Deployment and recovery method of seabed node seismic data acquisition system based on intelligent AUV

Abstract

The present invention belongs to the field of marine geophysical exploration technology, and specifically relates to a method for deploying and recovering a seabed node seismic data acquisition system based on an intelligent AUV. The system comprises a seabed node seismic instrument deployment and recovery vessel, an AUV, and n seabed node seismic instruments, where n is greater than or equal to 2. The AUV comprises an AUV inner cavity and an AUV outer shell. A conveyor belt, a balance controller, and an intelligent stealth controller are disposed in the AUV inner cavity. A hydroacoustic transponder is disposed on the top of the AUV outer shell, a temperature, salinity, and depth sensor is disposed on the front of the outer shell, and a portion adjacent to the lower end of the conveyor belt is disposed on the bottom of the AUV outer shell. The seabed node seismic instruments comprise at least one data acquisition group, and the n seabed node seismic instruments are placed on the conveyor belt. The seabed node seismic instrument deployment and recovery vessel comprises a hydroacoustic positioning system disposed on the bottom. The hydroacoustic positioning system is used to cooperate with the hydroacoustic transponder to provide real-time positioning signals to the AUV, thereby increasing the number and range of seabed node seismic instruments that can be deployed and recovered.

Description

Technical Field

[0001] The present invention belongs to the technical field of marine geophysical exploration, and in particular relates to a seabed node seismic data acquisition system and a data acquisition method based on an intelligent AUV. Background Art

[0002] In the process of geophysical exploration, especially when conducting geological exploration and research on seabed strata, it is often necessary to collect marine seismic data in the sea area to be surveyed and reflected from the medium below the seabed. By using the collected marine seismic data, the geological structure of the seabed can be analyzed and the oil storage in the seabed strata can be predicted.

[0003] Marine seismic exploration is a method of conducting seismic surveys on the ocean using exploration vessels. Its characteristic is underwater excitation and underwater or seabed reception. Seabed seismic exploration technology, a type of marine seismic exploration, consists of a source and acquisition instruments. Most seabed seismic exploration techniques use a non-explosive source (primarily an air gun), which floats near the sea surface and is towed by an offshore seismic exploration vessel. Acquisition instruments are lowered to the seafloor to receive the P- and S-wave signals emitted by the source and reflected by the subsurface. Seabed seismic exploration involves multi-wave seismic exploration using four-component geophones (three-component geophones plus hydrophones) placed on the seafloor.

[0004] Seabed seismic exploration technologies can be further categorized into ocean bottom cable (OBC) and ocean bottom node (OBN) seismic exploration technologies. OBN involves placing four-component node seismic instruments underwater. These instruments operate independently of cables and do not communicate. Each node operates autonomously, completely independent of all other nodes, and can continuously collect data for months. OBN data collection typically involves two vessels: the source vessel and the node deployment and recovery vessel. The deployment and spacing of the node instruments are unrestricted, making them suitable for omnidirectional exploration. During deployment, each node instrument may be attached with a line or steel cable, allowing for easy retrieval, similar to how fishermen retrieve long strings of crab pots.

[0005] When deploying oblique borehole (OBN) seismic instruments at depths of thousands of meters, additional tethers or steel cables are not suitable. ROVs typically carry the oblique borehole (OBN) seismic instruments and deploy them along the seabed according to the designated measurement point coordinates. During retrieval, the ROVs dive to the seabed and retrieve the deepwater oblique borehole (OBN) instruments one by one. Due to the limited carrying capacity of ROVs, only a small number of OBNs can be deployed and retrieved at a time. When deploying tens of thousands of OBNs in the deep sea, efficiency is low and the operation cycle is extremely long. Furthermore, the umbilical cable connecting the ROV to the mother vessel significantly limits the distance and range of its movement across the deep seabed. Consequently, acquiring seabed data using OBNs in the deep sea is extremely expensive, and the density of OBN deployments is very sparse. Summary of the Invention

[0006] The present invention aims to solve the problem of great difficulty and very low operating efficiency in the deployment of deep-sea seabed node seismic instruments in the prior art. A seabed node seismic data acquisition system based on an intelligent AUV is proposed, including a seabed node seismic data acquisition system based on an intelligent AUV, comprising a seabed node seismic instrument deployment and recovery vessel, a large intelligent deep-water AUV, n seabed node seismic instruments, where n ≥ 2, and a long baseline (LBL) or short baseline (SBL) or ultra-short baseline (USBL) hydroacoustic positioning system installed on the bottom of the seabed node seismic instrument deployment and recovery vessel or the bottom of an offshore positioning boat;

[0007] The large deep-water AUV includes an AUV inner cabin and an AUV outer shell. The head and tail ends of the AUV inner cabin are respectively installed with buoyancy balance devices. A conveyor belt and an intelligent stealth controller are provided in the AUV inner cabin. The intelligent stealth controller is located at the head of the AUV. An acoustic transponder is provided on the top of the AUV outer shell. A temperature, salinity and depth sensor is provided at the front of the AUV outer shell. The intelligent stealth controller is connected to the acoustic transponder, the temperature, salinity and depth sensor, the buoyancy balance device and the conveyor belt respectively. An AUV lower outlet is provided at the bottom of the middle shell of the AUV, and the AUV lower outlet is adjacent to the conveyor belts at both ends.

[0008] The seafloor node seismic instrument comprises at least one four-component seafloor node seismic data acquisition station, and the n seafloor node seismic instruments are placed on the conveyor belt;

[0009] The AUV's inner cabin is equipped with buoyancy balancing devices at the head and tail ends, respectively. The buoyancy balancing devices are cylindrical, automatically retractable cavities. The AUV's balance and buoyancy control system injects air or seawater into the cylindrical, automatically retractable cavities as needed to control and adjust the AUV's balance and buoyancy in real time during underwater operations.

[0010] The AUV lower outlet is located in the middle of the bottom of the AUV shell, and the conveyor belts are symmetrically distributed on both sides of the AUV lower outlet. Along the axial direction of the conveyor belts, the seabed node seismic instruments are evenly arranged on the conveyor belts;

[0011] The tail of the AUV shell is also provided with a balancing tail fin opposite to each other, the tail end of the AUV shell is provided with a tail electric drive propeller, and the front end of the AUV shell is provided with a front electric drive propeller on each side. The balancing tail fin, the tail electric drive propeller, the front electric drive propeller, the buoyancy balancing device and the balancing and buoyancy control system are all connected to the intelligent stealth controller;

[0012] A first hydroacoustic positioning system is provided at the bottom of the seabed node seismic instrument deployment and recovery vessel. A hydroacoustic signal generator below the first hydroacoustic positioning system is data-linked with a hydroacoustic transponder on the top of the AUV shell. The hydroacoustic signal generator below the first hydroacoustic positioning system sends a first hydroacoustic positioning signal to the hydroacoustic transponder on the top of the AUV shell. The hydroacoustic transponder sends the received first hydroacoustic positioning signal to the intelligent stealth controller of the AUV.

[0013] The invention also includes a positioning boat, the positioning boat is located before or after the seafloor node seismic instrument deployment and recovery ship, and the bottom of the positioning boat is provided with a second hydroacoustic positioning system;

[0014] The hydroacoustic signal generator below the second hydroacoustic positioning system is data-linked to the hydroacoustic transponder on the top of the AUV shell. The hydroacoustic signal generator below the second hydroacoustic positioning system sends a second hydroacoustic positioning signal to the hydroacoustic transponder on the top of the AUV shell, and the hydroacoustic transponder sends the received second hydroacoustic positioning signal to the AUV's intelligent stealth controller. The intelligent stealth controller positions the AUV in real time based on the first and second hydroacoustic positioning signals, and performs real-time intelligent navigation of the AUV based on the specific deployment coordinates of the pre-set seabed node seismic instrument. At this time, the intelligent stealth controller generates an intelligent drive control signal based on the real-time positioning results of the first and second hydroacoustic positioning signals and the real-time intelligent navigation data of the AUV, and sends the intelligent drive control signal to the balancing tail, the tail end electric drive propeller, and the head end steering electric drive propeller to control the AUV to sneak to the specific deployment coordinate position of the pre-set seabed node seismic instrument.

[0015] The AUV inner cavity is also provided with a rechargeable battery, which is respectively connected to the intelligent stealth controller, the conveyor belt, the balancing tail, the tail end electric drive propeller and the head end electric drive propeller for steering through a power supply circuit.

[0016] The seabed node seismic instrument is a seabed conventional geophone four-component node seismic data acquisition instrument, a seabed MEMS four-component node seismic data acquisition instrument, or a seabed optical fiber four-component node seismic data acquisition instrument.

[0017] The deployment and recovery method of the seabed node seismic data acquisition system based on the intelligent AUV includes the following steps:

[0018] S1: The seabed node seismic instrument deployment and recovery vessel carries the seabed four-component node seismic data acquisition instrument and the large AUV to the seabed seismic data acquisition area according to the construction work plan;

[0019] S2: Input the preset deployment point coordinate data of n seabed node seismic instruments into the intelligent stealth controller of the AUV;

[0020] S3: n seafloor node seismic instruments are arranged and placed on the conveyor belt in the AUV cavity. The seafloor node seismic instrument deployment and recovery ship carries the AUV to the sea surface of the operation area and releases the AUV into the sea. The AUV automatically dives to the seabed.

[0021] S4: As the AUV automatically dives toward the seabed, a temperature, salinity, and depth sensor installed on the front of the AUV shell measures and records the temperature, salinity, and depth of the seawater in real time, and transmits the temperature, salinity, and depth data to the AUV's intelligent diving controller.

[0022] S5: The hydroacoustic signal generator under the first hydroacoustic positioning system and the hydroacoustic signal generator under the second hydroacoustic positioning system respectively send a first hydroacoustic positioning signal and a second hydroacoustic positioning signal to a hydroacoustic transponder provided on the top of the AUV shell of the AUV, and the hydroacoustic transponder sends the received first hydroacoustic positioning signal and the second hydroacoustic positioning signal to the intelligent stealth controller of the AUV;

[0023] S6: The intelligent submersible controller measures and records the temperature, salinity and water depth data of the seawater in real time according to the temperature, salinity and depth sensor, and calculates the seawater pressure at different water depths and the propagation speed of the hydroacoustic signal in the seawater at different temperatures and salinities;

[0024] S7: The intelligent submersible controller accurately locates the AUV in real time based on the first and second underwater acoustic positioning signals and the propagation speeds of the underwater acoustic signals in deep sea water of different temperatures and salinities calculated in step S6;

[0025] S8: The intelligent submersible controller performs real-time intelligent navigation on the AUV's navigation trajectory based on the specific deployment coordinates of the pre-set seafloor node seismic instrument. At this time, the intelligent submersible controller calculates and generates an intelligent drive control signal based on the real-time positioning results of the first and second hydroacoustic positioning signals, the water depth, pressure, temperature, ocean current direction and velocity of the AUV's location, and the AUV's real-time intelligent navigation data, and sends the intelligent drive control signal to the balancing tail, the tail electric drive propeller, and the front end steering electric drive propeller to control the AUV to dive toward the specific deployment coordinates of the pre-set seafloor node seismic instrument;

[0026] S9: The AUV sneaks to the preset deployment point coordinates of the seabed node seismic instrument in sequence according to the preset deployment point coordinate data, the real-time hydroacoustic positioning signal and the best intelligent trajectory calculated in real time, and places n seabed node seismic instruments in sequence at the preset deployment point positions;

[0027] S10: Whenever the AUV deploys a seabed node seismic instrument, the intelligent stealth controller immediately controls the buoyancy balance device installed at the front or rear end of the AUV's cabin to inject seawater into the cylindrical automatically retractable cavity at the end where the seabed node seismic instrument is deployed, thereby compensating for the weight loss after the seabed node seismic instrument is deployed and maintaining the balance of the front and rear counterweights of the AUV;

[0028] S11: After the AUV has deployed the seabed node seismic instrument it carries, the intelligent stealth controller immediately controls the buoyancy balance devices at the front and rear ends of the AUV's cabin to inject air into its cylindrical automatically retractable cavity, thereby reducing the weight of the AUV and generating an upward buoyancy force, so as to reduce power consumption when the AUV2 returns from the seabed to the seabed node seismic instrument deployment and recovery vessel 1 on the sea surface;

[0029] S12: The AUV then performs real-time positioning of the AUV and the seabed node seismic instrument deployment and recovery ship on the sea surface based on the first and second hydroacoustic positioning signals. The intelligent stealth controller generates an intelligent drive control signal based on the real-time intelligent navigation data, and sends the intelligent drive control signal to the balancing tail, the tail end electric drive propeller, and the head end steering electric drive propeller to control the AUV to automatically return to the seabed node seismic instrument deployment and recovery ship for recovery.

[0030] S13: After the seabed artificial seismic data collection in this operation area is completed, the seabed node seismic instrument deployment and recovery vessel carries the AUV back to the sea surface of the operation area and launches the AUV into the sea. The AUV autonomously sneaks to the deployment point of the seabed node seismic instrument based on the first real-time hydroacoustic positioning signal and the second real-time hydroacoustic positioning signal and the preset coordinate data of the seabed node seismic instrument deployment point, and searches for, salvages, and recovers the seabed node seismic instruments deployed on the seabed one by one.

[0031] Preferably, the method for deploying a seabed node seismic data acquisition system based on an intelligent AUV, the specific steps S3-S9 are:

[0032] S31: The AUV automatically controls and sneaks to the coordinate position of the deployment point of the i-th seabed node seismic instrument preset by the AUV according to the preset seabed node seismic instrument deployment point coordinate data and the real-time hydroacoustic positioning signal, i=1, and the conveyor belt located on the side of the AUV lower exit transports the first seabed node seismic instrument to the AUV lower exit;

[0033] S32: The AUV deploys the first seafloor node seismic instrument located at the lower exit of the AUV at the current deployment point;

[0034] S33: Whenever the AUV deploys a seafloor node seismic instrument, the intelligent stealth controller immediately controls the buoyancy balance device installed at the front or rear end of the AUV's cabin to inject seawater into the cylindrical automatically retractable cavity at the end where the seafloor node seismic instrument is deployed, thereby compensating for the weight loss after deploying the seafloor node seismic instrument and maintaining the balance of the front and rear end counterweights of the AUV;

[0035] S34: The AUV automatically controls and sneaks to the coordinate position of the deployment point of the i-th seabed node seismic instrument preset by the AUV according to the preset deployment point coordinate data of the seabed node seismic instrument and the real-time hydroacoustic positioning signal, where i=i+1;

[0036] i≤n, the conveyor belt transports one seafloor node seismic instrument to the lower exit of the AUV, and the i-th seafloor node seismic instrument and the i+1-th seafloor node seismic instrument are alternately transported from the conveyor belts on both sides of the lower exit of the AUV to the lower exit of the AUV, and S32 and S33 are executed;

[0037] i=n+1, the AUV stops deploying the seafloor node seismic instrument.

[0038] Preferably, the recovery method of the seabed node seismic data acquisition system based on the intelligent AUV, S13 specifically comprises the following steps:

[0039] S131: The AUV automatically controls and sneaks to the deployment point coordinate position of the i-th seabed node seismic instrument preset by the AUV according to the preset deployment point coordinate data and the real-time hydroacoustic positioning signal, where i=1; the AUV autonomously sneaks to the deployment point position of the seabed node seismic instrument;

[0040] S132: The AUV searches for, salvages, and recovers the seabed node seismic instrument deployed on the seabed at the deployment point of the seabed node seismic instrument to a conveyor belt located on one side of the lower exit of the AUV;

[0041] S133: Whenever the AUV retrieves a seafloor node seismic instrument, the intelligent stealth controller immediately controls the buoyancy balance device installed at the front or rear end of the AUV's cabin to pump seawater into the cylindrical automatically retractable cavity at the end where the seafloor node seismic instrument was retrieved, thereby compensating for the weight increase after the seafloor node seismic instrument is retrieved and maintaining the balance of the front and rear end counterweights of the AUV;

[0042] S134: The AUV automatically controls and sneaks to the coordinate position of the deployment point of the i-th seabed node seismic instrument preset by the AUV according to the preset deployment point coordinate data and the real-time hydroacoustic positioning signal, where i=i+1;

[0043] i≤n, the AUV searches, salvages, and recovers the seafloor node seismic instruments deployed on the seafloor to the conveyor belt located on one side of the AUV lower exit. The i-th seafloor node seismic instrument and the i+1-th seafloor node seismic instrument are alternately recovered to the conveyor belts on both sides of the AUV lower exit, and S131 and S132 are executed;

[0044] i=n+1, AUV stops recovery.

[0045] Compared with the prior art, the present invention has the following beneficial effects:

[0046] 1. By storing seabed node seismic instruments in large-scale intelligent AUVs, a certain number of seabed node seismic instruments can be deployed and recovered in sequence using large-scale intelligent AUVs. Compared with traditional ROVs that can only deploy or recover one seabed node seismic instrument at a time, the present invention can realize the operability of rapid deployment and recovery of a large number of seabed node seismic instruments.

[0047] 2. Relying on the distance and range of movement of large-scale intelligent AUVs on the deep seabed, the fixed-point deployment range of seabed node seismic instruments is further expanded, greatly improving operational efficiency.

[0048] 3. A large intelligent AUV can deploy a large number of seafloor node seismic instruments. Compared with the traditional deployment of each seafloor node seismic instrument, which requires an independent carrier, it greatly reduces costs and improves operational efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention.

[0050] Figure 1 This is a structural diagram of a seabed node seismic data acquisition system based on an intelligent AUV according to a first embodiment of the present invention;

[0051] Figure 2This is a schematic structural diagram of a large-scale intelligent AUV according to the first embodiment of the present invention;

[0052] Figure 3 A top view of the structure of a large intelligent AUV according to the first embodiment of the present invention;

[0053] Figure 4 This is a flowchart of the large-scale intelligent AUV operation process according to the second embodiment of the present invention;

[0054] Markings and corresponding parts names in the accompanying drawings:

[0055] 1-Seabed node seismic instrument deployment and recovery vessel, 2-AUV, 3-Seabed node seismic instrument, 4-Buoyancy balance device, 5-Positioning boat, 6-Hydroacoustic positioning system, 7-Hydroacoustic signal transponder, 8-Intelligent stealth controller, 9-Rechargeable battery, 10-Claw-shaped robotic arm, 11-Tail end electric drive propeller, 12-Conveyor belt, 13-Balance tail, 14-Buoyancy balance control system, 15-Head end steering electric drive propeller, 16-Temperature, salinity and depth sensor. DETAILED DESCRIPTION

[0056] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0057] The present invention will be further described in detail below with reference to the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0058] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "longitudinal", "lateral", "horizontal", "inside", "outside", "front", "back", "top", "bottom", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the inventive product is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0059] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "having," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific contexts.

[0060] AUV (autonomous underwater vehicle) is a hot spot in the current technological development of marine engineering, and is playing an increasingly wide role in many aspects such as marine resource exploration, seabed engineering operations, and scientific research investigations.

[0061] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments:

[0062] Example 1

[0063] like Figure 1 As shown, a seafloor node seismic data acquisition system based on an intelligent AUV includes a seafloor node seismic instrument deployment and recovery vessel 1, an AUV 2, n seafloor node seismic instruments 3, where n ≥ 2; and a long baseline (LBL), short baseline (SBL), or ultra-short baseline (USBL) hydroacoustic positioning system 6 installed on the bottom of the seafloor node seismic instrument deployment and recovery vessel 1 or on the bottom of an offshore positioning boat 5;

[0064] like Figure 2 As shown, the large deep-water intelligent AUV2 includes an AUV2 inner cabin and an AUV2 outer shell. The head and tail ends of the AUV2 inner cabin are respectively installed with a buoyancy balance device 4. A conveyor belt 12 and an intelligent stealth controller 8 are provided in the AUV2 inner cabin. The intelligent stealth controller 8 is located at the head of the AUV2. A hydroacoustic transponder 7 is provided on the top of the AUV2 outer shell. A temperature, salinity and depth sensor 16 is provided at the front of the AUV2 outer shell. The intelligent stealth controller 8 is connected to the hydroacoustic transponder 7, the temperature, salinity and depth sensor 16, the buoyancy balance device 4, the buoyancy balance control system 14 and the conveyor belt 12 respectively. An AUV2 lower outlet is provided at the bottom of the middle shell of the AUV2, and the AUV2 lower outlet is adjacent to the conveyor belts 12 at both ends.

[0065] The seafloor node seismic instrument 3 includes at least one four-component seafloor node seismic data acquisition station, and the n seafloor node seismic instruments 3 are placed on the conveyor belt 12;

[0066] The front and rear ends of the AUV2 inner cabin are respectively equipped with a buoyancy balance device 4, which is a cylindrical automatically retractable cavity. The AUV2 balance and buoyancy control system 14 injects air or seawater into the cylindrical automatically retractable cavity as needed to control and adjust the balance and buoyancy of the AUV2 in real time during underwater operation;

[0067] It should be understood that the seabed distribution of the seabed node seismic instrument 3 has evolved from the traditional fiber optic drag distribution to ROV carrying and placement. Since each ROV can only carry one seabed node seismic instrument 3, each ROV will generate power consumption on the seabed due to overcoming the ocean current. When the number of seabed node seismic instruments 3 to be deployed is large enough, it will cause a corresponding huge waste of power consumption. In addition, the ROV still needs a cable for power supply, and the length of the cable greatly limits the deployment range of the seabed node seismic instrument 3. The present invention proposes that the AUV2 carry n seabed node seismic instruments 3 at a time, n>2, which solves the problem of extra power consumption caused by carrying a single seabed node seismic instrument 3. The AUV2 is wirelessly controlled, eliminating the need for cables, thereby further expanding the deployment range of the seabed node seismic instrument 3 and increasing operational efficiency. After carrying n seabed node seismic instruments 3 at a time, the seabed node seismic instruments 3 navigate and move to the target point one by one through the preset coordinate point position, and are sequentially conveyed by the conveyor belt 12, so that the seabed node seismic instruments 3 can be deployed one by one, and a seabed node seismic instrument 3 is deployed every time a target point is reached.

[0068] Specifically, the lower outlet of the AUV2 is located in the middle of the bottom of the AUV shell, and the conveyor belt 12 is symmetrically distributed on both sides of the lower outlet of the AUV2. Along the axial direction of the conveyor belt 12, the seabed node seismic instruments 3 are evenly arranged on the conveyor belt 12;

[0069] It should be understood that since the AUV2 carries n seabed node seismic instruments 3 at a time, these n seabed node seismic instruments 3 need to be placed in sequence at the preset coordinate points each time they go to sea. In the process of placing them one by one, the AUV2 may be unbalanced as a whole due to the uneven placement of the seabed node seismic instruments 3 inside. The AUV lower outlet is set in the middle section of the bottom of the AUV shell, and conveyor belts 12 are symmetrically arranged on both sides of the lower outlet. When placing the seabed node seismic instruments 3, they are placed alternately on the left and right, and air or seawater is injected into the cylindrical automatically retractable cavity in time through the buoyancy balance device 4 and the balance and buoyancy control system 14 installed at the head and tail ends of the AUV2, so as to control and adjust the head and tail balance and buoyancy of the AUV2 in real time during underwater operation; in this way, the buoyancy of the AUV2 in the water and its own balance during movement can be guaranteed.

[0070] Specifically, such as Figure 3 As shown, the tail of the AUV2 shell is further provided with a balancing tail 13 opposite to each other in an upper and lower direction. The tail end of the AUV2 shell is provided with a tail electric drive propeller 11. Both sides of the front end of the AUV2 shell are provided with a head end steering electric drive propeller 15. The balancing tail 13, the tail end electric drive propeller 11, the head end steering electric drive propeller 15, the buoyancy balancing device 4 and the balance and buoyancy control system 14 are all connected to the intelligent stealth controller 8.

[0071] A first hydroacoustic positioning system 6 is provided at the bottom of the seabed node seismic instrument deployment and recovery vessel 1. The hydroacoustic signal generator below the first hydroacoustic positioning system 6 is data-linked with the hydroacoustic transponder 7 on the top of the AUV2 shell. The hydroacoustic signal generator below the first hydroacoustic positioning system 6 sends a first hydroacoustic positioning signal to the hydroacoustic transponder 7 on the top of the AUV2 shell. The hydroacoustic transponder 7 sends the received first hydroacoustic positioning signal to the intelligent stealth controller 8 of the AUV2.

[0072] The invention also includes a positioning boat 5, the positioning boat 5 is located before or after the seabed node seismic instrument deployment and recovery ship 1, and a second hydroacoustic positioning system 6 is provided on the bottom of the positioning boat 5;

[0073] The hydroacoustic signal generator below the second hydroacoustic positioning system 6 is data-linked to the hydroacoustic transponder 7 on top of the AUV2's hull. The hydroacoustic signal generator below the second hydroacoustic positioning system 6 transmits a second hydroacoustic positioning signal to the hydroacoustic transponder 7 on top of the AUV2's hull. The hydroacoustic transponder 7 then transmits the received second hydroacoustic positioning signal to the AUV2's intelligent submersible controller 8. The intelligent submersible controller 8 locates the AUV2 in real time based on the first and second hydroacoustic positioning signals, and intelligently navigates the AUV2 in real time based on the pre-set specific deployment coordinates of the seafloor node seismic instrument 3. Based on the real-time positioning results of the first and second hydroacoustic positioning signals and the AUV2's real-time intelligent navigation data, the intelligent submersible controller 8 generates an intelligent drive control signal. The intelligent drive control signal is then transmitted to the balancing tail fin 13, the tail electric propeller 11, and the front electric propeller 15 for steering, controlling the AUV2 to submerge toward the pre-set specific deployment coordinates of the seafloor node seismic instrument 3.

[0074] It should be understood that the AUV2 itself needs to be equipped with a power device, namely the electric drive propeller 11 at the tail end and the electric drive propeller 15 for steering at the front end, and the balancing tail 13 to compensate for the lack of traction after the cable is removed. The power device controls the AUV2 to move in the water through an intelligent drive control signal.

[0075] It should be understood that due to the complex seabed environment, especially the speed and direction of the ocean current will affect the progress of AUV2, and partial displacement may occur. In order to ensure accurate recovery, a secondary underwater acoustic positioning system 6 is required to assist, that is, to use the first underwater acoustic positioning signal and the second underwater acoustic to perform more accurate differential real-time positioning navigation.

[0076] Specifically, the AUV inner cavity is also provided with a rechargeable battery 9, which is connected to the intelligent diving controller 8, the conveyor belt 12, the balancing tail 13, the tail end electric drive propeller 11, the head end steering electric drive propeller 15, the buoyancy balance device 4 and the balance and buoyancy control system 14 through a power supply circuit.

[0077] It should be understood that the rechargeable battery 9 can enable multiple operations of the AUV.

[0078] Specifically, the seafloor node seismic instrument 3 is a conventional geophone four-component node seismic data acquisition instrument, a seafloor MEMS four-component node seismic data acquisition instrument, or a seafloor optical fiber four-component node seismic data acquisition instrument.

[0079] It should be understood that a conventional geophone four-component node seismic data acquisition instrument includes a pressure chamber equipped with a three-component conventional electromagnetic geophone, piezoelectric geophone, or accelerometer, a piezoelectric crystal hydrophone, an atomic clock chip, or a high-precision oven-controlled crystal oscillator, a three-component attitude sensor, a preamplifier and A / D converter module, a data storage module, and a rechargeable battery module. A submarine MEMS four-component node seismic data acquisition instrument includes a pressure chamber equipped with a three-component MEMS geophone, a piezoelectric crystal hydrophone, an atomic clock chip, or a high-precision oven-controlled crystal oscillator, a three-component attitude sensor, a preamplifier and A / D converter module, a data storage module, and a rechargeable battery module. A submarine fiber-optic four-component seismic data acquisition instrument includes a pressure chamber equipped with a three-component fiber-optic geophone, a fiber-optic acoustic pressure hydrophone, an atomic clock chip, or a high-precision oven-controlled crystal oscillator, a three-component attitude sensor, a semiconductor light source, an internal photoelectric conversion module, a modulation and demodulation module, a preamplifier and A / D converter module, a data storage module, and a rechargeable battery module. Three-component geophones are specialized detectors used in multiwave exploration. Unlike conventional single-component geophones, each geophone incorporates three mutually perpendicular sensors to record the three components of the particle vibration velocity vector, simultaneously recording longitudinal, shear, and converted waves. The signal voltage output by this type of geophone is related to the displacement velocity of its vibration, hence the name velocity geophone. To record the vibration signals sensed by the geophone, circuit modules are also included for analog signal amplification, filtering, noise reduction, analog-to-digital conversion, and data storage. This allows for the storage of the three-component seafloor seismic data captured by the geophone.

[0080] Example 2

[0081] A method for collecting seismic data from seabed nodes based on intelligent AUV, such as Figure 4 As shown, the following steps are included:

[0082] S1: The seabed node seismic instrument deployment and recovery vessel 1 carries the seabed four-component node seismic data acquisition instrument 3 and the large deep-water intelligent AUV 2 to the seabed seismic data acquisition area according to the construction work plan;

[0083] S2: Inputting the preset deployment point coordinate data of n seabed node seismic instruments 3 into the intelligent stealth controller 8 of the AUV;

[0084] S3: n seafloor node seismic instruments 3 are placed on the conveyor belt 12 in the inner cavity of the AUV. The seafloor node seismic instrument deployment and recovery vessel 1 carries the AUV 2 to the sea surface of the operation area and releases the AUV 2 into the sea. The AUV 2 automatically dives to the seabed.

[0085] S4: During the process of AUV2 automatically diving to the seabed, the temperature, salinity and depth sensor 16 provided on the front of the AUV shell measures and records the temperature, salinity saturation and water depth data of the seawater in real time, and transmits the temperature, salinity and depth data to the intelligent diving controller 8 of AUV2;

[0086] S5: The hydroacoustic signal generator under the first hydroacoustic positioning system 6 and the hydroacoustic signal generator under the second hydroacoustic positioning system 6 respectively send a first hydroacoustic positioning signal and a second hydroacoustic positioning signal to the hydroacoustic transponder 7 provided on the top of the AUV shell of AUV2. The hydroacoustic transponder 7 sends the received first hydroacoustic positioning signal and the second hydroacoustic positioning signal to the intelligent stealth controller 8 of AUV2.

[0087] S6: The intelligent submersible controller 8 measures and records the temperature, salinity and water depth data of the seawater in real time according to the temperature-salinity-depth sensor 16, and calculates the seawater pressure at different water depths and the propagation speed of the hydroacoustic signal in the seawater at different temperatures and salinities;

[0088] S7: The intelligent stealth controller 8 accurately locates the AUV 2 in real time based on the first and second underwater acoustic positioning signals and the propagation speeds of the underwater acoustic signals in deep sea water of different temperatures and salinities calculated in step S6;

[0089] S8: The intelligent submersible controller 8 performs real-time intelligent navigation on the navigation trajectory of the AUV2 according to the specific deployment coordinates of the pre-set seafloor node seismic instrument 3. At this time, the intelligent submersible controller 8 calculates and generates an intelligent drive control signal based on the real-time positioning results of the first and second hydroacoustic positioning signals, the water depth, pressure, temperature, ocean current direction and velocity of the AUV2's location, and the real-time intelligent navigation data of the AUV2, and sends the intelligent drive control signal to the balancing tail 13, the tail end electric drive propeller 11, and the front end electric drive propeller 15 for steering, to control the AUV2 to dive toward the specific deployment coordinates of the pre-set seafloor node seismic instrument 3;

[0090] S9: The AUV2 sneaks to the preset deployment point coordinates of the seabed node seismic instrument 3 in sequence according to the preset deployment point coordinate data, the real-time hydroacoustic positioning signal and the best intelligent trajectory calculated in real time, and places n seabed node seismic instruments 3 in sequence at the preset deployment point positions;

[0091] S10: Whenever the AUV2 deploys a seabed node seismic instrument 3, the intelligent stealth controller 8 immediately controls the buoyancy balance device 4 installed at the front or rear end of the AUV2's cabin to inject seawater into the cylindrical automatically retractable cavity at the end where the seabed node seismic instrument 3 is deployed, thereby compensating for the weight loss after the seabed node seismic instrument 3 is deployed and maintaining the balance of the front and rear end counterweights of the AUV2;

[0092] S11: After the AUV2 has finished deploying the seafloor node seismic instrument 3 it carries, the intelligent stealth controller 3 immediately controls the buoyancy balance devices 4 at the front and rear ends of the AUV2's cabin to inject air into its cylindrical, automatically retractable cavity, thereby reducing the weight of the AUV2 and generating an upward buoyancy force, so as to reduce the power consumption of the AUV2 when returning from the seabed to the seafloor node seismic instrument deployment and recovery vessel 1 on the sea surface;

[0093] S12: The AUV2 then performs real-time positioning of the AUV2 and the seabed node seismic instrument deployment and recovery vessel 1 on the sea surface based on the first and second hydroacoustic positioning signals. The intelligent submersible controller 8 generates an intelligent drive control signal based on the real-time intelligent navigation data, and sends the intelligent drive control signal to the balancing tail 13, the tail end electric drive propeller 11, and the head end steering electric drive propeller 15, to control the AUV2 to automatically return to the seabed node seismic instrument deployment and recovery vessel 1 for recovery.

[0094] S13: After the seabed artificial seismic data collection in this operation area is completed, the seabed node seismic instrument deployment and recovery vessel 1 carries the AUV2 back to the sea surface of the operation area and launches the AUV2 into the sea. The AUV2 autonomously sneaks to the deployment point of the seabed node seismic instrument 3 based on the first real-time hydroacoustic positioning signal and the second real-time hydroacoustic positioning signal and the preset coordinate data of the deployment point of the seabed node seismic instrument 3 to search, salvage and recover the seabed node seismic instruments 3 deployed on the seabed one by one;

[0095] Specifically, the steps S3-S9 are as follows:

[0096] S31: AUV2 automatically controls and sneaks to the coordinate position of the deployment point of the i-th seabed node seismic instrument 3 preset by AUV2 according to the preset deployment point coordinate data of the seabed node seismic instrument 3 and the real-time hydroacoustic positioning signal, i=1, and the conveyor belt 12 located on the side of the lower exit of the AUV transports the first seabed node seismic instrument 3 to the lower exit of the AUV;

[0097] S32: AUV2 deploys the seafloor node seismic instrument 3 located at the lower exit of the AUV at the current deployment point;

[0098] S33: Whenever the AUV 2 deploys a seabed node seismic instrument 3, the intelligent stealth controller 8 immediately controls the buoyancy balance device 4 installed at the front or rear end of the AUV's cabin to inject seawater into the cylindrical automatically retractable cavity at the end where the seabed node seismic instrument 3 is deployed, thereby compensating for the weight loss after deploying the seabed node seismic instrument 3 and maintaining the balance of the front and rear end counterweights of the AUV 2;

[0099] S34: The AUV2 automatically controls and sneaks to the coordinate position of the deployment point of the i-th seabed node seismic instrument 3 preset by the AUV2 according to the preset deployment point coordinate data of the seabed node seismic instrument 3 and the real-time hydroacoustic positioning signal, where i=i+1;

[0100] i≤n, the conveyor belt transports one seafloor node seismic instrument to the lower exit of the AUV, the i-th seafloor node seismic instrument 3 and the i+1-th seafloor node seismic instrument 3 are alternately transported from the conveyor belts 12 on both sides of the lower exit of the AUV to the lower exit of the AUV, and S32 and S33 are executed;

[0101] i=n+1, AUV2 stops deploying seafloor node seismic instrument 3.

[0102] Specifically, the specific steps of S13 are:

[0103] S131: The AUV2 automatically controls and sneaks to the deployment point coordinate position of the i-th seabed node seismic instrument 3 preset by the AUV2 according to the preset deployment point coordinate data and the real-time hydroacoustic positioning signal, where i=1; the AUV2 autonomously sneaks to the deployment point position of the first seabed node seismic instrument 3;

[0104] S132: The AUV 2 searches for, salvages, and recovers the seabed node seismic instrument 3 deployed on the seabed at the deployment point of the seabed node seismic instrument 3 to the conveyor belt 12 located on one side of the lower exit of the AUV;

[0105] S133: Whenever the AUV 2 recovers a seafloor node seismic instrument 3, the intelligent stealth controller 8 immediately controls the buoyancy balance device 4 installed at the front or rear end of the AUV's cabin to pump seawater into the cylindrical automatically retractable cavity at the end where the seafloor node seismic instrument 3 was recovered, thereby compensating for the weight increase after the recovery of the seafloor node seismic instrument 3 and maintaining the balance of the front and rear end counterweights of the AUV 2;

[0106] S134: The AUV2 automatically controls and sneaks to the coordinate position of the deployment point of the i-th seabed node seismic instrument 3 preset by the AUV2 according to the preset deployment point coordinate data and the real-time hydroacoustic positioning signal, where i=i+1;

[0107] i≤n, AUV2 searches, salvages, and recovers the seafloor node seismic instrument 3 deployed on the seafloor to the conveyor belt 12 located on one side of the AUV lower exit. The i-th seafloor node seismic instrument 3 and the (i+1)-th seafloor node seismic instrument 3 are alternately recovered to the conveyor belts 12 on both sides of the AUV lower exit, and S131 and S132 are executed;

[0108] i=n+1, AUV2 stops recycling.

[0109] Working principle:

[0110] AUV2 is an autonomous underwater vehicle (AUV2). It has an internal cavity, referred to as the AUV2 inner chamber. Buoyancy balance devices are installed at the fore and aft ends of the AUV2 inner chamber. A conveyor belt 12 and an intelligent submersible controller are also located within the AUV2 inner chamber. A hydroacoustic transponder is located at the top of the AUV2 outer shell, and a temperature, salinity, and depth sensor is located at the front. A lower exit is located at the bottom of the AUV2 outer shell, adjacent to the conveyor belt 12. The conveyor belts 12 are symmetrically arranged on either side of the AUV2 lower exit. The seafloor node seismic instruments 3 are evenly distributed along the axial direction of the conveyor belt 12. The AUV2 inner chamber also houses a rechargeable battery 9 and an intelligent submersible controller 8. The n seafloor node seismic instruments 3 are placed on the conveyor belt 12. The pre-designed coordinate data for the deployment points of the n seafloor node seismic instruments 3 is input into the AUV2 intelligent submersible controller 8, activating the first hydroacoustic positioning system 6 located on the bottom of the seafloor seismic exploration vessel 1.

[0111] The AUV2 carrying n seafloor node seismic instruments 3 is transported to the sea surface of the operation area by the seafloor node seismic instrument deployment and recovery vessel 1. The underwater acoustic signal transponder 7 installed on the back of the AUV2 is turned on, and the AUV2 is deployed in the water.

[0112] A positioning boat 5 is deployed in front of or behind the seabed node seismic instrument deployment and recovery ship 1, and a second hydroacoustic positioning system 6 is provided on the bottom of the positioning boat 5;

[0113] The first hydroacoustic positioning system 6 sends a first hydroacoustic positioning signal to the hydroacoustic transponder 7, and the second hydroacoustic positioning system 6 sends a second hydroacoustic positioning signal to the hydroacoustic transponder 7. The hydroacoustic transponder 7 sends the obtained first hydroacoustic positioning signal and the second hydroacoustic positioning signal to the intelligent stealth controller 8 of the AUV2. The intelligent stealth controller 8 generates an intelligent drive control signal according to the preset deployment point coordinate data, the first hydroacoustic positioning signal and the second hydroacoustic positioning signal. The generation of the intelligent drive control signal here can also consider the combination of ocean currents, water temperature, pressure and water depth data to quickly calculate the optimal trajectory of the AUV2 from the current position to the target position, and transmit the intelligent drive control signal to the balancing tail 13, the tail end electric drive propeller 11, the head end steering electric drive propeller 15, the balancing tail 13, The tail end electric drive propeller 11 and the head end steering electric drive propeller 15 control the AUV2 to dive to the seabed of the operation area to the preset deployment point coordinate position of the first seabed node seismic instrument 3 according to the received intelligent drive control signal. The conveyor belt 12 located on one side of the lower exit of the AUV2 transmits the first seabed node seismic instrument 3 to the lower exit of the AUV2. The AUV2 deploys the first seabed node seismic instrument 3 located at the lower exit of the AUV2 at the current deployment point position. The placement method here can be the method of traditional submersible discharge of objects, that is, placing the seabed node seismic instrument 3 in the drainage tank, and then discharging the seabed node seismic instrument 3 from the AUV2, or using the claw-shaped mechanical arm 10 to grab the seabed node seismic instrument 3 located in the drainage tank and place it at the target position;

[0114] The sonar transponder 7 of AUV2 continuously receives the first sonar positioning signal and the second sonar positioning signal, and sneaks to the deployment point coordinate position of the second seabed node seismic instrument 3 through the preset deployment point coordinate data. At this time, the conveyor belt 12 on the other side of the AUV lower exit transmits one seabed node seismic instrument 3 to the AUV2 lower exit. For example, if the first seabed node seismic instrument 3 was originally located on the conveyor belt 12 on the left side of the AUV lower exit, then the second seabed node seismic instrument 3 was originally located on the conveyor belt 12 on the right side of the AUV lower exit. The above operation is then repeated, and the third seabed node seismic instrument 3 is located on the left, and the fourth is located on the right, and the two sides are deployed alternately.

[0115] Whenever AUV2 deploys a seabed node seismic instrument 3, the intelligent stealth controller 8 immediately controls the buoyancy balance device 4 installed at the head or tail end of the AUV's inner cabin to inject seawater into the cylindrical automatically retractable cavity at the end where the seabed node seismic instrument 3 is deployed, thereby compensating for the weight loss after the deployment of a seabed node seismic instrument 3 and maintaining the balance of the front and rear end counterweights of AUV2.

[0116] N seabed node seismic instruments 3 are deployed in preset positions in sequence, and then return to the seabed node seismic instrument deployment and recovery ship 1, and then the next batch of seabed node seismic instruments 3 can be deployed. The seabed node seismic instruments 3 in the seabed seismic data acquisition area can be quickly deployed through AUV2, shortening the deployment time and improving work efficiency.

[0117] After the seabed node seismic instruments 3 are deployed in the seabed seismic data acquisition area, the sea surface air gun source ship excites the air gun source point by point along the source line according to the pre-designed source excitation grid, and the data acquisition group of the seabed node seismic instruments 3 deployed on the seabed continuously collects the artificial seismic signals excited by the air gun source.

[0118] After the seabed artificial seismic data collection is completed, the large intelligent AUV2 autonomously dives to the seabed of the operation area, and the first hydroacoustic positioning system 6 sends a first hydroacoustic positioning signal to the hydroacoustic transponder 7, and the second hydroacoustic positioning system 6 sends a second hydroacoustic positioning signal to the hydroacoustic transponder 7. The hydroacoustic transponder 7 sends the obtained first hydroacoustic positioning signal and the second hydroacoustic positioning signal to the intelligent diving controller 8 of the AUV2. The intelligent diving controller 8 generates an intelligent driving control signal according to the preset deployment point coordinate data, the first hydroacoustic positioning signal, and the second hydroacoustic positioning signal, and transmits the intelligent driving control signal to the balancing tail 13, the tail end electric drive propeller 11, the head end steering electric drive propeller 15, and the balancing tail 13. The tail end electric drive propeller 11 and the head end steering electric drive propeller 15 control the AUV2 to dive to the seabed of the operation area to the actual deployment point coordinate position of the first seabed node seismic instrument 3 according to the received intelligent drive control signal. The AUV2 recovers the seabed node seismic instrument 3 located at the deployment point coordinate position to the conveyor belt 12. The recovery here can use the claw-shaped mechanical arm 10 to grab the seabed node seismic instrument 3 into the drainage bin, and after drainage, it is recovered to the conveyor belt 12 through the lifting device. Consistent with the deployment, it is also carried out alternately from left to right. When the positions of n seabed node seismic instruments 3 are reached one by one, the seabed node seismic instrument 3 is recovered each time a point is reached.

[0119] Whenever the AUV2 recovers a seabed node seismic instrument 3, the intelligent stealth controller 8 immediately controls the buoyancy balance device 4 installed at the head or tail end of the AUV's cabin to pump seawater into the cylindrical automatically retractable cavity at the end where the seabed node seismic instrument 3 is deployed, to compensate for the weight increase after recovering a seabed node seismic instrument 3 and maintain the balance of the front and rear end counterweights of the AUV2.

[0120] After recovering n seafloor node seismic instruments 3, the AUV2 returns to the seafloor node seismic instrument deployment and recovery ship 1.

[0121] The seabed node seismic instrument 3 recovered to the seabed node seismic instrument deployment and recovery vessel 1 is cleaned and then the collected data is downloaded and charged, and then it is rolled to the seabed again by the AUV2 to continue to collect four-component seabed seismic data.

[0122] It will be understood that the above embodiments are merely exemplary embodiments for illustrating the principles of the present invention, and the present invention is not limited thereto. Those skilled in the art will appreciate that various modifications and improvements can be made without departing from the spirit and substance of the present invention, and such modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A method for deploying and recovering a seabed node seismic data acquisition system based on an intelligent AUV, characterized in that: The invention comprises a seabed node seismic data acquisition system based on an intelligent AUV, wherein the seabed node seismic data acquisition system based on the intelligent AUV comprises a seabed node seismic instrument deployment and recovery ship (1), a large intelligent deep-water AUV (2), n seabed node seismic instruments (3), where n is greater than or equal to 2, and a long baseline (LBL) or short baseline (SBL) or ultra-short baseline (USBL) hydroacoustic positioning system (6) installed on the bottom of the seabed node seismic instrument deployment and recovery ship (1) or the bottom of an offshore positioning boat (5), wherein the hydroacoustic positioning system (6) comprises a first hydroacoustic positioning system provided on the bottom of the seabed node seismic instrument deployment and recovery ship (1) and a second hydroacoustic positioning system provided on the bottom of the positioning boat (5); A large deep-water AUV (2) comprises an AUV inner cabin and an AUV outer shell. The head and tail ends of the AUV inner cabin are respectively installed with a buoyancy balance device (4). A conveyor belt (12) and an intelligent stealth controller (8) are provided in the AUV inner cabin. The intelligent stealth controller (8) is located at the head of the AUV. An underwater acoustic transponder (7) is provided on the top of the AUV outer shell. A temperature, salinity and depth sensor (16) is provided at the front of the AUV outer shell. The intelligent stealth controller (8) is connected to the underwater acoustic transponder (7), the temperature, salinity and depth sensor (16), the buoyancy balance device (4) and the conveyor belt (12). An AUV lower outlet is provided at the bottom of the middle shell of the AUV. The AUV lower outlet is adjacent to the conveyor belts (12) at both ends. The seafloor node seismic instrument (3) comprises at least one four-component seafloor node seismic data acquisition station, and the n seafloor node seismic instruments (3) are placed on the conveyor belt (12); The front and rear ends of the AUV inner cabin are respectively equipped with buoyancy balancing devices (4), which are cylindrical, automatically retractable hollow bodies. The balance and buoyancy control system (14) of the AUV (2) injects air or seawater into the cylindrical, automatically retractable hollow bodies as needed to control and adjust the balance and buoyancy of the AUV (2) in real time during underwater operation. The tail of the AUV shell is further provided with a balancing tail (13) facing each other up and down, the tail end of the AUV shell is provided with a tail end electric drive propeller (11), and both sides of the front end of the AUV shell are provided with a head end electric drive propeller (15), and the balancing tail (13), the tail end electric drive propeller (11), the head end electric drive propeller (15), the buoyancy balancing device (4) and the balancing and buoyancy control system (14) are all connected to the intelligent stealth controller (8); The deployment and recovery method of the intelligent AUV-based seabed node seismic data acquisition system includes the following steps: S1: The seabed node seismic instrument deployment and recovery vessel (1) carries the seabed node seismic instrument (3) and the large AUV (2) to the seabed seismic data acquisition area according to the construction work plan; S2: Inputting the preset deployment point coordinate data of n seabed node seismic instruments (3) into the intelligent stealth controller (8) of the AUV; S3: n seabed node seismic instruments (3) are placed on the conveyor belt (12) in the inner cavity of the AUV, the seabed node seismic instrument deployment and recovery ship (1) carries the AUV (2) to the sea surface of the operation area and releases the AUV (2) into the sea, and the AUV (2) automatically dives to the seabed; S4: When the AUV (2) automatically dives toward the seabed, a temperature-salinity-depth sensor (16) is provided on the front of the AUV shell to measure and record the temperature, salinity saturation and water depth data of the seawater in real time, and transmit the temperature-salinity-depth data to the intelligent diving controller (8) of the AUV (2); S5: The hydroacoustic signal generator under the first hydroacoustic positioning system and the hydroacoustic signal generator under the second hydroacoustic positioning system respectively send a first hydroacoustic positioning signal and a second hydroacoustic positioning signal to a hydroacoustic transponder (7) provided on the top of the AUV shell of the AUV (2), and the hydroacoustic transponder (7) sends the received first hydroacoustic positioning signal and the second hydroacoustic positioning signal to the intelligent stealth controller (8) of the AUV (2); S6: The intelligent submersible controller (8) measures and records the temperature, salinity and water depth data of the seawater in real time according to the temperature-salinity-depth sensor (16), and calculates the seawater pressure at different water depths and the propagation speed of the hydroacoustic signal in the seawater at different temperature-salinity-depths; S7: the intelligent stealth controller (8) accurately locates the AUV (2) in real time based on the first underwater acoustic positioning signal and the second underwater acoustic positioning signal in combination with the propagation speed of the underwater acoustic signal in deep sea water of different temperatures and salinities calculated in step S6; S8: The intelligent submersible controller (8) performs real-time intelligent navigation on the navigation track of the AUV (2) according to the specific deployment coordinates of the pre-set seabed node seismic instrument (3). At this time, the intelligent submersible controller (8) generates an intelligent driving control signal based on the real-time positioning results of the first and second hydroacoustic positioning signals, the water depth, pressure, temperature, ocean current direction and velocity of the position of the AUV (2), and the real-time intelligent navigation data of the AUV (2), and sends the intelligent driving control signal to the balancing tail (13), the tail end electric drive propeller (11) and the head end steering electric drive propeller (15), so as to control the AUV (2) to dive to the specific deployment coordinate position of the pre-set seabed node seismic instrument (3); S9: The AUV (2) sneaks to the preset deployment point coordinates of the seabed node seismic instrument (3) in sequence according to the preset deployment point coordinate data, the real-time underwater acoustic positioning signal and the best intelligent trajectory calculated in real time, and places n seabed node seismic instruments (3) in sequence at the preset deployment point positions; S10: Whenever the AUV (2) deploys a seabed node seismic instrument (3), the intelligent stealth controller (8) immediately controls the buoyancy balance device (4) installed at the front end or the rear end of the inner cabin of the AUV (2) to inject seawater into the cylindrical automatically retractable cavity at the end where the seabed node seismic instrument (3) is deployed, so as to compensate for the weight loss after the seabed node seismic instrument (3) is deployed and maintain the balance of the front and rear end counterweights of the AUV (2); S11: After the AUV (2) has finished deploying the seabed node seismic instrument (3) it carries, the intelligent stealth controller (8) immediately controls the buoyancy balance devices (4) at the front and rear ends of the AUV's cabin to inject air into the cylindrical automatically retractable cavity, thereby reducing the weight of the AUV (2) and generating an upward buoyancy force, so that the AUV (2) can reduce power consumption when returning from the seabed to the seabed node seismic instrument deployment and recovery vessel 1 on the sea surface; S12: The AUV (2) then performs real-time positioning of the AUV (2) and the seabed node seismic instrument deployment and recovery ship (1) on the sea surface according to the first hydroacoustic positioning signal and the second hydroacoustic positioning signal, and the intelligent submersible controller (8) generates an intelligent drive control signal according to the real-time intelligent navigation data, and sends the intelligent drive control signal to the balancing tail fin (13), the tail end electric drive propeller (11) and the head end steering electric drive propeller (15), so as to control the AUV (2) to automatically return to the seabed node seismic instrument deployment and recovery ship (1) for recovery; S13: After the seabed artificial seismic data collection in this operation area is completed, the seabed node seismic instrument deployment and recovery ship (1) carries the AUV (2) back to the sea surface of the operation area and launches the AUV (2) into the sea. The AUV (2) autonomously sneaks to the deployment point of the seabed node seismic instrument (3) based on the first real-time hydroacoustic positioning signal and the second real-time hydroacoustic positioning signal and the preset deployment point coordinate data of the seabed node seismic instrument (3) and searches, salvages and recovers the seabed node seismic instruments (3) deployed on the seabed one by one.

2. The method for deploying and recovering a seabed node seismic data acquisition system based on an intelligent AUV according to claim 1, characterized in that: The AUV lower outlet is located in the middle section of the bottom of the AUV shell, the conveyor belt (12) is symmetrically distributed on both sides of the AUV lower outlet, and along the axial direction of the conveyor belt (12), the seabed node seismic instruments (3) are evenly arranged on the conveyor belt (12).

3. The method for deploying and recovering a seabed node seismic data acquisition system based on an intelligent AUV according to claim 1, characterized in that: The hydroacoustic signal generator below the first hydroacoustic positioning system is data-linked with the hydroacoustic transponder (7) on the top of the AUV shell. The hydroacoustic signal generator below the first hydroacoustic positioning system sends a first hydroacoustic positioning signal to the hydroacoustic transponder (7) on the top of the AUV shell. The hydroacoustic transponder (7) sends the received first hydroacoustic positioning signal to the intelligent stealth controller (8) of the AUV (2).

4. The method for deploying and recovering a seabed node seismic data acquisition system based on an intelligent AUV according to claim 1, characterized in that: It also includes a positioning boat (5), the positioning boat (5) being located before or after the seafloor node seismic instrument deployment and recovery vessel (1); The hydroacoustic signal generator below the second hydroacoustic positioning system is data-linked with the hydroacoustic transponder (7) on the top of the AUV (2) shell. The hydroacoustic signal generator below the second hydroacoustic positioning system sends a second hydroacoustic positioning signal to the hydroacoustic transponder (7) on the top of the AUV (2) shell. The hydroacoustic transponder (7) sends the received second hydroacoustic positioning signal to the intelligent stealth controller (8) of the AUV (2). The intelligent stealth controller (8) positions the AUV (2) in real time according to the first hydroacoustic positioning signal and the second hydroacoustic positioning signal, and positions the AUV (2) according to the pre-set hydroacoustic positioning signal. The AUV (2) is intelligently navigated in real time based on the specific deployment coordinates of the set seabed node seismic instrument (3). At this time, the intelligent stealth controller (8) generates an intelligent drive control signal based on the real-time positioning results of the first and second hydroacoustic positioning signals and the real-time intelligent navigation data of the AUV (2), and sends the intelligent drive control signal to the balancing tail (13), the tail end electric drive propeller (11) and the head end steering electric drive propeller (15), so as to control the AUV (2) to sneak toward the specific deployment coordinate position of the pre-set seabed node seismic instrument (3).

5. The method for deploying and recovering a seabed node seismic data acquisition system based on an intelligent AUV according to claim 1, characterized in that: The AUV inner cavity is further provided with a rechargeable battery (9), which is connected to the intelligent submersible controller (8), the conveyor belt (12), the balancing tail (13), the tail end electric drive propeller (11), and the head end electric drive propeller (15) through a power supply circuit.

6. The method for deploying and recovering a seabed node seismic data acquisition system based on an intelligent AUV according to any one of claims 1 to 5, characterized in that: The seafloor node seismic instrument (3) is a seafloor conventional geophone four-component node seismic data acquisition instrument, a seafloor MEMS four-component node seismic data acquisition instrument, or a seafloor optical fiber four-component node seismic data acquisition instrument.

7. The method for deploying and recovering a seabed node seismic data acquisition system based on an intelligent AUV according to claim 1, characterized in that: The deployment method of the seabed node seismic data acquisition system based on the intelligent AUV, namely the specific steps S3-S9 are as follows: S31: The AUV (2) automatically controls and sneaks to the coordinate position of the deployment point of the i-th seabed node seismic instrument (3) preset by the AUV according to the preset deployment point coordinate data of the seabed node seismic instrument (3) and the real-time hydroacoustic positioning signal, i=1, and the conveyor belt (12) located on the side of the lower exit of the AUV transmits the first seabed node seismic instrument (3) to the lower exit of the AUV; S32: AUV (2) deploys the seafloor node seismic instrument (3) located at the lower exit of AUV (2) at the current deployment point; S33: Whenever the AUV (2) deploys a seafloor node seismic instrument (3), the intelligent stealth controller (8) immediately controls the buoyancy balance device (4) installed at the front end or the rear end of the AUV cabin to inject seawater into the cylindrical automatically retractable cavity at the end where the seafloor node seismic instrument (3) is deployed, so as to compensate for the weight loss after deploying the seafloor node seismic instrument (3) and maintain the balance of the front and rear end counterweights of the AUV (2); S34: The AUV (2) automatically controls and sneaks to the coordinate position of the deployment point of the i-th seabed node seismic instrument (3) preset by the AUV (2) according to the preset deployment point coordinate data of the seabed node seismic instrument (3) and the real-time underwater acoustic positioning signal, i=i+1; i≤n, the conveyor belt transports one seafloor node seismic instrument to the lower exit of the AUV, the i-th seafloor node seismic instrument (3) and the i+1-th seafloor node seismic instrument (3) are alternately transported from the conveyor belts (12) on both sides of the lower exit of the AUV to the lower exit of the AUV, and S32 and S33 are executed; i=n+1, the AUV (2) stops deploying the seafloor node seismic instrument (3).

8. The method for deploying and recovering a seabed node seismic data acquisition system based on an intelligent AUV according to claim 7, characterized in that: The recovery method of the seabed node seismic data acquisition system based on the intelligent AUV, i.e., S13, has the following specific steps: S131: The AUV (2) automatically controls and sneaks to the deployment point coordinate position of the i-th seabed node seismic instrument (3) preset by the AUV (2) according to the preset deployment point coordinate data and the real-time underwater acoustic positioning signal, where i=1; the AUV (2) autonomously sneaks to the deployment point position of the seabed node seismic instrument (3); S132: The AUV (2) searches for, salvages, and recovers the seabed node seismic instrument (3) deployed on the seabed at the deployment point of the seabed node seismic instrument (3) to a conveyor belt (12) located on one side of the lower exit of the AUV; S133: Whenever the AUV (2) recovers a seafloor node seismic instrument (3), the intelligent stealth controller (8) immediately controls the buoyancy balance device (4) installed at the front end or the rear end of the AUV cabin to pump seawater into the cylindrical automatically retractable cavity at the end where the seafloor node seismic instrument (3) was recovered, so as to compensate for the weight increase after the seafloor node seismic instrument (3) was recovered, and to maintain the balance of the front and rear end counterweights of the AUV (2); S134: The AUV (2) automatically controls and sneaks to the coordinate position of the deployment point of the i-th seabed node seismic instrument (3) preset by the AUV (2) according to the preset deployment point coordinate data and the real-time underwater acoustic positioning signal, where i=i+1; i≤n, the AUV (2) searches, salvages, and recovers the seafloor node seismic instrument (3) deployed on the seafloor to the conveyor belt (12) located on one side of the AUV lower exit, and the i-th seafloor node seismic instrument (3) and the i+1-th seafloor node seismic instrument (3) are alternately recovered to the conveyor belts (12) on both sides of the AUV lower exit, and S131 and S132 are executed; i=n+1, AUV (2) stops recycling.

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