A multimodal seabed environment monitoring and communication integrated device and method

Abstract

The application discloses a kind of multimode seabed environment monitoring and communication integrated device and method, device includes the equipment node for collecting seabed data, equipment node is equipped with vector hydrophone and scalar hydrophone, vector hydrophone and scalar hydrophone are used for underwater acoustic communication;Sinking coupling frame, sinking coupling frame is detachably connected below equipment node;Communication submersible for satellite communication, communication submersible is connected with equipment node by communication submersible cable;Seismometer for seismic wave communication, seismometer is connected with equipment node by seismometer cable;Wherein, equipment node can be fixed on seabed by sinking coupling frame, equipment node is equipped with winch, equipment node is released communication submersible cable by winch or release communication submersible cable.Seabed environment appears exception, releases communication submersible, and sends exception data to shore-based system by satellite communication, and communication between multiple nodes is realized by underwater acoustic communication and seismic wave communication, and secondary discrimination is carried out to exception data, to improve the credibility of data.

Description

Technical Field

[0001] This invention relates to the field of seabed environment detection equipment technology, and in particular to a multimodal seabed environment monitoring and communication integrated device and method. Background Technology

[0002] Due to the complexity of the seabed environment, seabed environmental detection and monitoring have long been challenging. Furthermore, the high water pressure, seawater corrosion, biological activity, and ocean current disturbances place high demands on the usability of seabed environmental detection equipment. However, current domestic and international marine environmental detection equipment suffers from two major drawbacks.

[0003] The first point is: using a single detection method. Currently, most marine exploration equipment only collects and stores single types of seabed data. For example, seismometers are used to collect three-component data to detect seismic data, and three-component magnetic sensors are used to detect electromagnetic field data. There are currently no schemes or methods to collect complex data on multiple seabed environments simultaneously.

[0004] The second point is the lack of real-time communication channels. Current seabed environmental monitoring equipment all employ a localized storage solution, storing the collected data within the equipment itself and retrieving it after retrieval by personnel. This solution has two main drawbacks: First, data cannot be retrieved when the equipment is lost. Due to the complex marine environment and the long-term operation of the equipment in the high-pressure environment of the seabed, some individual nodes may malfunction, making retrieval impossible. In such cases, the data collected by those nodes cannot be recovered by personnel and cannot be used for data analysis. Second, real-time communication is impossible. Existing seabed environmental monitoring devices cannot perform real-time analysis of the collected data, nor can they report the analysis results to the shore-based system in real time.

[0005] Therefore, existing technologies still need to be improved and developed to address the aforementioned shortcomings. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a device and method for multimodal seabed environment monitoring and communication that addresses the above-mentioned deficiencies of the prior art. It can select different communication methods according to different working environment conditions, analyze the collected data in real time and report the analysis results to the shore-based system, and reduce the occurrence of misjudgments caused by anomalies of a single node, thereby improving the reliability of the data.

[0007] The technical solution adopted by this invention to solve the technical problem is as follows:

[0008] To address the aforementioned technical problems, the first aspect of this application provides a multimodal seabed environment monitoring and communication integrated device, comprising:

[0009] The device node is used to collect seabed data. The device node is equipped with a vector hydrophone and a scalar hydrophone. Both the vector hydrophone and the scalar hydrophone are used for underwater acoustic communication.

[0010] A coupling frame, which is detachably connected below the equipment node;

[0011] A communication buoy for satellite communication, wherein the communication buoy is connected to the device node via a communication buoy cable;

[0012] A seismometer for seismic wave communication, wherein the seismometer is connected to the device node via a seismometer cable;

[0013] The equipment node is fixed to the seabed by the coupling frame, and the equipment node is equipped with a winch. The equipment node retrieves or releases the communication mooring cable by the winch.

[0014] The multimodal seabed environment monitoring and communication integrated device includes a power supply compartment, a sensing and control compartment, a beacon compartment, a glass microsphere, and at least one support crossbar. The support crossbar is fixedly connected to the device node. The winch, the power supply compartment, the sensing and control compartment, the beacon compartment, and the glass microsphere are all located within the device node. The beacon compartment is located above the sensing and control compartment, and the power supply compartment is located below the sensing and control compartment.

[0015] The multimodal seabed environment monitoring and communication integrated device includes several electric field sensors evenly spaced on the supporting crossbar.

[0016] The power supply compartment contains several battery packs and a power control board, which are electrically connected to each other.

[0017] The sensing and control cabin is fixedly connected to a main control board and a clock module, and the main control board is electrically connected to the clock module.

[0018] The multimodal seabed environment monitoring and communication integrated device includes an underwater camera and a strobe light on the outer wall of the device node. The outer wall of the device node is connected to the seismometer via the seismometer cable. The underwater camera is located on the outer wall of the device node near the seismometer.

[0019] The multimodal seabed environment monitoring and communication integrated device includes a hydrophone protection frame located near the support crossbar on the device node. The vector hydrophone is elastically connected inside the hydrophone protection frame, and the scalar hydrophone is located on the outer wall of the hydrophone protection frame.

[0020] The multimodal seabed environment monitoring and communication integrated device includes an electric field sensor, a power control board, an underwater camera, a strobe light, a seismometer, a communication mooring, a vector hydrophone, and a scalar hydrophone, all of which are electrically connected to the main control board.

[0021] The multimodal seabed environment monitoring and communication integrated device includes a control cabin cover attached to the sensing and control cabin, at least one watertight connector on the control cabin cover, and a power supply cabin cover bolted to the power supply cabin.

[0022] The multimodal seabed environment monitoring and communication integrated device includes a three-component magnetic field sensor and a gravimeter sensor on the main control board. Both the three-component magnetic field sensor and the gravimeter sensor are used to monitor seabed environment information.

[0023] The multimodal seabed environment monitoring and communication integrated device includes an acoustic release device on the equipment node, an underwater acoustic signal receiving sensor and a release mechanism on the acoustic release device, both of which are electrically connected to the acoustic release device. The acoustic release device is electrically connected to the main control board, and the coupling frame is detachably connected to the equipment node through the release mechanism.

[0024] The multimodal seabed environment monitoring and communication integrated device includes a number of seismometer coupling rivets at the bottom of the seismometer.

[0025] The multimodal seabed environment monitoring and communication integrated device, wherein the power supply compartment is made of aluminum alloy.

[0026] A second aspect of this application provides a multimodal seabed environment monitoring and communication integrated method, the method comprising:

[0027] Based on the data acquisition mode, the main control board acquires the control signals of the shore-based system through the vector hydrophone and the scalar hydrophone;

[0028] The main control board collects ocean data through the three-component magnetic field sensor and the gravimeter sensor according to the control signal, and performs data identification on the ocean data;

[0029] When the main control board detects abnormal information in the marine data, it switches to emergency communication mode, saves the abnormal information to the main control board, and drives the winch to release the communication mooring cable so that the communication mooring floats to the surface.

[0030] The main control board communicates with the satellite via the communication mooring vessel and sends the abnormal information to the shore-based system.

[0031] The multimodal seabed environment monitoring and communication integrated method, wherein when the main control board detects abnormal information in the marine data, it switches to emergency communication mode, saves the abnormal information to the main control board, and drives the winch to release the communication mooring cable so that the communication mooring floats to the surface, includes the following steps:

[0032] The main control board acquires marine data collected by surrounding device nodes through underwater acoustic communication or seismic wave communication;

[0033] The main control board performs secondary screening on the marine data collected by the peripheral device nodes to determine the accuracy of the abnormal information.

[0034] Beneficial Effects: Compared with existing technologies, this invention provides an integrated device and method for multimodal seabed environment monitoring and communication. The integrated device includes equipment nodes for collecting seabed data, each equipped with a vector hydrophone and a scalar hydrophone, both used for underwater acoustic communication; a coupling frame detachably connected to the equipment node; a communication buoy for satellite communication, connected to the equipment node via a communication buoy cable; and a seismometer for seismic wave communication, connected to the equipment node via a seismometer cable. The equipment node can be fixed to the seabed by the coupling frame and equipped with a winch, which retrieves or releases the communication buoy cable. When anomalies occur in the seabed environment, such as tsunamis, the communication buoy is released, and the abnormal data is transmitted to the shore-based system via satellite communication. Communication between multiple nodes is achieved through underwater acoustic and seismic wave communication, allowing for secondary screening of the abnormal data and improving data reliability. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the overall structure of a multimodal seabed environment monitoring and communication integrated device according to the present invention;

[0037] Figure 2 This is a partial structural cross-sectional view of a multimodal integrated underwater environment monitoring and communication device according to the present invention;

[0038] Figure 3 This is a flowchart illustrating the operation of a multimodal integrated underwater environment monitoring and communication device according to the present invention.

[0039] Figure 4 This is an overall schematic diagram of the multimodal seabed environment monitoring and communication integrated device of the present invention in the data acquisition mode;

[0040] Figure 5 This is an overall schematic diagram of a multimodal integrated underwater environment monitoring and communication device of the present invention in emergency communication and regular communication modes;

[0041] Figure 6 This is an overall schematic diagram of the multimodal seabed environment monitoring and communication integrated device of the present invention in recovery mode;

[0042] Figure 7 This is a schematic diagram of the main control board of a multimodal underwater environment monitoring and communication integrated device according to the present invention.

[0043] In the diagram: 100, Coupling frame; 101, Equipment node; 102, Acoustic release device; 103, Support crossbar; 104, Strobe light; 105, Underwater camera; 106, Underwater acoustic signal receiving sensor; 107, Release mechanism; 108, Glass microsphere; 200, Seismometer cable; 201, Seismometer; 202, Seismometer coupling rivet; 300, Communication buoy cable; 301, Communication buoy; 400, Hydrophone protective frame; 401, Vector hydrophone; 402, Scalar hydrophone; 403, Electric field sensor; 500, Power supply compartment; 501, Battery pack; 502, Power control board; 503, Power supply compartment cover; 600, Sensing and control compartment; 601. Clock module; 602. Main control board; 6021. Three-component magnetic field sensor; 6022. Gravity sensor; 603. Control cabin cover; 604. Watertight connector; 700. Beacon cabin; 800. Winch; 801. Sea surface; 802. Seabed; 803. Underwater acoustic communication; 804. Seismic wave communication; 805. Electromagnetic wave communication. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for explaining the invention and are not intended to limit the invention.

[0045] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0046] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can also refer to the internal connection of two components; and they can refer to a wireless connection or a wired connection. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0047] Furthermore, the technical features involved in the different embodiments of the present invention described above can be combined with each other as long as they do not conflict with each other.

[0048] like Figure 1 As shown in the figure, an embodiment of the present invention provides a multimodal integrated device for monitoring and communicating the environment of the seabed 802. The integrated device includes: a device node 101, a coupling frame 100, a communication mooring 301, and a seismometer 201. The device node 101 is used to collect seabed 802 data. The device node 101 is equipped with a vector hydrophone 401 and a scalar hydrophone 402, both of which are used for underwater acoustic communication 803. The coupling frame 100 is detachably connected to the device node 101. The communication mooring 301 is used for satellite communication and is connected to the device node 101 via a communication mooring cable 300. The seismometer 201 is used for seismic wave communication 804 and is connected to the device node 101 via a seismometer cable 200.

[0049] It should be noted that the equipment node 101 is fixed to the seabed 802 by the coupling frame 100. The equipment node 101 is equipped with a winch 800. The equipment node 101 retrieves or releases the communication mooring cable 300 by the winch 800.

[0050] It should also be noted that current marine environmental monitoring equipment typically uses a single detection method, storing the collected data within the device itself and retrieving it after retrieval by personnel. If the equipment is lost, the data cannot be accessed. Furthermore, there is no real-time communication channel, making it impossible to perform real-time analysis of the collected data and report the results to shore-based systems in real time.

[0051] This invention selects different communication methods according to different working environment conditions to promptly transmit the collected seabed data to the shore-based system. For example, when anomalies occur in the seabed environment (802), such as tsunamis or seabed earthquakes (802), the communication mooring cable (300) is released via the winch (800). The communication mooring 301 rises to the surface (801) by its own buoyancy. Since the communication mooring 301 can act as an electromagnetic wave signal transmitting and receiving antenna, and is electrically connected to the main control board (602) via the communication mooring cable (300), the main control board (602) can communicate with the shore-based system via electromagnetic wave communication (805) (satellite communication) through the communication mooring 301, sending abnormal data to the shore-based system. The collected data can be analyzed in real time, and the analysis results can be reported to the shore-based system in real time. Furthermore, communication between multiple nodes is achieved through underwater acoustic communication (803) and seismic wave communication (804), allowing for secondary screening of abnormal data, improving data reliability, and reducing misjudgments caused by anomalies in a single node. Both the vector hydrophone 401 and the scalar hydrophone 402 can realize underwater acoustic communication 803, and the seismometer 201 can realize seismic wave communication 804.

[0052] It is understood that the specific functions of the communication mooring 301, vector hydrophone 401, scalar hydrophone 402 and seismometer 201 in this embodiment are available to those skilled in the art based on existing technology. The structure and working principle of the communication mooring 301, vector hydrophone 401, scalar hydrophone 402 and seismometer 201 will not be described in detail here.

[0053] Furthermore, such as Figure 2 As shown, the equipment node 101 includes a power supply compartment 500, a sensing and control compartment 600, a beacon compartment 700, a glass microsphere 108, and at least one support crossbar 103. The support crossbar 103 is fixedly connected to the equipment node 101. The winch 800, power supply compartment 500, sensing and control compartment 600, beacon compartment 700, and glass microsphere 108 are all located inside the equipment node 101. The beacon compartment 700 is located above the sensing and control compartment 600, and the power supply compartment 500 is located below the sensing and control compartment 600.

[0054] It should be noted that the power supply compartment 500, the sensing and control compartment 600, and the beacon compartment 700 are all sealed cavity structures, which can effectively prevent seawater from entering the compartment and corroding the internal electrical components.

[0055] Furthermore, several electric field sensors 403 are evenly spaced on the support crossbar 103; the support crossbar 103 on the equipment node 101 is used to increase the spacing between the multiple electric field sensors 403 and improve the measurement accuracy of the electric field sensors 403.

[0056] The power supply compartment 500 contains several battery packs 501 and a power control board 502, which are electrically connected to each other. The power control board 502 monitors and manages the status of the battery packs 501 in the power supply compartment 500.

[0057] The sensing and control cabin 600 contains a main control board 602 and a clock module 601, which are electrically connected. The main control board 602 is responsible for data acquisition, storage, and analysis.

[0058] Furthermore, an underwater camera 105 and a strobe light 104 are provided on the outer wall of the equipment node 101. The outer wall of the equipment node 101 is connected to the seismometer 201 via a seismometer cable 200. The underwater camera 105 is located on the outer wall of the equipment node 101 near the seismometer 201.

[0059] It should be noted that the underwater camera 105 is fixed on the outer wall of the equipment node 101 and faces the direction of the seismometer 201. It is used to observe and ensure the coupling status of the seismometer 201 with the seabed 802, and the underwater camera 105 can be used to observe the condition of the seabed 802 around the equipment node 101.

[0060] Furthermore, a hydrophone protection frame 400 is provided on the device node 101 near the support crossbar 103. A vector hydrophone 401 is elastically connected inside the hydrophone protection frame 400, and a scalar hydrophone 402 is disposed on the outer wall of the hydrophone protection frame 400. The vector hydrophone 401 is elastically connected to the hydrophone protection frame 400, and the scalar hydrophone 402 is fixed to the outside of the device node 101 housing to ensure that the underwater acoustic signal can be correctly detected.

[0061] Furthermore, the electric field sensor 403, power control board 502, underwater camera 105, strobe light 104, seismometer 201, communication mooring 301, vector hydrophone 401 and scalar hydrophone 402 are all electrically connected to the main control board 602.

[0062] Furthermore, a control compartment cover 603 is attached to the sensing and control compartment 600. The control compartment cover 603 has at least one watertight connector 604, and a power supply compartment cover 503 is bolted to the power supply compartment 500. The power supply compartment 500 and the power supply compartment cover 503 are sealed together by a rubber gasket and fastening threads. The watertight connector 604 serves both waterproofing and electrical conductivity functions. The main control board 602 inside the sensing and control compartment 600 is connected to various external sensors and equipment via numerous cables. To ensure the waterproof performance of the sensing and control compartment 600, the main control board 602 is electrically connected to external sensors and equipment through the watertight connector 604. This design prevents seawater from entering the compartment while maintaining electrical conductivity.

[0063] Furthermore, such as Figure 7 As shown, the main control board 602 is equipped with a three-component magnetic field sensor 6021 and a gravimeter sensor 6022. Both the three-component magnetic field sensor 6021 and the gravimeter sensor 6022 are used to monitor the environmental information of the seabed 802.

[0064] Furthermore, an acoustic release device 102 is provided on the equipment node 101. The acoustic release device 102 is provided with an underwater acoustic signal receiving sensor 106 and a release mechanism 107. The underwater acoustic signal receiving sensor 106 and the release mechanism 107 are both electrically connected to the acoustic release device 102. The acoustic release device 102 is electrically connected to the main control board 602. The coupling frame 100 is detachably connected to the equipment node 101 through the release mechanism 107.

[0065] It should be noted that the 802 subsea equipment, due to its long-term operation in the deep sea, is subject to severe water pressure and seawater corrosion. To ensure that the equipment node 101 can operate stably on the 802 subsea for a long time and to effectively recover the equipment in the event of an malfunction in the equipment node 101, the acoustic release device 102, the recovery beacon, the strobe light 104 and other recovery-related modules all adopt an independent working mode. That is, the acoustic release device 102, the recovery beacon, the strobe light 104 and other recovery-related modules all have built-in independent power supply modules and control modules, so that the equipment can still be recovered normally when the main equipment malfunctions.

[0066] Furthermore, the bottom of the seismometer 201 is provided with several seismometer coupling rivets 202. The seismometer coupling rivets 202 enable the seismometer 201 to be placed stably on the seabed, preventing the seismometer 201 from being pushed and slipping by ocean currents.

[0067] Furthermore, the power supply compartment 500 is made of aluminum alloy. Aluminum alloy has good corrosion resistance, which can ensure that the battery pack 501 and battery control board inside the power supply compartment 500 will not be corroded by seawater.

[0068] Furthermore, based on the multimodal seabed 802 environment monitoring and communication integrated device provided in the above embodiments, the present invention also provides a multimodal seabed 802 environment monitoring and communication integrated method.

[0069] These include:

[0070] Step S10: Based on the data acquisition mode, the main control board 602 acquires the control signals of the shore-based system through the vector hydrophone 401 and the scalar hydrophone 402.

[0071] In step S20, the main control board 602 collects ocean data through the three-component magnetic field sensor 6021 and gravimeter sensor 6022 according to the control signal, and performs data identification on the ocean data.

[0072] In step S30, when the main control board 602 detects abnormal information in the marine data, it switches to emergency communication mode, saves the abnormal information to the main control board 602, and drives the winch 800 to release the communication mooring cable 300 so that the communication mooring 301 rises to the surface 801.

[0073] Among them, saving abnormal information to the main control board 602 can generate a dataset, which facilitates subsequent data analysis and comparison.

[0074] In step S40, the main control board 602 communicates with the satellite via the communication mooring 301 to send the abnormal information to the shore-based system.

[0075] like Figure 3 As shown, the equipment mainly consists of two parts: equipment node 101 and communication buoy 301, which are connected and communicate via a wired cable. In normal operation, communication buoy 301 remains submerged and silent. When equipment node 101 collects and identifies abnormal information that needs to be reported to the shore-based system, the buoy quickly rises and reports the abnormal information to the shore-based system via satellite communication. After completing the status report, it quickly submerges again and remains silent. Simultaneously, the buoy periodically rises to report the health status and information summary of equipment node 101 to the shore-based system, and also receives control signals from the shore-based system. Equipment node 101 will then execute further tasks according to the received control commands.

[0076] Furthermore, when the main control board 602 detects abnormal information in the marine data, it switches to emergency communication mode, saves the abnormal information to the main control board 602, and drives the winch 800 to release the communication mooring cable 300, so that the communication mooring 301 rises to the surface 801. The steps include:

[0077] In step S31, the main control board 602 acquires marine data collected by the peripheral device node 101 through underwater acoustic communication 803 or seismic wave communication 804.

[0078] like Figure 4 As shown in the figure, 801 represents the sea surface 801, and 802 represents the seabed 802. In data acquisition mode, the main control board 602 is used. Device node 101 is coupled to the seabed 802 via a coupling frame 100. Seismometer 201 is connected to device node 101 via a flexible wired cable and is tightly coupled to the seabed 802 via its own coupling rivets. This connection method effectively eliminates the influence of the movement noise of the communication mooring buoy 301 on the measurement data of seismometer 201. During normal data acquisition, the underwater acoustic communication system 803 and the seismic wave communication system 804 of device node 101 can support intra-site communication between device nodes 101.

[0079] In step S32, the main control board 602 performs secondary screening on the marine data collected by the peripheral device nodes 101 to determine the accuracy of the abnormal information.

[0080] like Figure 5 As shown. In emergency communication and regular communication modes, when device node 101 detects abnormal data on seabed 802, it will quickly surface via communication mooring 301 and report the abnormal data to the shore-based system via satellite network. Professional personnel will then verify and process the data. After completing the data upload and receiving a response from the shore-based system, communication mooring 301 will continue to submerge, remaining silent. Simultaneously, device node 101 will also transmit the abnormal data and its status to other nearby device nodes 101 via underwater acoustic communication 803 or seismic wave communication 804. Other device nodes 101 will then compare this information with their own collected data to further verify and confirm the abnormal data status. Furthermore, communication mooring 301 will periodically surface according to a set reporting cycle and report the operating status and summary information of device node 101. When device node 101 experiences an anomaly, a mother ship will arrive at the designated sea area to retrieve and maintain device node 101.

[0081] like Figure 6 As shown. In equipment recovery mode, when the recovery vessel reaches the designated sea area, the main control board 602 sends a command to the acoustic release mechanism 107 of the equipment node 101 via the transducer of the acoustic release device 102. The release mechanism 107 of the acoustic release device 102 then detaches the equipment node 101 from the sump 100. Simultaneously, the equipment node 101 rises to the sea surface 801 using its own buoyancy, while the sump 100 remains on the seabed 802. When the equipment node 101 rises to the sea surface 801, its beacon compartment 700 reports its position information, and the strobe light 104 activates to provide visual reference for the personnel on the mother ship.

[0082] In summary, this invention proposes an integrated device and method for multimodal seabed 802 environmental monitoring and communication. The device includes: a device node 101 for collecting seabed 802 data, the device node 101 being equipped with a vector hydrophone 401 and a scalar hydrophone 402, both of which are used for underwater acoustic communication 803; a coupling frame 100, which is detachably connected to the device node 101; a communication mooring 301 for satellite communication, which is connected to the device node 101 via a communication mooring cable 300; and a seismometer 201 for seismic wave communication 804, which is connected to the device node 101 via a seismometer cable 200. The device node 101 can be fixed to the seabed 802 via the coupling frame 100, and a winch 800 is provided on the device node 101, which retrieves or releases the communication mooring cable 300. This invention can select different communication methods according to different working environment conditions. When the environment of the seabed 802 is abnormal, such as a tsunami, the communication mooring 301 is released to send the abnormal data to the shore-based system in real time via satellite communication. Communication between multiple nodes is achieved through underwater acoustic communication 803 and seismic wave communication 804, and the abnormal data is further identified to improve the reliability of the data.

[0083] It should be understood that the application of the present invention is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A multimodal seabed environment monitoring and communication integrated device, characterized in that, The utility model relates to a kind of equipment node for collecting seabed data, vector hydrophone and scalar hydrophone are provided on the equipment node, and the vector hydrophone and the scalar hydrophone are used for underwater acoustic communication; Sinking coupling frame is detachably connected below the equipment node; Communication submersible for satellite communication is connected with the equipment node through communication submersible cable; Seismometer for seismic wave communication is connected with the equipment node through seismometer cable; The equipment node is fixed on the seabed through the sinking coupling frame, and the equipment node is provided with winch, and the communication submersible cable is released or recovered through the winch; The equipment node includes power supply cabin, sensing and control cabin, beacon cabin, glass microsphere and at least one support crossbar, the support crossbar is fixedly connected on the equipment node, the winch, the power supply cabin, the sensing and control cabin, the beacon cabin and the glass microsphere are all arranged in the equipment node, wherein the beacon cabin is above the sensing and control cabin, the power supply cabin is below the sensing and control cabin, and a plurality of electric field sensors are arranged at equal intervals on the support crossbar; A plurality of battery packs are arranged and fixed in the power supply cabin, and a power control board is bolted, and the battery packs are electrically connected with the power control board; The main control board and clock module are fixedly connected in the sensing and control cabin, and the main control board is electrically connected with the clock module; Three-component magnetic field sensor and gravimeter sensor are arranged on the main control board, and the three-component magnetic field sensor and the gravimeter sensor are used for monitoring seabed environmental information; Based on data acquisition mode, the main control board obtains control signal of shore-based system through the vector hydrophone and the scalar hydrophone; The main control board collects marine data through the three-component magnetic field sensor and the gravimeter sensor according to the control signal, and discriminates the marine data; When the main control board discriminates that there is abnormal information in the marine data, it switches to emergency communication mode, saves the abnormal information into the main control board, and drives the winch to release the communication submersible cable, so that the communication submersible floats to the sea surface; The main control board communicates through the communication submersible, and sends the abnormal information to the shore-based system. Underwater camera and stroboscope are arranged on the outer wall of the equipment node, the equipment node is connected with the seismometer through the seismometer cable, and the underwater camera is arranged at the position close to the seismometer on the outer wall of the equipment node.

2. The multi-modal seabed environment monitoring and communication integrated device of claim 1, wherein, Waterproof protection frame is arranged on the equipment node close to the support crossbar, the vector hydrophone is elastically connected in the waterproof protection frame, and the scalar hydrophone is arranged on the outer wall of the waterproof protection frame.

3. The multimodal seabed environment monitoring and communication integrated device of claim 2, wherein, The electric field sensor, the power control board, the underwater camera, the stroboscope, the seismometer, the communication submersible, the vector hydrophone and the scalar hydrophone are electrically connected with the main control board.

4. The multi-modal seabed environment monitoring and communication integrated device of claim 3, wherein, ​ 5. The multi-modal seabed environment monitoring and communication integrated device of claim 1, wherein, The sensing and control cabin is provided with a control cabin upper cover, and at least one water-tight joint is arranged on the control cabin upper cover.

6. The multi-modal seabed environment monitoring and communication integrated device of claim 1, wherein, The device node is provided with an acoustic release device, and a water acoustic signal receiving sensor and a release mechanism are arranged on the acoustic release device.

7. The multi-modal seabed environment monitoring and communication integrated device of claim 1, wherein, The bottom of the seismometer is provided with a plurality of seismometer sinking coupling rivets.

8. The multi-modal seabed environment monitoring and communication integrated device of claim 1, wherein, The power supply cabin is made of aluminum alloy material.

9. A multi-modal seabed environment monitoring and communication integrated method based on the multi-modal seabed environment monitoring and communication integrated device of any one of claims 1-8, characterized in that, The multi-modal seabed environment monitoring and communication integrated method comprises the following steps: Based on the data acquisition mode, the main control board acquires the control signal of the shore-based system through the vector hydrophone and the scalar hydrophone; The main control board collects marine data through the three-component magnetic field sensor and the gravimeter sensor according to the control signal, and performs data discrimination on the marine data; When the main control board discriminates that there is abnormal information in the marine data, it switches to an emergency communication mode, saves the abnormal information into the main control board, and drives the winch to release the communication submersible cable, so that the communication submersible floats to the sea surface; The main control board performs satellite communication through the communication submersible and sends the abnormal information to the shore-based system.

10. The multimodal seabed environment monitoring and communication integrated method of claim 9, wherein, When the main control board discriminates that there is abnormal information in the marine data, it switches to an emergency communication mode, saves the abnormal information into the main control board, and drives the winch to release the communication submersible cable, so that the communication submersible floats to the sea surface. The main control board acquires the marine data collected by the surrounding device nodes through water acoustic communication or seismic wave communication; The main control board performs secondary discrimination on the marine data collected by the surrounding device nodes to determine the accuracy of the abnormal information.

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