An adaptive seabed foundation

Abstract

The invention relates to the technical field of fixed-point ocean observation, and in particular to an adaptive seabed base, which comprises a seabed base box, a gravity anchor and a release cable. The seabed base box is connected to the gravity anchor by a release cable, and a controller, a tension sensor, a controlled winch, an acoustic communicator and a release device are arranged in the seabed base box; the controller uses a signal cable to connect the tension sensor, the controlled winch, the acoustic communicator and the release device; the controller reads tension sensor data, controls the controlled winch to adjust the length of the release cable, adapts to the thickness of sediment and its change, so that the upper part of the seabed base box is suspended in seawater and can receive hydroacoustic signals, and the lower part of the seabed base box is located in a soft sediment layer, and the seabed base box will not be dragged away by a trawl, so that the seabed base can be normally recovered, and the problem that the length of the existing seabed base release cable cannot adapt to the thickness of sediment at a deployment point, which may cause the loss of the seabed base, is solved, and deployment time and deployment expenses are saved.

Description

Technical Field

[0001] The invention relates to the technical field of fixed-point ocean observation, in particular to an adaptive seabed base. Background Art

[0002] The seabed base is an observation device that works continuously on the seabed for a long time. It carries various self-contained detection instruments. After being deployed on the seabed, the instruments conduct long-term continuous observations of ocean elements, especially long-term measurements of ocean dynamic parameters, and obtain long-term comprehensive underwater observation data. The seabed base is of great significance for the study of ocean physics, chemistry, biology and geological characteristics. The seabed base is often affected by complex seabed factors when it is lowered to the seabed for observation and data collection.

[0003] When the seabed base is sunk to the seabed for observation, the seabed sediments are easily rolled up and gradually covered by the seabed base due to the effects of tides, internal waves and seabed currents. Especially when the seawater is greatly disturbed by typhoons or earthquake waves, the thickness of the seabed sediments changes, which may bury the seabed base. At this time, the seabed base cannot receive the external acoustic release and floating instructions, resulting in the inability to recover the data and the loss of the seabed base. The seabed base box may also be suspended in the seawater without touching the seabed, and it is easy to be dragged away by fishing nets and lost, eventually causing property loss. Existing technologies such as CN201610041742.8 disclose a new type of fully automatic seabed foundation, including a disc seat, a float, a releaser and a control system. The float is arranged in a receiving chamber and fixed by a releaser and connected to the receiving chamber through a rope. The releaser is connected to the control system. A cover and a driving device are arranged on the disc seat. A desilting device is arranged below the disc seat. A detection element is arranged on the cover or the disc seat. The detection element is connected to the control system. The control system sends a driving signal to separate the cover from the seabed silt layer to the desilting device. After the detection element detects that the cover is separated from the seabed silt layer, it sends a detection signal to the control system. After receiving the detection signal, the control system sends an opening and closing signal to open the cover to the drive device. The drive device opens the cover. The control system sends a release signal to release the float to the releaser, and the releaser releases the float. CN105675254B and CN105730653B study the technology of preventing silt coverage of seabed foundation.

[0004] The commonly used basic structure of the seabed base is that one end of a fixed-length release cable is connected to the acoustic releaser in the seabed base box, and the other end is fixedly connected to the gravity anchor (counterweight). After the acoustic releaser releases the release cable and the gravity anchor, the seabed base box floats up and is recovered under the action of positive net buoyancy. The length of the fixed-length release cable is estimated, not determined after measuring the sediment thickness at the deployment site. Due to the disturbance of the ocean current, the deployment position has a certain deviation. It is not easy to accurately measure the sediment thickness and thus accurately design the length of the release cable. In the work of deploying the seabed base, the seabed base is often buried and lost due to the short release cable, or the seabed base is towed away and lost due to the long release cable. Therefore, some people believe that the seabed base cannot be deployed on the sediment. Researching a seabed base with a release cable whose length is adaptive to the thickness of the soft sediment layer on the seabed to reduce the possibility of losing the seabed base and the probability of losing ocean observation instruments can solve this technical problem.

[0005] In addition, the existing seabed base includes both an acoustic communicator and an acoustic releaser. The acoustic communicator can be used to recover observation data without recovering the seabed base. The acoustic releaser includes an acoustic communicator part and a release device part. The acoustic communicator part receives the release command from the deck unit of the mother ship. The acoustic communicator and the acoustic releaser work independently. Obviously, the acoustic communication parts of the acoustic communicator and the acoustic releaser are repeatedly configured, which increases the cost of the seabed base. Summary of the invention

[0006] The purpose of the present invention is to provide an adaptive seabed base, in which the length of the release cable can adapt to the change in the thickness of the soft sediment layer, so that the lower part of the seabed base box is always located in the soft sediment layer, so that the seabed base box will not be dragged away by the fishing net; at the same time, the upper part of the seabed base box is suspended in the seawater, and the acoustic communication device on the top of the seabed base box can receive the hydroacoustic signal, so that the seabed base can be recovered normally.

[0007] The technical solution adopted by the present invention is: an adaptive seabed base includes a seabed base box, a gravity anchor and a release cable, the seabed base box uses the release cable to connect the gravity anchor, the seabed base box is provided with a controller, a tension sensor, a signal cable, a controlled winch, an acoustic communicator, and a release device, and the controller uses the signal cable to connect the tension sensor, the controlled winch, the acoustic communicator and the release device;

[0008] The controller collects the tension on the release cable detected by the tension sensor, and determines whether the tension on the release cable falls within a set threshold range, the threshold range being determined by a lower threshold limit and an upper threshold limit. If the tension is greater than the upper threshold limit, the controller sends a control instruction to the controlled winch to release the brake, and starts the motor to release the release cable until the tension returns to the threshold range; if the tension is less than the lower threshold limit, the controller sends a control instruction to the controlled winch to release the brake, and retract the release cable until the tension returns to the threshold range, to ensure that the upper part of the seabed base box is completely in seawater.

[0009] Specifically, the principle is as follows: the controller, tension sensor, and controlled winch work together to adjust the length of the release cable. The partition divides the seabed into the upper part of the seabed base box and the lower part of the seabed base box. The best working state is that the upper part of the seabed base box is suspended in the seawater, and the lower part of the seabed base box is located in the soft sediment layer. The partition serves as a decomposition surface. At this time, the tension on the release cable is set to the threshold. Because the density of the soft sediment layer is greater than the density of seawater, when the upper part of the seabed base box enters the soft sediment layer, the controller collects the tension on the release cable detected by the tension sensor. When the tension on the release cable exceeds the threshold, the controller sends a control command to the controlled winch to release the release cable, and the tension on the release cable is equal to the threshold again. The upper part of the seabed base box returns to the seawater so that it can receive the hydroacoustic signal. Because the density of the soft sediment layer is greater than the density of seawater, when the lower part of the seabed base box enters the seawater, the controller collects the tension of the release cable detected by the tension sensor. If the tension of the release cable is less than the threshold, the controller sends a control command to the controlled winch to retract the release cable, so that the tension of the release cable equals the threshold again, and the lower part of the seabed base box returns to the soft sediment layer completely.

[0010] The controlled winch includes a motor, a planetary reducer, a rotating shaft, a cable drum, and a brake. The motor output shaft is connected to the input shaft of the planetary reducer; the output shaft of the planetary reducer is connected to the rotating shaft, the rotating shaft is rigidly connected to the cable drum, and the brake key is connected to the rotating shaft.

[0011] The release device includes a frame, a suction cup electromagnet, a disc, a triangular stopper, a small spring, a connecting rod, a large spring, a cylindrical pin and the signal cable. The frame is threadedly connected to the partition, the suction cup electromagnet is bolted to the frame, the suction cup electromagnet is connected to the controller using the signal cable, the triangular stopper is welded at one end of the connecting rod, the small spring is sleeved on the connecting rod, the connecting rod passes through the frame and is threadedly connected to the disc, and the large spring sleeved on the cylindrical pin penetrates into the connecting hole of the frame and the connecting circle formed by the release cable.

[0012] The suction cup electromagnet includes a shell, a seal, a magnetic core, a coil, and an object to be sucked. The coil is arranged in the shell, the magnetic core is arranged in the coil, the seal is arranged between the magnetic core and the shell, and the magnetic field generated by the coil forms a magnetic path among the magnetic core, the object to be sucked and the shell.

[0013] The gravity anchor comprises a reinforced concrete block and a barb, wherein the barb is welded below the reinforced concrete block; a lifting ring is arranged at the center of the gravity anchor, and the release cable is fixedly connected to the lifting ring.

[0014] The boss bolts at the lower part of the box body are connected to the mud-proof bottom plate, and a plastic pressing plate is arranged below the mud-proof bottom plate. The plastic pressing plate is fixedly connected to the mud-proof bottom plate by bolts.

[0015] An open-slit elastic body is fixedly installed above the plastic pressing plate, and the release cable passes through the open-slit elastic body and the cable threading hole on the plastic pressing plate and is fixedly connected to the lifting ring arranged at the center of the gravity anchor.

[0016] The plastic pressing plate is provided with a breaking groove, and the breaking groove is arranged around the cable threading hole.

[0017] The present invention also provides the above-mentioned adaptive control method of the adaptive seabed base, which comprises the following steps:

[0018] (1) The program starts and the controller is initialized;

[0019] (2) The controller starts the tension sensor to measure data;

[0020] (3) The controller collects and stores data.

[0021] (4) If no recovery command is received and the tension is greater than 1.01F0, the brake is released and the starter motor releases the release cable until the tension F is less than or equal to 1.01F0; if no recovery command is received and the tension is less than 0.99F0, the brake is released and the starter motor retracts the release cable until the tension is greater than or equal to 0.99F0, and then the program goes to the next step;

[0022] (5) Apply the brake; return to step 3.

[0023] (6) If a recovery command is received, the observation instrument is turned off, the electromagnet is energized, the release device operates, and the gravity anchor is released.

[0024] Preferably, the method further includes the following steps for measuring the data time interval after step (2):

[0025] (2)-1: Set parameters, T = t0, N = 1, M = m0; T is the delay variable, t0 is the time of one delay period, set by the user, with a default value of 60 seconds; N is the time counter for setting the length of the release cable, with an initial value of 1, M is the delay multiple, and m0 is the initial value set by the user, with a default value of 480, that is, the release cable is adjusted 3 times a day. When selecting the number of adjustments, it is necessary to calculate and check the power of the motor - equipped battery;

[0026] Meanwhile, after step (3), the following steps are further included:

[0027] (3)-1: The controller does not receive the recovery instruction; N = N + 1; the counter is incremented by 1, and the sleep delay is t0; if N < M, the program returns to step (2)-1; if N >= M, the program proceeds to the next step, i.e., step (4).

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] First of all, the adaptive seabed base of the present invention includes a controller, a tension sensor, and a controlled winch. The controller reads the value of the tension sensor at regular intervals and controls the motor of the controlled winch to adjust the length of the release cable to adapt to the change of sediment, so as to ensure that the lower part of the seabed base box is located in the soft sediment layer and the seabed base box will not be dragged away by the trawl net; at the same time, the upper part of the seabed base box is suspended in seawater, and the acoustic communication machine on the top of the seabed base box can receive underwater acoustic signals, enabling the seabed base to be recovered normally. It overcomes the technical prejudice that some people think the seabed base system cannot be deployed in the sea area with thick soft sediment layers, and enriches the seabed base products.

[0030] Furthermore, the adaptive seabed base of the present invention includes an intelligent subsystem composed of a controller, an acoustic communication machine, and a release device to achieve the acoustic release function; the acoustic communication machine transmits all the observation data of the seabed base stored in the controller. It solves the problem of the redundant configuration of the acoustic communication part of the acoustic release device and the acoustic communication machine in the existing seabed base, and reduces the cost of the seabed base.

[0031] In addition, the adaptive seabed base of the present invention can also construct the controller, sensor, and actuator into an intelligent subsystem, and construct the seabed base into a modular intelligent observation platform. By continuously improving the algorithm during the sea trial, after a certain stage of algorithm accumulation and optimization, the seabed base system gradually evolves into a fixed - point observation intelligent system, saving the deployment time and scientific research funds, and reducing the observation cost per unit of data. It solves the problem that the existing seabed base is a simple combination of multiple instruments without a controller, and each instrument cannot cooperate with each other to adapt to environmental changes to complete the observation task. Brief Description of the Drawings

[0032] Figure 1 It is a schematic diagram of the structure of an adaptive seabed base;

[0033] Figure 2 It is a schematic diagram of the controlled winch structure;

[0034] Figure 3 is a schematic diagram of the release device structure;

[0035] Figure 4 It is a schematic diagram of the structure of a suction cup type electromagnet;

[0036] Figure 5 It is a schematic diagram of the structure of the plastic pressing plate;

[0037] Figure 6 Schematic diagram of the structure of the open-gap elastic body;

[0038] Figure 7 This is a schematic diagram of the effect of the adaptive seabed foundation technology;

[0039] Figure 8 It is the workflow diagram of adaptive seabed base;

[0040] In the figure:

[0041] Sand control net 100, box wall 101, box cover 102, release device 103, acoustic communicator 104, controller 105, tension sensor 106, ADCP (Acoustic Doppler Current Profiler) 107, bolt one 108, signal cable 109, upper right fixed bracket 110, optional observation instrument 111, rotating shaft 112, partition 113, controlled winch 114, boss 115, motor 116, bolt two 117, planetary reducer 118, lower right fixed bracket 119, reinforced concrete block 120, sand ... Mud bottom plate 121, barbs 122, cable drum 123, plastic pressure plate 124, slotted elastic body 125, release cable 126, lifting ring 127, felt pad 128, brake 129, lower left fixed bracket 130, buoyancy ball 131, hard sediment layer 132, transition sediment layer 133, gravity anchor 134, lowering cable 135, lower part of box 136, soft sediment layer 137, upper left fixed bracket 138, upper part of box 139, seabed base box 140, CTD (temperature, salinity and depth meter) 141, seawater 142;

[0042] Electromagnet 201, ferromagnetic disk 202, brake disk 203, connecting bolt 204, bearing 205; bolt 206, signal cable 109, bracket 207, corrosion-resistant spring 208, locking push rod 209;

[0043] Long bolt 301, disc 302, triangular stopper 303, small spring 304, connecting rod 305, large spring 306, cylindrical pin 307, suction cup electromagnet 308, short bolt 309, frame 310, sealing gasket 311;

[0044] Connecting hole 401, housing 402, sealing member 403, reinforcing wire ring 404, magnetic core 405, coil 406, gap 1 407, attracted object 408, gap 2 409, gap 3 410, hexagon socket head bolt 1 411, power line 412, water sealing gasket 413, relay 414, hexagon socket head bolt 2 415, sealing ring 416, pressure-resistant cover 417, battery 418;

[0045] Connecting hole 501, breaking groove 502, cable threading hole 503, brush 504;

[0046] Gap 601;

[0047] Seabed base one 701, seabed base two 702, seabed base three 703, seawater 142, seabed base upper part 705, seabed base lower part 706, connecting release cable 707, soft sediment layer 137, counterweight block 709, transition sediment layer 133, hard sediment layer 132. DETAILED DESCRIPTION

[0048] Embodiment 1: The adaptive seabed base of this embodiment includes a seabed base box 140, a gravity anchor 134 and a release cable 126. The seabed base box 140 is preferably made of fiberglass, the gravity anchor 134 is preferably made of reinforced concrete, and the release cable 126 is preferably made of aramid. The seabed base box 140 is connected to the gravity anchor 134 using the release cable 126. The seabed base box 140 is provided with a controller 105, a tension sensor 106, a signal cable 109, a controlled winch 114, an acoustic communicator 104, and a release device 103. The controller 105 is connected to the tension sensor 106, the controlled winch 114, the acoustic communicator 104 and the release device 103 using the signal cable 109.

[0049] The controlled winch 114 includes a motor 116, a planetary reducer 118, a rotating shaft 112, a cable drum 123, and a brake 129. The output shaft of the motor 116 is connected to the input shaft of the planetary reducer 118; the output shaft of the planetary reducer 118 is connected to the rotating shaft 112, the rotating shaft 112 is rigidly connected to the cable drum 123, and the brake 129 is keyed to the rotating shaft 112.

[0050] The controller 105 includes a central processing unit, a memory, an external storage, an interface circuit, a power supply and a water-tight pressure-resistant casing. The central processing unit is respectively connected to the memory, the external storage and the interface circuit, and the central processing unit, the memory, the external storage and the interface circuit are respectively connected to the power supply; the motor 116 includes a stator, a rotor, a commutator, a brush, a water-tight pressure-resistant casing, a bearing, a power supply and a relay; the brake 129 includes an electromagnet 201 and its power supply and a relay; the controller 105 uses the signal cable 109 to connect the controlled winch 114, including two connections, the first connection: the signal cable 109 connects the interface circuit of the controller 105 and the relay of the motor 116, and the controller 105 controls the start, stop, forward and reverse of the motor. The second connection: the signal cable 109 connects the interface circuit of the controller 105 and the relay of the electromagnet 201 of the brake 129, and the controller 105 controls the closing and opening of the relay. When the relay is closed, the electromagnet 201 generates magnetic force, and when the relay is opened, the electromagnet 201 does not generate magnetic force.

[0051] The controller 105 uses the signal cable 109 to connect to the release device 103; the signal cable 109 connects the interface circuit of the controller 105 and the relay 414 of the suction cup electromagnet 308 of the release device 103, and the controller 105 controls the closing and opening of the relay 414. The relay 414 closes the electromagnet 308 to generate magnetic force, and the relay 414 opens the electromagnet 308 to not generate magnetic force.

[0052] The controller 105 is connected to the acoustic communicator 104 using the signal cable 109, and the signal cable 109 connects the interface circuit of the controller 105 and the interface circuit of the acoustic communicator 104, preferably a USB3.0 interface. The controller 105 receives the release instruction from the mother ship transmitted by the acoustic communicator 104, and the controller 105 controls the release device 103 to release the release cable 126 and the gravity anchor 134 connected thereto according to the release instruction, and recovers the seabed base box 140 and the instruments carried thereon; the controller 105 can also use the acoustic communicator 104 to send the collected and stored status data of the ADCP 107, CTD 141 and the optional observation instrument 111 and the measured ocean element data to the mother ship.

[0053] From the above, it can be seen that the software of the controller 105 includes a main program module, a data acquisition module, a parameter setting module, a data processing module, a communication module, a recovery processing module, and a release cable length adjustment module. First, after the controller completes the hardware self-check, it starts the operating system to run the main program module; the main program module calls the data acquisition module, issues an observation instrument start-up instruction, starts the observation instrument, and monitors whether the observation instrument works normally. Secondly, the main program module calls the parameter setting module to set the parameters T=t0, N=1, M=m0, the main program module calls the data processing module, reads the data of each instrument and sensor, and stores the encrypted data in the database of the external memory on the controller; the main program module calls the communication module to receive the data of the acoustic communication machine. Thirdly, if there is no recovery instruction, the main program module sleeps for a delay of t0, the counter N of the main program module counts by one, and then the main program module determines that if the counter N is greater than or equal to M, the main program module calls the release cable length adjustment module to retract and release the release cable. The release cable length adjustment module reads the sensor value. If the tension is less than the lower limit of the threshold, the electromagnet power-on command is issued, the brake is released, and then the motor forward command is issued to retract the release cable until the tension is greater than the lower limit of the threshold; then the electromagnet power-off command is issued, the brake is braked, and the main program module returns to the parameter setting module. The release cable length adjustment module reads the sensor value. If the tension is greater than the upper limit of the threshold, the electromagnet power-on command is issued to release the brake, and then the motor reverse command is issued to release the release cable until it is less than the upper limit of the threshold. Then the electromagnet power-off command is issued, the brake is braked, and the main program module returns to the parameter setting module. Finally, if there is a recovery command, the main program module calls the recovery processing module, and the recovery processing module issues an observation instrument shutdown command and an electromagnet power-on command. After the observation instrument is closed, the electromagnet is powered on to release the gravity anchor, and the seabed base floats to the surface.

[0054] The motor 116 works immersed in seawater, and needs to use a corrosion-resistant, water pressure-resistant, and anti-adhesion motor housing and a dynamically sealed motor output shaft. The requirements of corrosion resistance, water pressure resistance, and anti-adhesion are basic requirements for parts working in seawater. The connectors, other parts, and their housings selected for the seabed base of this application all need to meet these conditions, and they will not be elaborated one by one.

[0055] like Figure 2As shown, the brake 129 includes an electromagnet 201, a ferromagnetic disk 202, a locking push rod 209, a corrosion-resistant spring 208, and a signal cable 109. The locking push rod 209 is covered with a corrosion-resistant spring 208 and passes through the hole on the lower left fixed bracket 130. The locking push rod 209 faces the hole of the brake disk 203 and is threadedly connected to the ferromagnetic disk 202. The ferromagnetic disk 202 faces the electromagnet 201 on the left side. The bolt 206 passes through the connection hole between the electromagnet 201 and the bracket 207 to fix it on the lower left fixed bracket 130. The controller 105 uses the signal cable 109 to connect the power relay of the electromagnet 201. A similar brake is also installed on the upper left fixed bracket 138. The controller 105 controls the electromagnet 201 to be powered off, the ferromagnetic disk 202 loses magnetic attraction, and under the elastic force of the spring 209, the locking push rod 209 is inserted into the hole of the brake disk 203, and the brake disk 203, the rotating shaft 112 keyed to the brake disk 203, and the cable drum 123 rigidly connected to the rotating shaft 112 cannot rotate and are locked in one position; the controller 105 controls the electromagnet 201 to be powered on, the magnetic force attracts the ferromagnetic disk 202, the spring 209 is compressed, and the locking push rod 209 is pulled out from the hole of the brake disk 203, and the brake disk 203, the rotating shaft 112 keyed to the brake disk 203, and the cable drum 123 rigidly connected to the rotating shaft 112 can all rotate. The brake 129 can also be a finished product component, such as a shaft-mounted normally closed hydraulic brake suitable for underwater work.

[0056] The controller 105 uses a signal cable 109 to connect the motor 116 and the brake 129. The controller 105 reads the data of the tension sensor 106, releases the brake 129 according to the threshold F0, starts, stops, rotates forward and reverses the motor 116, and drives the cable drum 123 to adjust the length of the release cable 126, so that the lower part 136 of the box body is buried in the soft sediment layer 137 and is not easily dragged away by the trawl net; at the same time, the upper part 139 of the box body is suspended in the seawater, and the acoustic communication device 104 installed on the box cover 102 can receive the hydroacoustic signal, and the technical effect of normal recovery of the seabed base is achieved. Figure 7 As shown, the deployment of the seabed base of the present application, that is, the lower part 706 of the seabed base 3 703 is buried in the soft sediment layer 137, and it is not easy to be dragged away by the trawl; at the same time, the upper part 705 of the seabed base is suspended in the seawater, and the acoustic communication machine on the top of the box can receive the hydroacoustic signal, and the seabed base is recovered normally. The technical effect of the seabed base of the prior art is shown in the seabed base 1 701 or the seabed base 2 702. The upper part 705 of the seabed base 1 701 and the lower part 706 of the seabed base are all buried in the soft sediment layer 137, and the acoustic communication machine 104 cannot receive the hydroacoustic signal. The seabed base 1 701 cannot be recovered and is permanently lost; the upper part 705 of the seabed base 2 702 and the lower part 706 of the seabed base are all suspended in the seawater. The seabed base is likely to be dragged away by the trawl of a fishing boat, especially the seabed base arranged near the coast, resulting in the loss or loss of the instrument, and the anti-trawl function of the seabed base is not played.

[0057] The threshold value F0 is the net buoyancy exerted on the seabed base box 140 and the instruments carried thereon when the lower part of the seabed base box is located in the soft sediment layer and the upper part of the seabed base box is suspended in the seawater. The net buoyancy is the difference between the buoyancy and the gravity, which can be obtained by calculation using the buoyancy formula, or by experimental measurement to obtain the threshold value F0 of the seabed base.

[0058] The assembly process of the seabed foundation. First, assemble the seabed base box 140, and use stainless steel bolts or hoops to install and fix the buoyancy ball 131, controller 105, CTD141, and optional observation instrument 111 inside the seabed base box 140; after installing the air-permeable and water-permeable felt pad 128 on the partition 113, the stainless steel bolts are connected to the release device 103; secondly, ADCP 107 and acoustic communication machine 104 are respectively installed on brackets that can swing back and forth and left and right. The swinging bracket is not drawn in the figure. Its function is to ensure that the working posture of ADCP107 is vertically upward, and then the bracket is fixed on the box cover 102, and fixed to the box wall 101 with bolts 108, and all gaps are covered with sand-proof nets 100; thirdly, the output shaft of the motor 116 is connected to the input shaft of the planetary reducer 118, and the output shaft of the planetary reducer 118 is connected to the rotating shaft 112, the rotating shaft 112 is rigidly connected to the cable drum 123, and the brake 129 is installed at the left end of the rotating shaft 112. The rubber pad is placed between the anti-mud bottom plate 121 and the boss 115 of the seabed base box 140, and the anti-mud bottom plate 121 and the boss 115 of the seabed base box 140 are connected by bolts 117. The lower left fixing bracket 130 and the lower right fixing bracket 119 are installed on the anti-mud bottom plate 121, the rotating shaft 112 is rigidly connected to the cable drum 123, and the brake 129 is installed on the left end of the rotating shaft 112; the rotating shaft 112 is installed on the lower left fixing bracket 130 and the lower right fixing bracket 119, and a bearing 205 is set between the shaft and the bracket, and then the upper left fixing bracket 138 and the upper right fixing bracket 110 are installed, and the lower left fixing bracket 130, the upper left fixing bracket 138 and the anti-mud bottom plate 110 are installed. 21 The three are connected by bolts, and the lower right fixing bracket 119, the upper right fixing bracket 110 and the anti-mud bottom plate 121 are connected by bolts; again, the release cable 126 is sequentially wound on the cable winding drum 123, one end of which is connected to the release device 103, and the other end of the release cable 126 passes through the slit elastic body 125 and the plastic pressure plate 124, and is connected to the lifting ring 127. The slit elastic body 125 and the plastic pressure plate 124 are stuck in the long hole reserved in the anti-mud bottom plate 121.

[0059] Finally, the sediment is laid in the pool, seawater is poured in, and the installed and debugged seabed foundation is placed in the pool. After it is still, the depth of the seabed foundation sunk into the sediment or the height of the seabed foundation exposed above the sediment is observed. The controller 105 uses a watertight connector to connect to the microcomputer, and different F0s are set on the microcomputer and downloaded to the controller 105. The controller 105 controls the controlled winch 114 to retract and release the release cable 126 according to the set F0, and observes the depth change of the seabed foundation box 140 in the soft sediment layer. The threshold F0 when the lower part 136 of the seabed foundation box is completely located in the soft sediment layer and the upper part 139 of the seabed foundation box is completely suspended in the seawater is the measured value.

[0060] Example 2: Figure 3 As shown, the rack 310 is threadedly connected to the partition 113 using a long bolt 301, and the partition 113 and the rack 310 are sealed using a sealing gasket 311; the controller 105 uses a signal cable 109 to connect the power relay of the suction cup type electromagnet 308; the suction cup type electromagnet 308 is bolted to the rack 310 using a short bolt 309; a triangular stopper 303 is welded at one end of the connecting rod 305, a small spring 304 is sleeved on the connecting rod 305, the connecting rod 305 passes through the rack 310 and is threadedly connected to the disc 302, and a large spring 306 is sleeved on the cylindrical pin 307 and penetrates into the connection hole of the rack 310 and the connection circle formed by the release cable 126. The disc 302 is made of ferromagnetic material, and the parts exposed to seawater in this application are all made of corrosion-resistant materials. The connection ring of the release cable 126 is sleeved on the cylindrical pin 307, and the cylindrical pin 307 transmits the pulling force of the release cable 126 to the frame 310 and then to the partition 113. When the suction cup electromagnet 308 is powered off, the triangular stopper 303 blocks the cylindrical pin 307 under the elastic force of the small spring 304 to balance the elastic force of the large spring 306; when the suction cup electromagnet 308 is powered on, the suction cup electromagnet 308 attracts the connecting rod 305 of the disc 302 to drive the triangular stopper 303 upward, and the cylindrical pin 307 moves to the left under the elastic force of the large spring 306, and the cylindrical pin 307 is separated from the connection ring of the release cable 126, and the release cable 126 is separated from the connecting frame with the connecting hole of the frame 310.

[0061] Embodiment 3: Figure 4As shown, the suction cup electromagnet 308 includes a connecting hole 401, a shell 402, a seal 403, a reinforced steel wire ring 404, a magnetic core 405, a coil 406, a gap 1 407, an object 408, a gap 2 409, a gap 3 410, a hexagon socket bolt 1 411, a power cord 412, a water seal 413, a relay 414, a hexagon socket bolt 2 415, a seal 416, a pressure-resistant cover 417, and a battery 418. A connecting hole 401 is left on the shell 402, a coil 406 is arranged in the shell 402, a magnetic core 405 is arranged in the coil 406, a seal 403 is arranged between the magnetic core 405 and the shell 402, the seal 403 is made of non-magnetic material, the shell 402 and the magnetic core 405 are made of magnetic material, the object 408 is made of ferromagnetic material, and the magnetic core 405, the object 408 and the shell 402 constitute a magnetic path. The coil 406 leads out a power line 412, and the lead hole is sealed with epoxy resin sealant; the power line 412 is connected to the relay 414 and then to the battery 418, the signal cable 109 of the controller 105 is connected to the relay 414, the controller 105 sends a power-on control signal to the relay 414, the relay 414 is turned on, and the power supply 418 supplies power to the coil 406. The magnetic field generated by the coil 406 is transmitted in the magnetic path formed by the magnetic core 405, the attracted object 408 and the shell 402, and the attracted object 408 is attracted by the magnetic field force.

[0062] :The seal 403 is made of rubber and non-magnetic material. It has a sealing function. In the dotted ellipse sealing area shown in the figure, the shell 402 and the magnetic core 405 are pressed tightly by the hexagon socket bolt 1 411 to prevent seawater from leaking into the coil 406; a sealing ring 416 is placed between the pressure cover 417 and the shell 402, and the hexagon socket bolt 2 415 connects the pressure cover 417 and the shell 402 as a whole to form a sealed space for accommodating the battery 418 and the relay 414. The seal 403 made of non-magnetic material also has the function of dividing the magnetic path. The shell 402 and the magnetic core 405 are divided into independent parts, which is convenient for establishing the magnetic path. The magnetic field generated by the coil 406 forms a magnetic path among the magnetic core 405, the attracted object 408 and the shell 402. The reinforced wire ring 404 made of austenitic non-magnetic steel increases the rigidity of the seal 403. The water seal 413 is sleeved on the hexagon socket bolt 411 to prevent seawater from penetrating through the hexagon socket bolt 411. When the hexagon socket bolt 411 is tightened, the seal 403 embedded with the reinforced wire ring 404 is compressed and deformed, and the protruding material enters the gap 2 409 and the gap 3 410. The warning force of the hexagon socket bolt 411 is determined according to the pressure resistance depth calculation. The function of the gap 1 407 is to prevent the interference between the housing 402 and the magnetic core 405.

[0063] The suction cup type electromagnet 308 is a static seal, which is cheaper than the dynamic seal of the motor shaft and has high reliability. The limitation is that the suction cup type electromagnet 308 can only obtain short-distance linear motion and most of the time needs to be used in conjunction with other mechanisms.

[0064] Embodiment 4: Embodiment 5 further defines Embodiments 1 to 4; the gravity anchor 134 includes a reinforced concrete block 120 and a barb 122, the barb 122 is welded to the steel bar in the reinforced concrete block 120 as a whole, and the barb 122 is welded below the reinforced concrete block 120; the steel bar and the barb 122 are preferably corrosion-resistant stainless steel to adapt to long-term immersion in seawater; the barb 122 is inserted into the transition sediment layer 133 to prevent the seabed from sliding under force on the seabed, and a lifting ring 127 is provided at the center of the gravity anchor 134, and the release cable 126 is fixedly connected to the lifting ring 127. The lowering cable 135 is connected to the unmarked lifting rings 127 on both sides, and the lowering cable 135 is used to wear the lifting cable when deploying the seabed.

[0065] Example 5: Figure 1 and 2 As shown, the mud-proof bottom plate 121 is bolted to the boss 115 of the lower part 136 of the box body, and a rubber pad with adjustable thickness is placed between the mud-proof bottom plate 121 and the boss 115 of the lower part 136 of the box body. A plastic pressure plate 124 is arranged under the mud-proof bottom plate 121, and the plastic pressure plate 124 is fixedly connected to the mud-proof bottom plate 121 by bolts.

[0066] Example 6: Figure 1 and 5 As shown, a slotted elastic body 125 is fixedly installed above the plastic pressing plate 124, and the release cable 126 passes through the slotted elastic body 125 and the cable threading hole 503 on the plastic pressing plate 124 and is fixedly connected to the lifting ring 127 set at the center of the gravity anchor 134. There is a gap between the cable threading hole 503 and the connecting release cable 126 to ensure that the connecting release cable 126 can move therein; the brush 504 prevents sediment from passing through the plastic pressing plate 124 and entering the controlled winch 114. Figure 6 As shown, a slotted elastic body 124 is provided with a slotted 601 , which is closed when no force is applied, thereby preventing sediment from passing through the slotted 601 . Meanwhile, the release cable 126 can move in the slotted elastic body 124 .

[0067] Example 7: Figure 5As shown, a breaking groove 502 is formed in the plastic pressing plate 124, and the breaking groove 502 is arranged around the cable passing hole 503. The cable head size of the release cable 126 is larger than that of the slotted elastomer 124 and the cable passing hole 503. When releasing, the cable head of the release cable 126 is stuck at the slotted elastomer 124 and the cable passing hole 503, and under the action of the net buoyancy of the seabed base box body 140, it is broken at the breaking groove 502 of the plastic pressing plate 123. The slotted elastomer 124 and the broken plastic pressing plate 123 are separated from the seabed base box body 140 and remain on the hard sediment layer 132 together with the reinforced concrete block 120.

[0068] Example 8 is as Figure 8 As shown in the working flow chart of the adaptive seabed base, the control method of the adaptive seabed base of the present invention includes adjusting the release cable to make its pressure at the threshold value, and whether to recover the seabed base. The steps are as follows:

[0069] 1. The program starts and the controller is initialized;

[0070] 2. The controller starts the observation instrument to work and measures data;

[0071] 3. Set parameters, T = t0, N = 1, M = m0; T is the delay variable, t0 is the time of a delay period, set by the user, the default value is 60 seconds; N is the time counter for setting the length of the release cable, the initial value is 1, M is the delay multiple, and m0 is the initial value set by the user, the default value is 480, that is, the release cable is adjusted 3 times a day, and the number of adjustments selected needs to calculate and check the power of the battery equipped with the motor;

[0072] 4. The controller collects and encrypts and stores data.

[0073] 5. The controller does not receive the recovery instruction; N = N + 1; the counter is incremented by 1, and the sleep delay is t0;

[0074] 6. If N < M; the program returns to step 4;

[0075] 7. If N >= M, the program goes to the next step;

[0076] 8. If the tensile force > 1.01F0, the controller 105 collects the tensile force of the release cable 126 detected by the tensile force sensor 106, and judges whether the tensile force of the release cable 126 falls within the set threshold range. The threshold range is determined by the threshold lower limit and the threshold upper limit. If the tensile force is greater than the threshold upper limit, the controller 105 then issues a control instruction to the controlled winch 114 to release the brake 129 and start the motor 116 to release the release cable 126 until the tensile force returns to the threshold range;

[0077] 9. If the tension is less than 0.99F0, if the tension is less than the lower threshold, the controller 105 sends a control command to the controlled winch 114 to release the brake 129 and retract the release cable 126 until the tension returns to the threshold range, ensuring that the upper part 139 of the seabed base box is completely in the seawater 142;

[0078] 10. Brake is applied; the program returns to step 3.

[0079] 11. If the recovery command is received, turn off the observation instrument, energize the electromagnet, activate the release device, and release the gravity anchor;

[0080] 12. The procedure ends.

Claims

1. An adaptive seabed foundation, comprising a seabed foundation box (140), a gravity anchor (134) and a release cable (126), wherein the seabed foundation box (140) is connected to the gravity anchor (134) using the release cable (126), characterized in that: A controller (105), a tension sensor (106), a signal cable (109), a controlled winch (114), an acoustic communication device (104), and a release device (103) are arranged in the seabed base box (140); the controller (105) is connected to the tension sensor (106), the controlled winch (114), the acoustic communication device (104), and the release device (103) via the signal cable (109); the seabed base box (140) is divided into a seabed base box upper part (139) and a seabed base box lower part (136) by a partition (113); The controller (105) has the following functions: collecting the tension on the release cable (126) detected by the tension sensor (106), judging whether the tension on the release cable (126) falls within a set threshold range, the threshold range being determined by a lower threshold limit and an upper threshold limit; if the tension is greater than the upper threshold limit, the controller (105) sends a control instruction to the controlled winch (114) to release the brake (129), start the motor (116) to release the release cable (126) until the tension returns to the threshold range; if the tension is less than the lower threshold limit, the controller (105) sends a control instruction to the controlled winch (114) to release the brake (129), retract the release cable (126) until the tension returns to the threshold range, and ensure that the upper part (139) of the seabed base box is completely in the seawater (142); The controlled winch (114) comprises a motor (116), a planetary reducer (118), a rotating shaft (112), a cable drum (123), and a brake (129); the output shaft of the motor (116) is connected to the input shaft of the planetary reducer (118); the output shaft of the planetary reducer (118) is connected to the rotating shaft (112); the rotating shaft (112) is rigidly connected to the cable drum (123); and the brake (129) is key-connected to the rotating shaft (112); The release device (103) comprises a frame (310), a suction cup electromagnet (308), a disc (302), a triangular stopper (303), a small spring (304), a connecting rod (305), a large spring (306), a cylindrical pin (307) and the signal cable (109); the frame (310) is threadedly connected to the partition (113); the suction cup electromagnet (308) is bolted to the frame (310); and the suction cup electromagnet (308) is used to release the signal cable (109). The controller (105) is connected with a signal cable (109), the triangular stopper (303) is welded to one end of the connecting rod (305), the small spring (304) is sleeved on the connecting rod (305), the connecting rod (305) passes through the frame (310) and is threadedly connected to the disc (302), and the cylindrical pin (307) is sleeved with the large spring (306) and penetrates into the connecting hole of the frame (310) and the connecting ring formed by the release cable (126).

2. The adaptive seabed foundation according to claim 1, characterized in that: The suction cup type electromagnet (308) comprises a shell (402), a seal (403), a magnetic core (405), a coil (406), and an object to be sucked (408); the coil (406) is arranged in the shell (402), the magnetic core (405) is arranged in the coil (406), the seal (403) is arranged between the magnetic core (405) and the shell (402), and the magnetic field generated by the coil (406) forms a magnetic path among the magnetic core (405), the object to be sucked (408), and the shell (402).

3. The adaptive seabed foundation according to claim 1, characterized in that: The gravity anchor (134) comprises a reinforced concrete block (120) and a barb (122), wherein the barb (122) is welded below the reinforced concrete block (120); a lifting ring (127) is provided at the center of the gravity anchor (134), and the release cable (126) is fixedly connected to the lifting ring (127).

4. The adaptive seabed foundation according to claim 1, characterized in that: The seabed base box (140) comprises a box lower part (136) and a box upper part (139), the boss (115) of the box lower part (136) is bolted to the anti-mud bottom plate (121), a plastic pressing plate (124) is arranged below the anti-mud bottom plate (121), and the plastic pressing plate (124) is fixedly connected to the anti-mud bottom plate (121) by bolts.

5. The adaptive seabed foundation according to claim 4, characterized in that: A slotted elastic body (125) is fixedly mounted above the plastic pressing plate (124), and the release cable (126) passes through the slotted elastic body (125) and the cable threading hole (503) on the plastic pressing plate (124) and is fixedly connected to a lifting ring (127) provided at the center of the gravity anchor (134).

6. The adaptive seabed base according to claim 5, characterized in that: The plastic pressing plate (124) is provided with a breaking groove (502), and the breaking groove (502) is arranged around the cable threading hole (503).

7. The adaptive control method of the adaptive seabed base according to any one of claims 1 to 6, characterized in that: It includes the following steps: (1) The program starts and the controller is initialized; (2) The controller starts the tension sensor (106) to work and measure data; (3) The controller collects and stores data; (4) If no recovery command is received and the tension is greater than 1.01F0, the brake is released and the starter motor releases the release cable until the tension F is less than 1.01F0; if no recovery command is received and the tension is less than 0.99F0, the brake is released and the starter motor retracts the release cable until the tension is greater than 0.99F0, and then the program goes to the next step; (5) Brake; return to step 3; (6) If a recovery command is received, the observation instrument is turned off, the electromagnet is energized, the release device operates, and the gravity anchor is released.

8. The adaptive control method of the adaptive seabed base according to claim 7, characterized in that: It also includes the following steps for measuring the data time interval after step (2): (2)-1: Set parameters, T=t0, N=1, M=m0; T is the delay variable, t0 is the time of a delay cycle, which is set by the user and the default value is 60 seconds; N is the time counter for adjusting the length of the release cable, with an initial value of 1; M is the delay multiple, m0 is the initial value set by the user and the default value is 480, which means that the release cable is adjusted 3 times a day. To select the number of adjustments, you need to calculate and check the battery power of the motor; At the same time, the following steps are also included after step (3): (3)-1: The controller did not receive the recycling instruction; N = N + 1; the counter is incremented by 1, and the sleep delay is t0; if N < M, the program returns to step (2)-1; if N >= M, the program proceeds to the next step, i.e., step (4).

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