Seabed node laying device and laying method based on wireless underwater robot

Abstract

The invention belongs to the technical field of marine seismic exploration, and discloses a submarine node laying device and laying method based on a wireless underwater robot. The seabed node laying device comprises a node laying control unit arranged on a node ship, a node matrix retracting and releasing unit arranged on the node ship, a node matrix used for filling an OBN and conveying the OBN to an underwater specified depth, and at least two wireless underwater robots used for carrying the OBN underwater and completing OBN laying. The node matrix is connected with the node laying control unit and a power supply system of the node ship through a multifunctional cable so as to realize data communication and power transmission; the node matrix is connected with the node matrix retracting and releasing unit through a steel cable so as to achieve underwater lifting and releasing of the node matrix. And the wireless underwater robot realizes data communication with the node matrix in a radio communication mode. By means of the device, the operation mode that double-node matrix alternate operation is adopted, and multiple wireless underwater robots throw nodes is adopted, and the OBN laying speed can be increased in a multiplied mode.

Description

Technical Field

[0001] The invention relates to the deployment of marine seismic exploration nodes, in particular to a seabed node deployment device and a deployment method based on a wireless underwater robot. 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., and then the surface ship carries a single OBN to dive to the deployment point, and 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] In order to solve the above deficiencies in the prior art, the present invention aims to provide a seabed node deployment device and deployment method based on a wireless underwater robot, so as to achieve the purpose of improving the OBN deployment accuracy and deployment speed.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is as follows: a seabed node deployment device based on a wireless underwater robot, comprising a node deployment control unit arranged on a marine seismic exploration node ship, a node matrix retracting and releasing unit arranged on a marine seismic exploration node ship, a node matrix for loading OBN and transporting it to a specified underwater depth, and at least two wireless underwater robots for underwater transfer of OBN and completion of OBN deployment; The node matrix is ​​connected to the node deployment control unit and the power system of the marine seismic exploration node ship through a multifunctional cable to achieve data communication and power transmission; the node matrix is ​​connected to the node matrix retracting unit through a steel cable to achieve the underwater hanging of the node matrix; The wireless underwater robot realizes data communication with the node matrix through radio communication.

[0006] As a limitation of the present invention, the node matrix includes a plurality of node cabins arranged in a matrix and a node matrix control module fixedly mounted on the uppermost node cabin; The node cabin includes a frame structure for accommodating the OBN, a door rotatably mounted at 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 door; The node matrix control module is electrically connected to the electromagnetic lock assembly, and is connected to the node deployment control unit and the power supply system of the marine seismic exploration node ship through a multifunctional cable.

[0007] As a further limitation of the present invention, a transmitter for wireless charging is provided on the hatch of the lowest node cabin, and the transmitter is electrically connected to the node matrix control module; A receiving end is provided on the top of the wireless underwater robot for docking with the transmitting end to complete wireless charging, and the receiving end is electrically connected to the power module of the wireless underwater robot.

[0008] As another limitation of the present invention, the wireless underwater robot includes a node storage cabin, a plurality of thrusters mounted on the node storage cabin for achieving underwater navigation, and a node release robotic arm mounted on the bottom of the node storage cabin for supporting the OBN.

[0009] As a further limitation of the present invention, the wireless underwater robot also includes a water depth sensor, a speed sensor, an acoustic positioning sensor, a posture sensor, a video probe, and a robot control module distributed on the node storage compartment; The robot control module realizes data communication with the node matrix through radio communication; and the robot control module is electrically connected with the thruster, the node release mechanical arm, the water depth sensor, the speed sensor, the acoustic positioning sensor, the attitude sensor and the video probe respectively.

[0010] As a further limitation of the present invention, the wireless underwater robot also includes a tail robotic arm mounted on the node storage compartment, and the tail robotic arm is electrically connected to the robot control module.

[0011] As a further limitation of the present invention, the wireless underwater robot also includes a sensing sensor for sensing whether the OBN enters the node storage compartment.

[0012] The present invention also discloses a method for placing seabed nodes based on a wireless underwater robot. The method is implemented by means of the seabed node placing device based on the wireless underwater robot as described above, and comprises the following steps: S1. After the marine seismic exploration node ship sails to the target area, the node matrix loaded with OBN is hoisted to the specified water depth using the node matrix retracting and releasing unit; the wireless underwater robot is hung on the node matrix and released to the operating depth together, entering the quasi-construction state; S2, the node placement control unit controls the wireless underwater robot to sail to the bottom of the node matrix and docks under the corresponding node cabin; the node placement control unit controls the hatch of the node cabin to open, and the OBN falls into the wireless underwater robot by its own weight; S3, the node deployment control unit controls the wireless underwater robot to leave the node matrix, sail to the first set deployment point and then release the OBN; S4, when the wireless underwater robot is detached from the node matrix, the node deployment control unit controls another wireless underwater robot to sail to the bottom of the node matrix and dock under the corresponding node cabin, repeating steps S2 and S3 to release the OBN at the second deployment point; S5, and so on, after the wireless underwater robot deploys all the OBNs loaded in the node matrix at the corresponding deployment points one by one, the node matrix retracting and deploying unit recycles the node matrix to the deck of the marine seismic exploration node ship, reloads the OBNs and then drops it to the specified water depth, repeating steps S2 to S4 until the OBN deployment operation in the target area is completed.

[0013] As a limitation of the present invention, the method adopts a dual-node matrix rotation operation mode: when the first node matrix is ​​operating underwater, the other node matrix is ​​on standby on the deck; when the first node matrix is ​​about to release all the loaded OBNs, the node matrix retraction unit hoists the other node matrix to the corresponding position underwater; when the first node matrix has released all the loaded OBNs, the first node matrix is ​​recovered by the node matrix retraction unit to the deck to reload the OBNs, and the other node matrix takes over to provide OBNs for the wireless underwater robot.

[0014] As another limitation of the present invention, when the wireless underwater robot is docked under the corresponding node cabin, the receiving end of the wireless underwater robot will be connected to the transmitting end of the adjacent node cabin door to wirelessly charge the wireless underwater robot.

[0015] Due to the adoption of the above technical solution, the present invention has the following beneficial effects compared with the prior art: (1) The present invention adopts a dual-node matrix rotation operation and multiple wireless underwater robots to deploy nodes. The dual-node matrix can ensure the continuous supply of OBN to the wireless underwater robot by alternately launching and disembarking OBN, without the need to frequently travel between the deep sea and the deck, thereby ensuring the continuity of the deployment operation. Multiple wireless underwater robots operate simultaneously, so that the marine seismic exploration node ship can complete the deployment of multiple survey line nodes in one voyage. Compared with the existing "insert" operation mode, the present invention can multiply the deployment speed of OBN.

[0016] (2) The wireless underwater robot in the present invention uses radio communication to perform relative positioning and data communication with the node matrix, and the node matrix communicates in real time with the node deployment control unit on the marine seismic exploration node ship through a multifunctional cable, forming a communication data link. The node deployment control unit receives navigation data, processes underwater data, executes the electronic task book of OBN deployment operation, and automatically controls OBN deployment, which can effectively ensure the point accuracy of OBN deployment. 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 This is a front view of the structural relationship of the submarine node deployment device in an embodiment of the present invention; Figure 2 It is a front view of the structural relationship of transferring OBN from the node matrix to the wireless underwater robot in an embodiment of the present invention; Figure 3 It is a schematic diagram of the structure of the node cabin door in a closed state according to an embodiment of the present invention; Figure 4 It is a schematic diagram of the structure of the node module in an open state in an embodiment of the present invention; Figure 5 It is a front view of the structural relationship of the wireless underwater robot in the embodiment of the present invention; Figure 6 It is a front view of the structural relationship when the wireless underwater robot releases the OBN in an embodiment of the present invention; In the figure: 1. Marine seismic exploration node ship; 2. Node deployment control unit; 3. Node matrix retracting and releasing unit; 4. Node matrix; 5. Wireless underwater robot; 6. OBN; 7. Steel cable; 8. Multifunctional cable; 9. Cable winch; 10. Node cabin; 11. Node matrix control module; 12. Lifting lug; 13. Frame structure; 14. First hatch; 15. Second hatch; 16. Ring; 17. Through hole; 18. Electromagnetic lock; 19. Pull pin; 20. Node storage cabin; 21. Front and rear thrusters; 22. Left and right vector thrusters; 23. Pitch vector thrusters; 24. Node release robotic arm; 25. Tail robotic arm; 26. Receiving end. 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 seabed node deployment device based on a wireless underwater robot, which transports seabed nodes (OBN 6) in batches to a specified underwater depth through a node matrix 4, realizes power transmission and data communication through a multi-function cable 8, and implements single-ship multi-survey line seabed node deployment through at least two wireless underwater robots 5, that is, continuously transfers seabed nodes from the node matrix 4, and deploys multiple seabed nodes on the seabed according to predetermined positions under the automatic control of a node deployment control unit 2, forming a seabed node arrangement, thereby realizing seismic exploration information collection.

[0021] It should be noted that this embodiment needs to be installed on the marine seismic exploration node ship 1 to carry out OBN6 deployment operations. The marine seismic exploration node ship 1 generally adopts a ship with dynamic positioning function and automatic driving function. The deck of the marine seismic exploration node ship 1 can provide an installation position for this embodiment, and the power supply system can meet the power supply of this embodiment.

[0022] like Figure 1 As shown, the seabed node deployment device based on a wireless underwater robot disclosed in this embodiment includes a node deployment control unit 2, a node matrix retracting and releasing unit 3, a node matrix 4 and at least two wireless underwater robots 5.

[0023] The node deployment control unit 2 is arranged on the deck of the marine seismic exploration node ship 1. It is a commercial computer in the prior art. It can accept the node deployment task book compiled as required, control the diving trajectory of the wireless underwater robot 5 and the deployment of OBN6 according to the node deployment task book, and can obtain the data transmitted from underwater through the interface, process the data, and automatically generate a node deployment results report.

[0024] The node matrix retracting unit 3 is used to release the node matrix 4 into the water, or to recover it to the deck of the marine seismic exploration node ship 1. Figure 1 As shown, the node matrix retracting and releasing unit 3 in this embodiment includes a crane arranged at the stern of the marine seismic exploration node ship 1, and the crane is connected to the node matrix 4 through a steel cable 7 (the node matrix 4 is provided with a lifting lug 12 for connecting the steel cable 7, which will be described in detail below). When performing the OBN6 deployment operation, the node matrix retracting and releasing unit 3 suspends the node matrix 4 to a specified underwater depth through the steel cable 7, and always tows the node matrix 4. When all the loaded OBN6 are released, the node matrix retracting and releasing unit 3 recycles the node matrix 4 to the deck of the marine seismic exploration node ship 1 through the steel cable 7.

[0025] The node matrix 4 is used to load multiple OBN6 and transport them to a specified depth underwater, transfer the OBN6 to the wireless underwater robot 5 one by one in a timely manner according to the set sequence, and provide charging for the wireless underwater robot 5 and establish data communication with it. Figure 2 As shown, the node matrix 4 includes a plurality of node cabins 10 arranged in a matrix and a node matrix control module 11 fixed on the top node cabin 10. There is a lifting lug 12 on each side of the top node cabin 10 for fixing the steel cable 7 to achieve connection with the crane; a transmitter for wireless charging is provided on the door of the bottom node cabin 10, and the transmitter is composed of an electromagnetic coil, which is an existing structure.

[0026] like Figure 3 and Figure 4 As shown, the node cabin 10 includes a frame structure 13 for accommodating OBN 6, a door rotatably mounted on the bottom of the frame structure 13 to support OBN 6, and an electromagnetic lock assembly mounted on the frame structure 13 to control the opening of the door.

[0027] Specifically, the frame structure 13 is welded by square tube profiles and round tube profiles. The hatch includes a first hatch 14 and a second hatch 15 that are arranged opposite to each other. The first hatch 14 and the second hatch 15 have the same structure and are both provided with a ring 16 at the tail. The ring 16 is sleeved on the round tube profile at the bottom of the frame structure 13 to achieve rotational assembly on the frame structure 13. In this embodiment, the tail rings 16 of the first hatch 14 and the second hatch 15 are both provided with through holes 17 for cooperating with the electromagnetic lock assembly to achieve positioning. The electromagnetic lock assembly includes an electromagnetic lock 18 fixedly mounted on the frame structure 13 and a pull pin 19 assembled on the output end of the electromagnetic lock 18 for limiting the rotation of the hatch. The electromagnetic lock 18 is electrically connected to the node matrix control module 11. In this embodiment, the first hatch 14 and the second hatch 15 correspond to a set of electromagnetic lock assemblies respectively.

[0028] Take the first hatch 14 as an example: Figure 3 As shown, in the power-off state, the output end of the electromagnetic lock 18 extends out, and the free end of the pull pin 19 is placed in the through hole 17 of the rear ring 16 of the first hatch 14. The pull pin 19 cooperates with the through hole 17 to limit the first hatch 14 to a horizontal state for lifting OBN6; Figure 4 As shown, after power is turned on, the output end of the electromagnetic lock 18 retracts, and the free end of the pull pin 19 moves upward to disengage from the through hole 17 of the tail ring 16 of the first hatch 14. The first hatch 14 rotates downward around the round tube profile under its own weight, and the support for OBN 6 is removed. When the second hatch 15 is opened in the same way, OBN 6 can be separated from the frame structure 13, that is, OBN 6 is released, so that OBN 6 falls into the wireless underwater robot 5 below by its own weight.

[0029] It should be noted that the present embodiment is not limited to controlling the hatch door only through the electromagnetic lock assembly, and any other controllable hatch door in any structural form is also applicable to the present embodiment, which aims to control the hatch door so that OBN6 can fall by gravity.

[0030] The node matrix control module 11 is electrically connected to the node deployment control unit 2 via a multi-functional cable 8, and is used to realize data communication between the node deployment control unit 2 and the wireless underwater robot 5. At the same time, the node matrix control module 11 is also connected to the power supply system of the marine seismic exploration node ship 1 via the multi-functional cable 8, and is used to transmit the power of the marine seismic exploration node ship 1 to the electromagnetic lock 18, and transmit it to the wireless underwater robot 5 through the transmitter on the hatch of the lowest node cabin 10.

[0031] In this embodiment, a cable winch 9 is arranged on the marine seismic exploration node ship 1 to receive the multifunctional cable 8. According to the working condition management, the cable winch 9 adaptively retracts and releases the multifunctional cable 8 to adapt to the launching depth of the node matrix 4.

[0032] The wireless underwater robot 5 is used to receive the OBN 6 released by the node matrix 4 underwater, and deploy the OBN 6 one by one according to the set deployment points, so as to finally form a seabed node arrangement. Figure 5 and Figure 6As shown, the wireless underwater robot 5 includes a node storage tank 20, multiple thrusters, multiple sensors, a video probe, a robot control module, a node release mechanical arm 24 and a tail mechanical arm 25. Among them, multiple thrusters are assembled on the outside of the node storage tank 20, including front and rear thrusters 21, left and right vector thrusters 22 and pitch vector thrusters 23, which are used to realize the underwater navigation of the wireless underwater robot 5. The video probe and multiple sensors are distributed on the node storage tank 20. The video probe is used to collect real-life data of the deployment point. The multiple sensors include but are not limited to water depth sensors, speed sensors, acoustic positioning sensors and attitude sensors, which are used to monitor the navigation status of the wireless underwater robot 5 and perceive the underwater environment. The robot control module is electrically connected to the above-mentioned thrusters, water depth sensors, speed sensors, acoustic positioning sensors, attitude sensors and video probes respectively, controls the thrusters, and receives data information obtained by the sensors and video probes. The robot control module is also electrically connected to the node matrix control module 11 through radio communication, and the node matrix control module 11 is used as a medium to realize data communication between the robot control module and the node deployment control unit 2. The node release robot arm 24 is assembled at the bottom of the node storage compartment 20 and is electrically connected to the robot control module. Under the control of the robot control module, the OBN6 is supported to confine it in the node storage compartment 20, or the OBN6 is released from the node storage compartment 20; the tail robot arm is assembled at the tail of the node storage compartment 20, and is also electrically connected to the robot control module. In special cases where the "flying seeding" operation mode is not applicable, such as when it is necessary to deploy OBN6 on the seabed covered with optical cables / electric cables, the tail robot arm 25 is used to cooperate with the node release robot arm 24 to perform "insertion-type" operations on OBN6.

[0033] It should be specially explained that the wireless underwater robot 5 in this embodiment is provided with a receiving terminal 26 for wireless charging at the top, and the receiving terminal 26 is electrically connected to the power module of the wireless underwater robot 5. The receiving terminal 26 is composed of an electromagnetic coil, which is a prior art. When the wireless underwater robot 5 is at the docking position of the node matrix 4 above the bottom, the receiving terminal 26 is correctly fitted with the transmitting terminal set on the hatch of the node cabin 10 at the bottom of the node matrix 4. On the one hand, it can supplement the power of the wireless underwater robot 5 by wireless charging to achieve a long-endurance working state. On the other hand, it can automatically adjust the orientation deviation of the wireless robot through the magnetic structure of the transmitting terminal and the receiving terminal 26 to ensure that it is accurately docked with the node matrix 4.

[0034] In this embodiment, a sensing sensor is further provided at the entrance of the node storage compartment 20, and the sensing sensor is electrically connected to the robot control module for sensing whether OBN6 has accurately entered the compartment.

[0035] This embodiment also discloses a method for deploying seabed nodes based on a wireless underwater robot. The method is implemented by means of the seabed node deployment device based on the wireless underwater robot as described above, and specifically includes the following steps: S1. After the marine seismic exploration node ship 1 sails to the target area, the node matrix 4 loaded with OBN6 is suspended and lowered to the specified water depth using the node matrix retracting and releasing unit 3. Since the wireless underwater robot 5 is generally a dual-machine operation, this embodiment is equipped with two wireless underwater robots 5, which are docked on the node matrix 4 and released together to the operating depth to enter the quasi-construction state; In this embodiment, one of the wireless underwater robots 5 is defined as “No. 1 wireless underwater robot 5 ”, and the other wireless underwater robot 5 is defined as “No. 2 wireless underwater robot 5 ”; S2. According to the node deployment task book, the node deployment control unit 2 controls the No. 1 wireless underwater robot 5 to sail to the bottom of the node matrix 4 and dock to the bottom of the corresponding node cabin 10. At the same time, the receiving end 26 of the No. 1 wireless underwater robot 5 will be connected to the transmitting end of the hatch of the adjacent node cabin 10 to wirelessly charge the No. 1 wireless underwater robot 5; when the No. 1 wireless underwater robot 5 is docked and confirmed, the node deployment control unit 2 controls the hatch of the corresponding node cabin 10 to open, and the OBN6 falls into the node storage cabin 20 of the No. 1 wireless underwater robot 5 by its own weight, and triggers the perception sensor; S3. After the sensing sensor confirms that OBN6 has entered the cabin, the node deployment control unit 2 controls the No. 1 wireless underwater robot 5 to detach from the node matrix 4 and sail to the first deployment point; the node deployment control unit 2 analyzes the navigation data of the No. 1 wireless underwater robot 5, and before sailing to the set first deployment point, timely controls the node release mechanical arm 24 to open and release the first OBN6, so that the first OBN6 slides along a parabolic trajectory to the set first deployment point; then the No. 1 wireless underwater robot 5 returns to the bottom of the node matrix 4 and re-docking the node cabin 10; S4, when the No. 1 wireless underwater robot 5 is detached from the node matrix 4, the node deployment control unit 2 controls the No. 2 wireless underwater robot 5 to sail to the bottom of the node matrix 4 and dock under the corresponding node cabin 10. At the same time, the receiving end 26 of the No. 2 wireless underwater robot 5 will be connected to the transmitting end of the hatch of the adjacent node cabin 10 to wirelessly charge the No. 2 wireless underwater robot 5; when the No. 2 wireless underwater robot 5 is docked and confirmed, the node deployment control unit 2 controls the hatch of the corresponding node cabin 10 to open, and OBN6 falls into the node storage cabin 20 of the No. 2 wireless underwater robot 5 by its own weight, and triggers the perception sensor; Then repeat the same operation as step S3, release the second OBN6 in time, and make the second OBN6 slide along the parabolic trajectory to the set second deployment point; then the No. 2 wireless underwater robot 5 returns; In this embodiment, the No. 1 wireless underwater robot 5 and the No. 2 wireless underwater robot 5 are operated independently, and receive nodes on the node matrix 4 respectively, and then release at the predetermined deployment point; S5, and so on, after the wireless underwater robot No. 1 5 and the wireless underwater robot No. 2 5 deploy all the OBN6 loaded in the node matrix 4 at the corresponding deployment points one by one, the node matrix retracting unit 3 recovers the node matrix 4 to the deck of the marine seismic exploration node ship 1, reloads the OBN6 and then drops it to the specified water depth, repeating steps S2 to S4 until the OBN6 deployment operation in the target area is completed.

[0036] To supplement, "timely control the node release robot arm 24 to open" in step S3 and step S4 means that the node deployment control unit 2 will open the node release robot arm 24 in advance to release OBN6 by analyzing the navigation data of the wireless underwater robot 5, so that OBN6 can accurately slide along the parabolic trajectory to the set deployment point under the action of horizontal acceleration and its own weight.

[0037] In step S2 and step S4, the node deployment control unit 2 controls the node cabin 10 door to open in the following manner: the node deployment control unit 2 controls the electromagnetic lock 18 to power on, the output end of the electromagnetic lock 18 is actuated to pull the pull pin 19 upward, thereby canceling the limitation of the pull pin 19 on the cabin door, and the cabin door opens under the action of gravity.

[0038] The seabed node deployment method based on a wireless underwater robot disclosed in this embodiment adopts a dual-node matrix 4 rotating operation mode: when the first node matrix 4 is operating underwater, the other node matrix 4 is on standby on the deck; when the first node matrix 4 is about to release all the loaded OBN6, the node matrix retracting unit 3 hoists the other node matrix 4 to the corresponding position underwater; when the first node matrix 4 releases all the loaded OBN6, the first node matrix 4 is recovered by the node matrix retracting unit 3 to the deck to reload OBN6, and the other node matrix 4 takes over to provide OBN6 for the wireless underwater robot 5.

[0039] 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 seabed node deployment device based on a wireless underwater robot, characterized in that: It includes a node deployment control unit arranged on a marine seismic exploration node ship, a node matrix retracting and releasing unit arranged on a marine seismic exploration node ship, a node matrix for loading OBN and transporting it to a specified underwater depth, and at least two wireless underwater robots for underwater transfer of OBN and completion of OBN deployment; The node matrix is ​​connected to the node deployment control unit and the power system of the marine seismic exploration node ship through a multifunctional cable to achieve data communication and power transmission; the node matrix is ​​connected to the node matrix retracting unit through a steel cable to achieve the underwater hanging of the node matrix; The wireless underwater robot realizes data communication with the node matrix through radio communication.

2. The seabed node deployment device based on a wireless underwater robot according to claim 1 is characterized in that: The node matrix includes a plurality of node cabins arranged in a matrix and a node matrix control module fixed on the uppermost node cabin; The node cabin includes a frame structure for accommodating the OBN, a door rotatably mounted at 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 door; The node matrix control module is electrically connected to the electromagnetic lock assembly, and is connected to the node deployment control unit and the power supply system of the marine seismic exploration node ship through a multifunctional cable.

3. The seabed node deployment device based on a wireless underwater robot according to claim 2 is characterized in that: A transmitter for wireless charging is provided on the hatch of the lowest node cabin, and the transmitter is electrically connected to the node matrix control module; A receiving end is provided on the top of the wireless underwater robot for docking with the transmitting end to complete wireless charging, and the receiving end is electrically connected to the power module of the wireless underwater robot.

4. The seabed node deployment device based on a wireless underwater robot according to any one of claims 1 to 3, characterized in that: The wireless underwater robot comprises a node storage cabin, a plurality of thrusters mounted on the node storage cabin for realizing underwater diving, and a node releasing mechanical arm mounted on the bottom of the node storage cabin for supporting the OBN.

5. The seabed node deployment device based on a wireless underwater robot according to claim 4 is characterized in that: The wireless underwater robot also includes a water depth sensor, a speed sensor, an acoustic positioning sensor, a posture sensor, a video probe and a robot control module distributed on the node storage compartment; The robot control module realizes data communication with the node matrix through radio communication; and the robot control module is electrically connected with the thruster, the node release mechanical arm, the water depth sensor, the speed sensor, the acoustic positioning sensor, the attitude sensor and the video probe respectively.

6. The seabed node deployment device based on a wireless underwater robot according to claim 5 is characterized in that: The wireless underwater robot also includes a tail mechanical arm assembled on the node storage compartment, and the tail mechanical arm is electrically connected to the robot control module.

7. The seabed node deployment device based on a wireless underwater robot according to claim 6 is characterized in that: The wireless underwater robot also includes a sensing sensor for sensing whether the OBN enters the node storage compartment.

8. A method for deploying seabed nodes based on a wireless underwater robot, characterized in that: The method is implemented by means of the seabed node deployment device based on the wireless underwater robot as claimed in claim 1, comprising the following steps: S1. After the marine seismic exploration node ship sails to the target area, the node matrix loaded with OBN is hoisted to the specified water depth using the node matrix retracting and releasing unit; the wireless underwater robot is hung on the node matrix and released to the operating depth together, entering the quasi-construction state; S2, the node placement control unit controls the wireless underwater robot to sail to the bottom of the node matrix and docks under the corresponding node cabin; the node placement control unit controls the hatch of the node cabin to open, and the OBN falls into the wireless underwater robot by its own weight; S3, the node deployment control unit controls the wireless underwater robot to leave the node matrix, sail to the first set deployment point and then release the OBN; S4, when the wireless underwater robot is detached from the node matrix, the node deployment control unit controls another wireless underwater robot to sail to the bottom of the node matrix and dock under the corresponding node cabin, repeating steps S2 and S3 to release the OBN at the second deployment point; S5, and so on, after the wireless underwater robot deploys all the OBNs loaded in the node matrix at the corresponding deployment points one by one, the node matrix retracting and deploying unit recycles the node matrix to the deck of the marine seismic exploration node ship, reloads the OBNs and then drops it to the specified water depth, repeating steps S2 to S4 until the OBN deployment operation in the target area is completed.

9. The method for deploying seabed nodes based on a wireless underwater robot according to claim 8, characterized in that: The method adopts a dual-node matrix rotation operation mode: when the first node matrix is ​​operating underwater, the other node matrix is ​​on standby on the deck; when the first node matrix is ​​about to release all the loaded OBNs, the node matrix retracting and releasing unit will hoist the other node matrix to the corresponding position underwater; When the first node matrix releases all loaded OBNs, the first node matrix is ​​recovered by the node matrix retracting unit to the deck to reload OBNs, and another node matrix takes over to provide OBNs for the wireless underwater robot.

10. The method for deploying seabed nodes based on a wireless underwater robot according to claim 8 or 9, characterized in that: When the wireless underwater robot is docked under the corresponding node cabin, the receiving end of the wireless underwater robot will be connected to the transmitting end of the adjacent node cabin door to wirelessly charge the wireless underwater robot.

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