short time.

Description

technical field [0001] The invention belongs to the field of sensor applications, in particular to a submarine electric field detection device applied to an underwater robot and a method for detecting polymetallic sulfides. Background technique [0002] Submarine hydrothermal polymetallic sulfides are authigenic sediments of hydrothermal origin rich in iron, copper, lead, zinc and other metals, and are important deep-sea mineral resources. Submarine polymetallic sulfides undergo oxidation-reduction reactions with seawater, forming a natural current around the sulfide ore body. By detecting electromagnetic signals near the seabed through the seabed electric field sensor, the abnormal natural potential formed by the sulfide ore body can be detected. Through the electric field sensor Analyze the collected spontaneous potential data to obtain information such as the precise location and scale of polymetallic sulfides. At present, the marine natural potential method usually adop...

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Problems solved by technology

[0003] The main problem of carrying the natural potential on the autonomous submersible is that the rotation of the propeller of the submersible and the electronic devices inside the submersible will cause electromagnetic interference to the electric f

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