Deep sea node instrument laying device and laying method

Abstract

The invention discloses a deep sea node instrument laying device and laying method. The deep sea node instrument laying device comprises a computer control unit arranged on a surface ship, an underwater power transmission and distribution unit connected with the computer control unit and a surface ship power supply system through multifunctional cables, and an underwater robot connected with the underwater power transmission and distribution unit. The underwater robot comprises an OBN storage matrix, a plurality of propellers and a plurality of sensors, wherein the propellers are assembled on the OBN storage matrix and used for achieving underwater navigation, and the sensors are distributed on the OBN storage matrix and used for monitoring the navigation state and the underwater environment. By means of the device, an aerial seeding type operation mode is provided, high-precision continuous laying of the OBN on the seabed is achieved, the laying speed of the OBN can be greatly increased, that is, the computer control unit controls the underwater robot to submerge continuously at a constant speed in a water layer which is a certain distance away from the seabed, the OBN is controlled to be released continuously during constant-speed submerging, and therefore the underwater robot can stably lay the OBN on the seabed. And precisely sinking at a preset laying point position of the seabed along a parabolic path.

Description

Technical Field

[0001] The invention relates to the deployment of marine seismic exploration nodes, and in particular to a deep-sea node instrument deployment device and deployment method. Background Art

[0002] The ocean bottom node (OBN) has advantages in effectively making up for the exploration blind spots of streamer seismic (TS), providing multi-wave and wide azimuth data, fixed point and repeatability, etc., and has become an important technical means for marine seismic exploration. OBN mainly adopts the seabed acquisition working mode. During the seismic exploration process, a large number of OBNs need to be placed and positioned on the seabed. The deviation between the actual OBN sinking position and the preset position will directly affect the quality of seismic exploration information collection.

[0003] At present, the underwater unmanned submersible technology has gradually matured and has begun to be gradually applied to the exploration and development of marine resources and marine engineering construction. In terms of the deployment of OBN by underwater unmanned submersibles (i.e., underwater robots), the "insert" operation mode is mostly adopted, that is, the underwater robot uses a manipulator to grab, magnetically adsorb, vacuum adsorb, etc. to carry a single OBN from the surface ship to dive to the deployment point, and then the staff remotely controls the operation to perform the deployment operation. After the deployment is completed, the underwater robot returns to the deck of the surface ship and dives again with the next OBN for another deployment operation, and so on, until all OBNs are deployed in the target area. This operation mode has the following defects: Currently, most of the underwater robots used are heavy-duty. The control stability of their hovering in the water remotely controlled by the staff is insufficient. The underwater robot must be landed on the seabed to accurately deploy the OBN at the preset point. The underwater robot can only carry one OBN at a time, so the underwater robot needs to frequently travel back and forth between the surface ship deck and the seabed, which is time-consuming and has low operating efficiency. Summary of the invention

[0004] The present invention provides a deep-sea node instrument deployment device and a deployment method, aiming to solve the problem of low efficiency of OBN deployment operation.

[0005] The technical solution adopted by the present invention is as follows: a deep-sea node instrument deployment device, including a computer control unit arranged on a surface ship, an underwater power transmission and distribution unit connected to the computer control unit and the surface ship power supply system through a multifunctional cable, and an underwater robot connected to the underwater power transmission and distribution unit; The underwater robot includes an OBN storage matrix, a plurality of thrusters mounted on the OBN storage matrix for realizing underwater navigation, and a plurality of sensors distributed on the OBN storage matrix for monitoring navigation status and underwater environment.

[0006] As a limitation of the present invention, the OBN storage matrix includes a plurality of OBN storage devices arranged in a matrix; The OBN storage device comprises a frame structure for accommodating the OBN, a hatch rotatably mounted on the bottom of the frame structure for supporting the OBN, and an electromagnetic lock assembly mounted on the frame structure for controlling the opening of the hatch.

[0007] As a further limitation of the present invention, the electromagnetic lock assembly includes an electromagnetic lock fixed on the frame structure and a pull pin assembled on the output end of the electromagnetic lock for limiting the rotation of the cabin door.

[0008] As another limitation of the present invention, the sensors distributed on the OBN storage matrix in the underwater robot include a water depth sensor, a speed sensor, an acoustic positioning sensor and a posture sensor.

[0009] As a further limitation of the present invention, the underwater robot also includes a video probe arranged on the OBN storage matrix.

[0010] As another limitation of the present invention, it also includes an underwater robot water entry and exit unit; The underwater robot's water entry and exit unit includes a crane arranged on the surface ship and a cable winch arranged on the surface ship for receiving a multifunctional cable; The crane is connected to the underwater robot via a steel cable.

[0011] The present invention also discloses a deep-sea node instrument deployment method, which is implemented by means of the deep-sea node instrument deployment device as described above, and comprises the following steps: S1. After the surface ship sails to the target area, it releases the underwater power distribution unit and the underwater robot loaded with OBN into the water. The computer control unit controls the underwater robot to dive to the specified water depth. When the heading and speed tend to be stable, it enters the quasi-construction state; S2, before the underwater robot sails to the first set deployment point, the computer control unit controls the first hatch to open in time by analyzing the underwater robot's navigation data, releases the first OBN, and makes the first OBN slide to the first set deployment point by its own weight; S3, before the underwater robot sails to the set second deployment point, the computer control unit controls the second hatch to open in time by analyzing the underwater robot's navigation data, releases the second OBN, and makes the second OBN slide to the set second deployment point by its own weight; S4, and so on, placing all OBNs loaded in the underwater robot at corresponding placement points one by one; S5. Recover the underwater robot and the underwater power transmission and distribution unit to the deck of the surface ship, reload the OBN into the underwater robot, and repeat steps S1 to S4 until the OBN deployment operation in the target area is completed.

[0012] As a limitation of the present invention, in step S1, the underwater power transmission and distribution unit and the underwater robot loaded with OBN are released into the water using the underwater robot water loading and unloading unit; In step S5, the underwater robot launching and disembarking unit is used to recover the underwater power transmission and distribution unit and the underwater robot to the deck of the surface ship.

[0013] As a further limitation of the present invention, in step S2 to step S4, the computer control unit controls the hatch door to open in the following manner: the computer control unit controls the electromagnetic lock to power on, the output end of the electromagnetic lock is actuated to pull the pull pin upward, thereby canceling the restriction of the pull pin on the hatch door, and the hatch door opens under the action of gravity.

[0014] As another limitation of the present invention, when the computer control unit controls the hatch to open and release the OBN, the underwater robot is always in a submerged state.

[0015] Due to the adoption of the above technical solution, the present invention has the following beneficial effects compared with the prior art: The present invention proposes a new "flying seeding" operation mode, that is, the computer control unit controls the underwater robot to continuously dive at a constant speed in the water layer at a certain distance from the seabed. During the constant speed diving, the OBN is continuously released under control, so that it slides in a parabola and sinks accurately at each preset deployment point on the seabed. Compared with the existing "insertion seeding" operation mode, the present invention can greatly improve the deployment speed of OBN.

[0016] Specifically, the underwater robot in the present invention can carry multiple OBNs at a time to dive for "flying seeding" operations by using the OBN storage matrix, without the need to frequently travel between the deep sea and the deck of the surface ship, thus effectively improving the efficiency of OBN deployment operations. In addition, all actions of the underwater robot during deployment operations are automatically controlled by the computer control unit, without the need for remote control by the staff, eliminating the disadvantage that the construction efficiency of the existing model is greatly affected by the operating skill level of the staff, and can greatly improve the deployment speed on the basis of ensuring the accuracy of the deployment position, thereby improving the construction efficiency, and providing feasibility for the implementation of high-altitude artillery density acquisition for deep-sea node physical exploration. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0018] Figure 1 It is a front view of the structural relationship of the deep-sea node instrument deployment device in an embodiment of the present invention; Figure 2 It is a front view of the structural relationship of the OBN storage matrix in an embodiment of the present invention; Figure 3It is a schematic diagram of the structure of the OBN storage device in the closed state of the hatch in the embodiment of the present invention; Figure 4 It is a structural schematic diagram of the OBN storage device in an embodiment of the present invention when the hatch is open; In the figure: 1. Computer control unit; 2. Underwater power transmission and distribution unit; 3. buoyant cable; 4. Underwater robot; 5. OBN storage matrix; 6. OBN storage device; 7. Lifting lug; 8. Frame structure; 9. First hatch; 10. Second hatch; 11. Ring; 12. Through hole; 13. Electromagnetic lock; 14. Pull pin; 15. Crane; 16. Cable winch; 17. Multifunctional cable; 18. OBN; 19. Surface ship. DETAILED DESCRIPTION

[0019] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and understand the present invention, and are not used to limit the present invention.

[0020] The present embodiment discloses a deep-sea node instrument deployment device, which adopts various sensors and mechanical structures suitable for operations at a water depth of 3,000 meters. The sensors collect construction water environment perception data and operation parameters, realize power transmission and data communication through a multi-functional cable 17, and perform data processing and automatic control through a computer control unit 1. The release parameters of the deep-sea node instrument are continuously corrected, so that the underwater robot 4 has good point accuracy on the seabed, and then the underwater robot 4 realizes the continuous deployment of multiple deep-sea node instruments at a water depth of 3,000 meters.

[0021] It should be noted that the deep-sea node instrument described in this embodiment is the seabed node (OBN18).

[0022] like Figure 1 As shown, the deep-sea node instrument deployment device disclosed in this embodiment includes a computer control unit 1, an underwater power transmission and distribution unit 2, an underwater robot 4 and an underwater robot inlet and outlet unit.

[0023] The computer control unit 1 is arranged on the surface ship 19, and is used for data processing, automatic control of the navigation state of the underwater robot 4, and automatic control of the release of the OBN 18. The computer control unit 1 in this embodiment is an existing commercial computer, which runs a relevant control program for the underwater robot 4, can obtain data transmitted from underwater through an interface, process the data, send instructions to the underwater robot 4 according to the processing results, and automatically generate a deep-sea node instrument deployment report.

[0024] The underwater power transmission and distribution unit 2 is electrically connected to the power system of the surface ship 19 and the computer control unit 1 through the multifunctional cable 17, and is used to transmit power to the underwater robot 4 through the power system of the surface ship 19, and realize data communication between the computer control unit 1 and the underwater robot 4. The underwater power transmission and distribution unit 2 in this embodiment is an existing structure, which is a conventional configuration of the underwater robot 4, and mainly includes a floating cable 3, a transformer connected between the multifunctional cable 17 and the floating cable 3, and a floating cable winch for winding up the floating cable 3. According to the working condition management, the floating cable winch adaptively retracts and releases the floating cable 3 to normally connect the underwater robot 4 in the submerged state.

[0025] The underwater robot 4 is connected to the floating cable 3 in the underwater power transmission and distribution unit 2 to realize power transmission and data communication. The underwater robot 4 includes an OBN storage matrix 5, a plurality of thrusters and a plurality of sensors. Among them, a plurality of thrusters are assembled on the outside of the OBN storage matrix 5, including vertical thrusters, left and right thrusters and front and rear thrusters, which are used to realize the navigation of the underwater robot 4 underwater. In this embodiment, each thruster is connected to the floating cable 3 to realize power transmission with the power system of the surface ship 19 and data communication with the computer control unit 1 through the floating cable 3. A plurality of sensors are distributed on the OBN storage matrix 5, including a water depth sensor, a speed sensor, an acoustic positioning sensor and a posture sensor, which are used to monitor the navigation status of the underwater robot 4 and perceive the underwater environment. In this embodiment, each sensor is also connected to the floating cable 3.

[0026] In order to collect real-scene data of the deployment point, the present embodiment further arranges a video probe on the OBN storage matrix 5 , and the video probe is connected to the streamer 3 .

[0027] Furthermore, the OBN storage matrix 5 is used to load multiple OBNs 18, and can release the OBNs 18 one by one in a set sequence when diving underwater, so as to complete the precise deployment of the OBNs 18 on the seabed. Figure 2 As shown, the OBN storage matrix 5 includes a plurality of OBN storage devices 6 arranged in a matrix, and a lifting lug 7 is provided on each side of the topmost OBN storage device 6. Figure 3 and Figure 4 As shown, the OBN storage device 6 includes a frame structure 8 for accommodating the OBN 18, a door rotatably mounted on the bottom of the frame structure 8 to support the OBN 18, and an electromagnetic lock assembly mounted on the frame structure 8 to control the opening of the door.

[0028] The frame structure 8 is welded by square tube profiles and round tube profiles. The hatch includes a first hatch 9 and a second hatch 10 that are arranged opposite to each other. The first hatch 9 and the second hatch 10 have the same structure and are both provided with a ring 11 at the tail. The ring 11 is sleeved on the round tube profile at the bottom of the frame structure 8 to achieve rotational assembly on the frame structure 8. In this embodiment, the tail rings 11 of the first hatch 9 and the second hatch 10 are both provided with through holes 12 for cooperating with the electromagnetic lock assembly to achieve positioning. The electromagnetic lock assembly includes an electromagnetic lock 13 fixed on the frame structure 8 and a pull pin 14 assembled on the output end of the electromagnetic lock 13 for limiting the rotation of the hatch. The electromagnetic lock 13 is electrically connected to the floating cable 3. In this embodiment, the first hatch 9 and the second hatch 10 each correspond to a set of electromagnetic lock assemblies.

[0029] Take the first hatch 9 as an example: Figure 3 As shown, in the power-off state, the output end of the electromagnetic lock 13 extends out, and the free end of the pull pin 14 is placed in the through hole 12 of the rear ring 11 of the first hatch 9. The pull pin 14 cooperates with the through hole 12 to limit the first hatch 9 to a horizontal state for lifting the OBN 18; Figure 4 As shown, after power is turned on, the output end of the electromagnetic lock 13 retracts, and the free end of the pull pin 14 moves upward to disengage from the through hole 12 of the rear ring 11 of the first hatch 9. The first hatch 9 rotates downward around the round tube profile under its own weight, and the support for OBN 18 is removed. When the second hatch 10 is opened in the same way, OBN 18 can be separated from the frame structure 8, that is, OBN 18 is released.

[0030] The underwater robot launching and disembarking unit is used to release the underwater robot 4 into the water, or to recover it to the deck of the surface ship 19. Figure 1 As shown, the underwater robot inlet and outlet unit in this embodiment includes a crane 15 arranged at the stern of a surface ship 19 and a cable winch 16 arranged on the surface ship 19. The crane 15 is connected to the lifting lug 7 of the OBN storage matrix 5 through a steel cable; the cable winch 16 is used to store the multifunctional cable 17. According to the working condition management, the crane 15 adaptively retracts and releases the steel cable, and the cable winch 16 adaptively retracts and releases the multifunctional cable 17 to normally tow the underwater robot 4 in the submerged state.

[0031] This embodiment also discloses a deep-sea node instrument deployment method, which is implemented by means of the deep-sea node instrument deployment device as described above, and specifically includes the following steps: S1. After the surface ship 19 sails to the target area, the underwater robot launching and discharging unit 2 and the underwater robot 4 loaded with OBN 18 are released into the water by the underwater robot launching and discharging unit; the computer control unit 1 controls the underwater robot 4 to dive to the specified water depth (a certain distance from the seabed), and when the heading and speed of the underwater robot 4 and the underwater power distribution unit 2 and the multifunctional cable 17 connected thereto tend to be stable, the quasi-construction state is entered; S2, before the underwater robot 4 sails to the first set deployment point, the computer control unit 1 analyzes the navigation data of the underwater robot 4, controls the first hatch to open in time, releases the first OBN 18, and makes the first OBN 18 slide along a parabolic trajectory to the first set deployment point; when the hatch is opened, the underwater robot 4 is in a navigation state with stable heading and speed; S3, before the underwater robot 4 sails to the set second deployment point, the computer control unit 1 analyzes the navigation data of the underwater robot 4, controls the second hatch to open in time, releases the second OBN 18, and makes the second OBN 18 slide along a parabolic trajectory to the set second deployment point; when the hatch is opened, the underwater robot 4 is in a navigation state with stable heading and speed; S4, and so on, the underwater robot 4 places all loaded OBN18s one by one at corresponding placement points in the submerged state; S5. Use the underwater robot's launching and disembarking unit to recover the underwater robot 4 and the underwater power transmission and distribution unit 2 to the deck of the surface ship 19. After the staff reloads OBN18 into the underwater robot 4, repeat steps S1 to S4 until the OBN18 deployment operation in the target area is completed.

[0032] To supplement, "timely control of hatch opening" in steps S2 to S4 means that the computer control unit 1 will open the hatch in advance to release OBN18 by analyzing the navigation data of the underwater robot 4, so that OBN18 can accurately slide to the set deployment point along a parabolic trajectory under the action of horizontal acceleration and its own weight.

[0033] In step S2 to step S4, the computer control unit 1 controls the hatch door to open in the following manner: the computer control unit 1 controls the electromagnetic lock 13 to power on, the output end of the electromagnetic lock 13 is actuated to pull the pull pin 14 upward, thereby canceling the restriction of the pull pin 14 on the hatch door, and the hatch door opens under the action of gravity.

[0034] It should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions described in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A deep-sea node instrument deployment device, characterized in that: It includes a computer control unit arranged on a surface ship, an underwater power transmission and distribution unit connected to the computer control unit and the surface ship power supply system through a multifunctional cable, and an underwater robot connected to the underwater power transmission and distribution unit; The underwater robot includes an OBN storage matrix, a plurality of thrusters mounted on the OBN storage matrix for realizing underwater navigation, and a plurality of sensors distributed on the OBN storage matrix for monitoring navigation status and underwater environment.

2. The deep-sea node instrument deployment device according to claim 1, characterized in that: The OBN storage matrix includes a plurality of OBN storage devices arranged in a matrix; The OBN storage device comprises a frame structure for accommodating the OBN, a hatch rotatably mounted on the bottom of the frame structure for supporting the OBN, and an electromagnetic lock assembly mounted on the frame structure for controlling the opening of the hatch.

3. The deep-sea node instrument deployment device according to claim 2 is characterized in that: The electromagnetic lock assembly comprises an electromagnetic lock fixed on the frame structure and a pull pin assembled on the output end of the electromagnetic lock for limiting the rotation of the cabin door.

4. The deep-sea node instrument deployment device according to any one of claims 1 to 3, characterized in that: The sensors distributed on the OBN storage matrix in the underwater robot include water depth sensors, speed sensors, acoustic positioning sensors and attitude sensors.

5. The deep-sea node instrument deployment device according to claim 4 is characterized in that: The underwater robot also includes a video probe arranged on the OBN storage matrix.

6. The deep-sea node instrument deployment device according to any one of claims 1 to 3 and 5, characterized in that: It also includes underwater robot water entry and exit units; The underwater robot's water entry and exit unit includes a crane arranged on the surface ship and a cable winch arranged on the surface ship for receiving a multifunctional cable; The crane is connected to the underwater robot via a steel cable.

7. A method for deploying deep-sea node instruments, characterized in that: The method is implemented by means of the deep-sea node instrument deployment device as claimed in claim 1, comprising the following steps: S1. After the surface ship sails to the target area, it releases the underwater power distribution unit and the underwater robot loaded with OBN into the water. The computer control unit controls the underwater robot to dive to the specified water depth. When the heading and speed tend to be stable, it enters the quasi-construction state; S2, before the underwater robot sails to the first set deployment point, the computer control unit controls the first hatch to open in time by analyzing the underwater robot's navigation data, releases the first OBN, and makes the first OBN slide to the first set deployment point by its own weight; S3, before the underwater robot sails to the set second deployment point, the computer control unit controls the second hatch to open in time by analyzing the underwater robot's navigation data, releases the second OBN, and makes the second OBN slide to the set second deployment point by its own weight; S4, and so on, placing all OBNs loaded in the underwater robot at corresponding placement points one by one; S5. Recover the underwater robot and the underwater power transmission and distribution unit to the deck of the surface ship, reload the OBN into the underwater robot, and repeat steps S1 to S4 until the OBN deployment operation in the target area is completed.

8. The deep sea node instrument deployment method according to claim 7, characterized in that: In step S1, the underwater robot launching and discharging unit is used to release the underwater power transmission and distribution unit and the underwater robot loaded with OBN into the water; In step S5, the underwater robot launching and disembarking unit is used to recover the underwater power transmission and distribution unit and the underwater robot to the deck of the surface ship.

9. The deep sea node instrument deployment method according to claim 8, characterized in that: In step S2 to step S4, the computer control unit controls the hatch door to open in the following manner: the computer control unit controls the electromagnetic lock to power on, the output end of the electromagnetic lock is actuated to pull the pull pin upward, thereby canceling the restriction of the pull pin on the hatch door, and the hatch door opens under the action of gravity.

10. The deep-sea node instrument deployment method according to any one of claims 7 to 9, characterized in that: When the computer control unit controls the hatch to open and release the OBN, the underwater robot is always in a submerged state.

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