Throwing detection device and gas-water-soil full medium detection method

Abstract

The present invention discloses a throwing-type detection device and a method for detecting all media of air, water and soil. The detection device comprises a probe deployment module, a probe body and a decoupling module. The probe deployment module refers to an unmanned operating system, which determines the deployment position by accurate positioning. Through the unmanned throwing-type design, the problem that the current detection equipment deployment is highly dependent on the sea conditions is overcome, and the actual deployment point and the balance during throwing are controlled in combination with the actual situation to ensure the acquisition of reliable detection parameters, realize remote control of deployment and recovery, and realize remote in-situ detection and long-term monitoring of the ocean. It is used for fast and efficient detection of the sky, ocean profile and seabed sediments under any operating conditions, realizes remote deployment in any sea area and any operating conditions, and effectively ensures the safety of the staff's operation.

Description

Technical Field

[0001] The present invention belongs to the technical field of ocean observation, and in particular relates to a throwing type detection device and an air-water-soil full medium detection method based on the throwing type detection device. Background Art

[0002] Development towards the deep sea has always been the development direction of seabed development. For deep sea detection equipment, it has also developed from large and complex equipment to portable and simple equipment. At present, probe-type detection equipment is the most commonly used equipment for ocean detection. At present, the operation mode of various types of probes depends on the mother ship. With the help of various types of seabed deployment devices, optical cables and other tools are used to operate, and the probes are penetrated by static force; or relying on the gravity of the probe itself (installing counterweights), it is unhooked and deployed at a certain distance from the seabed, and relies on its own gravity to penetrate the probe into the sediment. At the same time, the current detection medium is also single. For the detection methods of different media (such as air, seawater, and sediments), the corresponding sensors are deployed in a single medium. Detection equipment across two media is also very rare, and equipment and methods across three media have not yet appeared.

[0003] With the development of various unmanned equipment, equipment such as drones and unmanned ships are also being used in fields such as marine surveying and mapping, marine engineering, etc. These unmanned equipment are flexible in operation and have special mobility. Especially with the development of current navigation and positioning technology, it has significant advantages to deploy various unmanned equipment to a certain location at a fixed time. In recent years, various types of positioning and mapping and heavy load transportation using drones have greatly expanded the application scope of various unmanned equipment. For this reason, in the field of marine observation technology, it is possible to combine drones to achieve multi-media detection. Summary of the invention

[0004] In order to solve the problem of cross-medium detection and equipment deployment and recovery difficulties, the present invention provides a casting detection device and a method for remote casting deployment and automatic recovery based on the device, so as to realize efficient and low-cost detection of air, ocean profiles and seabed sediments, and truly achieve remote in-situ measurement of different media.

[0005] The present invention is implemented by adopting the following technical scheme: a throwing detection device, comprising a probe deployment module, a probe body and a decoupling module; the probe deployment module adopts an unmanned operating system, comprising an unmanned ship and an unmanned deployment unit; the decoupling module is used to connect the unmanned deployment unit and the probe body, and the unmanned deployment unit is separated from the probe body by remotely controlling the decoupling module;

[0006] The probe body includes a self-return unit, a detection unit and an automatic control wing. The automatic control wing is arranged between the self-return unit and the detection unit to realize speed regulation and posture adjustment of the probe body. The detection unit includes a multi-element probe and a counterweight to realize the detection of relevant parameters in air, water and soil, and transmit the relevant data to the self-return unit; the self-return unit includes a control cabin, a floating body and a release unit. The control system in the control cabin monitors and controls the posture of the self-return probe during the falling process in the ocean. The release unit controls the release of the probe, and combines with the floating body to automatically return to the water surface and transmit data back.

[0007] Furthermore, the release unit is used to separate the self-return unit from the detection unit, and includes an electronic component compartment, a fixing ring, a transmission end, and a releaser;

[0008] The main control component is installed in the electronic component cabin, which is used to realize data acquisition and storage as well as the overall control of the device. The fixed transmission end is connected to the electronic component cabin through a fixed ring. The transmission end is used to transmit various control signals and collect data. The upper and lower parts of the transmission end are sockets of watertight connectors, and locking threads are opened on the periphery for locking with the lower end cover of the control cabin; the socket below the transmission end adopts a semi-ring socket design; the bottom of the transmission end is fixedly connected to the releaser to realize the connection and separation of the self-return unit and the detection unit.

[0009] Furthermore, the multi-element probe is used to detect seabed sediments, and includes a cone tip, a mounting ring, and probe segments. Each probe segment is equipped with a different sensing unit, and adjacent probe segments are fixedly connected via the mounting ring.

[0010] Furthermore, guide wings are arranged around the floating body, and guide holes are formed through the guide wings from top to bottom.

[0011] Furthermore, the automatic control wing includes a rotating shaft and a plurality of wing plates with adjustable angles arranged circumferentially along the rotating shaft. The automatic control wing can automatically rotate and adjust to change the flow area, thereby achieving falling speed control and probe posture adjustment, while ensuring that the self-return unit does not sink into the sediment, thereby preventing the self-return capsule from failing to return due to sediment adsorption.

[0012] The present invention further proposes a gas-water-soil full-medium detection method based on a throwing-type detection device, comprising the following steps:

[0013] Step A: First, determine the actual placement of the probe body based on the actual detection point and combined with wave analysis;

[0014] Considering that the detection device is also affected by the horizontal force generated by the water flow when it moves in the water, a horizontal displacement S will be generated. The position at a horizontal distance S from the actual detection point in the direction of the incoming flow is the actual deployment point:

[0015]

[0016] Where m is the mass of the detection device, F x (t) is the horizontal force generated by the wave, a 水平 is the horizontal acceleration, a 竖直 is the vertical acceleration, t is the time, and H is the water depth;

[0017] Step B: deploy the probe body at the actual deployment point through the unmanned deployment unit, control the movement speed and posture in the air and water by controlling the automatic control wing, and collect air-water-soil medium parameters based on the multi-element probe;

[0018] Step B1, detection in the air: the movement of the detection device in the air conforms to the free fall motion, the sampling frequency is set, the isomorphic automatic control wing adjusts the movement posture of the detection device in the air, and collects relevant parameter information in the air;

[0019] Step B2, underwater detection: the probe sinks under the action of gravity. During the sinking process, the control system monitors the posture of the detection device in real time. Under the action of the guide wing, the guide hole and the automatic control wing, the detection device maintains a vertical state in real time. During the movement in the water, the measurement of seawater is started synchronously;

[0020] Step B3, sediment measurement: After the probe is dropped to the seabed, the gravity is greater than the buoyancy. Due to the gravity, the detection unit of the probe penetrates into the seabed sediment, and the physical and chemical properties of the sediment are obtained at the same time;

[0021] Step C: After the detection task is completed, the self-return unit and the detection unit are separated, and the self-return unit is recovered.

[0022] Furthermore, the step B also includes a step of setting the sampling frequency. The principle of the sampling frequency is the same when moving in the air and in the water, specifically:

[0023] Assume that when the detection device moves in the air, the throwing height is h, and the time it moves in the air is:

[0024]

[0025] Where ρ is the air density, C is the drag coefficient, S 总 is the maximum cross-sectional area of ​​the detection device; then the sampling frequency in the air can be determined according to the required data volume n:

[0026] Compared with the prior art, the advantages and positive effects of the present invention are:

[0027] This solution creatively implements multiple detection technical methods on the same equipment, effectively solving the problem of cross-media detection, overcoming the current problem of probe equipment being extremely dependent on the marine environment and having high operating costs when deployed, and achieving precise, fixed-point, and timed remote deployment of various probe equipment under any sea conditions to ensure the safety of deployment and recovery; through the unmanned casting design, it overcomes the current problem of the high degree of dependence of detection equipment deployment on sea conditions, achieves remote control of deployment and recovery, and remote in-situ detection and long-term monitoring of the ocean, which is used for rapid and efficient detection of the sky, ocean profiles, and seabed sediments under any operating conditions, and achieves remote deployment in any sea area and under any operating conditions, ensuring the safety of staff operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic diagram of the deployment and recovery process of the throwing type detection device according to an embodiment of the present invention;

[0029] Figure 2 It is a schematic diagram of the structure of the unmanned deployment unit and the probe body according to an embodiment of the present invention;

[0030] Figure 3 This is a schematic diagram of the structure of an unmanned deployment unit according to an embodiment of the present invention;

[0031] Figure 4 A schematic diagram of the structure of the probe body according to an embodiment of the present invention

[0032] Figure 5 This is a schematic diagram of the explosion structure of the probe body according to an embodiment of the present invention;

[0033] Figure 6 This is a schematic diagram of the floating structure of an embodiment of the present invention;

[0034] Figure 7 Schematic diagram of a release unit according to an embodiment of the present invention

[0035] Figure 8 This is a schematic diagram of the structure of a releaser according to an embodiment of the present invention;

[0036] Fig. 9 This is a schematic diagram of the structure of a half-ring socket according to an embodiment of the present invention;

[0037] Fig.10 It is a schematic diagram of the structure of the counterweight composition according to an embodiment of the present invention. DETAILED DESCRIPTION

[0038] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described below in conjunction with the accompanying drawings and embodiments. In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention can also be implemented in other ways different from those described herein, and therefore, the present invention is not limited to the specific embodiments disclosed below.

[0039] Embodiment 1: This embodiment proposes a throwing type detection device, such as Figure 1 and Figure 2 As shown, the detection device includes a probe deployment module, a probe body 2 and a decoupling module 3; the probe deployment module refers to an unmanned operating system, which is composed of an unmanned ship and an unmanned deployment unit 1. The unmanned ship is not a key component of the unmanned operating system. The unmanned ship can be replaced with various mother ships, aircraft and other devices at the same time. Its main function is to transport the unmanned aircraft to a point where the battery can support the deployment when the unmanned aircraft battery cannot support the arrival. It can be used as a terminal for the take-off, landing or recovery of the unmanned deployment unit. The unmanned deployment unit 1 is mainly composed of a drone, a remote control antenna, and a releaser. The drone is the core of the unmanned operating system. It is equipped with a remote control antenna, which is mainly used to communicate control signals and decoupling signals through wireless signals. At the same time, there is only an iridium positioning device inside the control antenna, which can accurately determine the deployment position. It can not only be used for positioning the probe deployment, but also for confirming the position of the drone. The decoupling module 3 on the drone is mainly used to connect the probe body 2. The releaser can be opened through remote control to separate the drone from the probe body 2.

[0040] The probe body 2 includes a self-returning unit 21, a detection unit 22 and an automatic control wing 23. Figure 2 As shown, the automatic control wing 23 is arranged between the self-return unit 21 and the detection unit 22 to achieve speed regulation and posture adjustment of the probe body 2. The automatic control wing 23 includes a rotating shaft and a plurality of angle-adjustable wing plates arranged along the circumference of the rotating shaft. The automatic control wing 23 can be rotated and adjusted according to different media, and the angle between each wing plate and the direction of resistance can be changed, thereby changing the resistance area, thereby adjusting the overall falling speed of the equipment; at the same time, the automatic control wing can be rotated and adjusted according to the posture of the equipment in different media, thereby changing the posture of the device, thereby ensuring that the device is vertically downward; in addition, the automatic control wing is adjusted when the equipment penetrates the sediment, to ensure that the self-return unit does not penetrate into the sediment, thereby preventing the self-return unit from failing to return due to the suction of the sediment. As shown Figure 4 and Figure 5As shown, the detection unit 22 includes a multi-element probe 221 and a counterweight 222 to detect various parameters of seabed sediments and transmit relevant data to the self-return unit 21; the self-return unit 21 includes a control cabin 211, a float 212 and a release unit 214. The control system in the control cabin 211 monitors and controls the posture of the self-return probe during the falling process in the ocean, and the release unit 214 controls the release of the probe, which automatically returns to the water surface in combination with the float 212 and transmits data back.

[0041] Specifically, Figure 5 As shown, the control cabin 211 is made of high-pressure resistant material, including a communication positioning antenna 215, an upper end cover 216, a lower end cover 218 and a shell 217. The main function of the control cabin 211 is to accommodate the control system and the release unit 214 to prevent short circuits in electronic circuits and damage to electronic components due to water ingress. The communication positioning antenna communicates and locates via satellite. When the self-return unit 21 floats to the sea surface, the collected data is transmitted back via satellite communication, and positioning information is sent at the same time for the salvage of the self-return unit 21. The upper end cover 216 is a part of the sealing of the control cabin 211, and a debugging port is reserved on it in advance. The shell 217 is a high-pressure resistant material with a certain thickness, which is mainly used to prevent seawater from entering the interior of the cabin. The lower end cover 218 is a part of the sealing of the control cabin 211, and a locking hole is opened on it for connection and sealing with the release unit 214.

[0042] In addition, continue to refer to Figure 6 The main material of the float 212 is glass beads, and the float 212 is equipped with guide wings 218 around it. The main function of the float 212 is to provide buoyancy to ensure that the return unit 21 can float to the sea surface smoothly after being separated from the detection unit 22. The guide wings 218 are penetrated by guide holes 219 from top to bottom. Whether the equipment is sinking or floating, the seawater flows along the guide holes to ensure that the equipment posture can remain vertical. At the same time, the guide wings 218 can reduce the resistance of the equipment during the sinking process. The design of the float 212 takes into account the position of the center of gravity and the center of buoyancy of the device, ensuring that the probe remains vertical during the sinking process in the water, and ensuring that the probe can be inserted into the sediment at a vertical angle, further ensuring the validity of the detection data.

[0043] like Figure 7 and Fig. 9As shown, the release unit 214 mainly includes an electronic component cabin 141, a fixing ring 142, a transmission end 144 and a releaser 146. The main function of the release unit 214 is to separate the self-return unit 21 from the detection unit 22 after the equipment completes the detection work, so as to ensure the smooth recovery of the collected data. The electronic component cabin 141 stores various electronic components and circuits of the control system and the release system, which are used for data collection and storage and the overall control of the device. The fixing ring 142 is used to fix the transmission end 144 and the electronic component cabin 141, and the electronic component cabin 141 and the transmission end 144 will not fall off due to penetration impact. The transmission end 144 is used to transmit various control signals and collect data. The upper and lower parts of the transmission end 144 are respectively provided with sockets 143 of watertight connectors, and locking threads are provided on the periphery for locking with the lower end cover 218 of the control cabin; the socket below the transmission end 144 adopts the design of a semi-ring socket 147, which can ensure that the transmission cable does not loosen during the sinking process, but after the self-return unit 21 is separated from the detection unit 22, the transmission cable can be easily loosened and pulled out; a fixing hole 145 is designed at the bottom of the transmission end 144 for fixed connection with the releaser 146. The releaser 146 is connected to the transmission end 144 through the fixing hole 145, and its main function is to realize the connection and separation of the self-return unit 21 and the detection unit 22; the release switch of the releaser 146 is a hole position where a fixed structure and a movable structure coincide, such as Figure 8 As shown, the structural principle of the releaser is relatively mature and will not be elaborated here. The releaser 146 remains closed during the probe deployment process. When a signal is given to the release unit on the sea surface, the releaser 146 opens, and the self-returning unit is separated from the detection unit under the action of buoyancy.

[0044] In this embodiment, the counterweight 222 is a lead block. Fig.10 As shown, it is placed at the bottom of the self-return unit 21 to ensure that the center of gravity of the equipment moves downward as a whole. Its upper lifting ring 223 is mainly used to fix the load-bearing hole of the releaser 146 to ensure the connection between the self-return unit 21 and the detection unit 22. A line channel 224 is opened on the counterweight 222 for the passage of the transmission cable. The area of ​​the counterweight plate is significantly larger than the diameter of the bottom probe to prevent the self-return unit from penetrating into the sediment with the probe.

[0045] The multi-element probe 221 is the core component of the detection unit. It is mainly composed of a cone tip, a mounting ring and a probe segment. Its main function is to detect seabed sediments. The multi-element probe 221 adopts a modular design. Each probe segment is equipped with a different sensor unit. The probe segment can be replaced according to different detection requirements and detection depths. The two segments are connected and fixed with a mounting ring. The cone tip is mainly used to reduce the area when penetrating the sediment and increase the pressure.

[0046] Example 2, a method for detecting all media of gas, water and soil based on a throwing type detection device, combined with the above throwing type detection device, the process of detecting all media of gas, water and soil is as follows:

[0047] The deployment process of the device includes movement in the air, ocean, and sediment. In the air, the device mainly moves vertically (considering that its movement in the air is short, the horizontal deviation caused by wind force is not considered for the time being); the movement time in the ocean is longer, and due to the existence of horizontal forces generated by waves, a large horizontal movement will be generated, so the movement process in the ocean includes both vertical and horizontal movement; the movement process in the sediment only includes vertical movement. Therefore, in view of the different movement processes in air-ocean-sediment, the detection method of this embodiment mainly considers the following two points during deployment and operation:

[0048] (1) How to accurately determine the deployment points;

[0049] (2) How to control the speed of movement in air and water;

[0050] The detection method of the present invention is described in detail below in combination with the device settings and the characteristics of the motion process, and specifically includes the following steps:

[0051] Step A: First determine the detection point, and determine the actual placement point of the probe body in combination with wave analysis;

[0052] During the deployment of the probe body, the horizontal force generated by wind and waves will cause an offset to the deployment position, thereby causing the actual deployment point to deviate from the detection point. During actual analysis, the equipment is also subject to the horizontal force generated by the water flow when moving in the water. In order to ensure that the device does not deviate from the predetermined designed detection location, it is necessary to determine its horizontal displacement speed and time in the water to determine the actual detection point.

[0053] (1) Determine the hydrodynamic force per unit length of the detector when it falls in water:

[0054] The equipment moves in the water, and the forces it is subjected to during the sinking process include gravity, buoyancy, and horizontal force of waves and currents (assuming that the horizontal force generated by the waves is F x (t)), then in the vertical and horizontal directions we have:

[0055] ma 水平 =F x (t)

[0056] ma 竖直 =mg-F 阻力 (t)-F 浮力 9t)

[0057] Where, m is the mass of the detection device, kg; a 水平 is the horizontal acceleration, m / s 2 ; F x (t) is the horizontal force caused by waves or currents, N; a 竖直 is the vertical acceleration, m / s 2 ; g is the acceleration due to gravity, m / s 2 ; F 阻力 (t) is the resistance, N; F 浮力 (t) is the buoyancy, N;

[0058] During the falling process, the hydrodynamic force per unit length of the detection device is expressed as

[0059]

[0060] Where f is the hydrodynamic force per unit length of the detection device, N; C m1 With C m2 is the inertia coefficient, which is always taken as 1; ρ w is the density of seawater, take 1025kg / m 3 ; d is the diameter of the probe, m; C D is the drag force coefficient, which is taken as 0.6; is the water particle acceleration component perpendicular to the axis of the detection device, m / s 2 ; is the velocity component of the water particle perpendicular to the axis of the detection device, m / s; is the acceleration component perpendicular to the axis of the detection device, m / s 2 ; is the velocity component perpendicular to the axis of the detection device, m / s;

[0061] For deep ocean water, the horizontal component velocity caused by waves at different water depths is expressed as

[0062]

[0063] in, is the wave frequency; k is the wave number; θ is the initial phase, rad, z is the water depth, m; t is the time, s.

[0064] The horizontal velocity component caused by the ocean current is expressed as

[0065]

[0066] So the total horizontal velocity of the water particle is

[0067]

[0068] Therefore, the hydrodynamic force per unit length of the detection device can be expressed as

[0069]

[0070] The total horizontal force on the detection device is

[0071]

[0072] Where L is the probe length, m.

[0073] Then the horizontal acceleration of the detection device is

[0074] a 水平 =F x (t) / m

[0075] Assuming the water depth is H, the time t for the device to go from the water surface to the seabed is

[0076]

[0077] Then the horizontal displacement S produced by the detection device is

[0078]

[0079] Therefore, if you want to ensure that the actual detection point is consistent with the designed detection point, it is necessary to deploy it at a horizontal distance S in the flow direction from the actual point.

[0080] In actual work, we can first evaluate whether the drone can directly transport the probe to the designated location. If the drone cannot reach the location directly, it can be transported to a closer location by unmanned ships, airplanes and other equipment. If the drone can reach the location directly, the drone can be used to move the probe to the designated location directly. The specific operation can be based on the actual situation.

[0081] Step B: motion speed control technology in air and water and sampling frequency setting technology;

[0082] Through remote control, open the unhooking module of the drone to separate the probe body from the unmanned deployment unit. The probe body starts detecting in the air, and then the probe falls into the water; the sensor acquisition frequency is set according to the movement process to ensure better detection effect. For the detection device, in order to obtain enough data, it is necessary to increase the sampling frequency and have a corresponding sampling time. When the device moves in the air, the movement time is too short. In order to obtain a sufficient amount of data, the sampling frequency should be increased. However, simply increasing the sampling frequency will put forward very high requirements on the sensor equipment, and most sensors cannot meet the ultra-high sampling frequency. Therefore, at this time, it is necessary to try to increase the movement time of the device in the air. The present invention realizes the regulation of the air descent speed by setting an automatic control wing (it is also applicable to speed control in water, and can be adjusted and set according to the amount of sampled data). Specifically:

[0083] Step B1, detection in air: The movement of the detection device in the air conforms to the quasi-free fall movement. The device receives gravity g during the movement, and air resistance (opposite to the direction of movement, water flow resistance in water, and related to the movement speed) f resistance. The area of ​​each small wing of the automatic control wing is S0, and the total area of ​​the automatic control wing when all are horizontal is 8S0 (taking 8 wing panels as an example):

[0084] The resistance to the movement of the device in air (or water) is:

[0085]

[0086] Where ρ is the density of air (or water), C is the drag coefficient, S 总 is the maximum cross-sectional area of ​​the device, and v is the falling velocity. The maximum cross-sectional area of ​​the device can be expressed as:

[0087] S 总 =8S 0 cosα+S 1

[0088] Where α is the angle between each adjusting wing and the horizontal direction, S 1 is the cross-sectional area of ​​the control cabin.

[0089] The acceleration due to air resistance is:

[0090]

[0091]

[0092]

[0093] Integrating both sides yields:

[0094]

[0095]

[0096] Assume that the device is thrown from a height of h (in meters) and the time it spends in the air is

[0097] h=∫vdt

[0098]

[0099]

[0100]

[0101] Where g is the acceleration due to gravity and t is the time. To ensure that the collected data is large enough, the sampling frequency needs to be set. For example, if 100 sets of data need to be collected in the air, the sampling frequency is This design can overcome the problem of insufficient data collection due to the detection device moving too fast in the air. By changing the different automatic control wings, the device can be dropped at a lower speed at different heights, while ensuring that the sampling frequency meets the requirements and the data volume is large enough. The same calculation method can be applied to movement in water.

[0102] Step B2, underwater detection: Due to the presence of the counterweight, the gravity of the probe is greater than the buoyancy. The probe sinks under the action of gravity. During the sinking process, the control system located in the electronic control cabin monitors the posture of the equipment in real time. Under the action of the guide wing, guide hole and automatic control wing, the detection device remains in a vertical state at all times. During the movement in the water, the measurement of seawater is started synchronously.

[0103] Step B3, sediment measurement: After the probe is dropped to the seabed, the gravity is greater than the buoyancy, so the speed will continue to increase, and the resistance of the sea water will also continue to increase. The resistance is expressed as

[0104]

[0105] Where S is the area of ​​the frontal surface, m 2 ; C d is the drag coefficient; v is the sinking speed, m / s.

[0106] Due to the action of gravity, the detection unit of the probe penetrates into the seabed sediment and obtains the physical and chemical properties of the sediment. The detection device can stay in the sediment for a long time to complete the monitoring task (the releaser opening time can be set in advance).

[0107] Step C: After the detection / monitoring task is completed, the releaser opens to complete the separation of the return unit and the detection unit. The return unit floats to the sea surface under the action of buoyancy, and at the same time transmits the collected data and positioning back through satellite communication. If the return unit needs to be recovered, it will be recovered through the positioning information; if the return unit does not need to be recovered, the data destruction program will be started to destroy the acquired data automatically.

[0108] The above description is only a preferred embodiment of the present invention and does not limit the present invention in other forms. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A method for detecting all media of air, water and soil based on a throwing detection device, characterized in that: The parachuting detection device comprises a probe deployment module, a probe body (2) and a decoupling module (3); the probe deployment module adopts an unmanned operating system, comprising an unmanned ship and an unmanned deployment unit (1); the decoupling module (3) is used to connect the unmanned deployment unit (1) and the probe body (2), and the unmanned deployment unit (1) and the probe body (2) are separated by remotely controlling the decoupling module (3); The probe body (2) comprises a self-returning unit (21), a detection unit (22) and an automatic control wing (23); the automatic control wing (23) comprises a rotating shaft and a plurality of wing plates arranged along the circumference of the rotating shaft and having adjustable angles; the automatic control wing (23) is arranged between the self-returning unit (21) and the detection unit (22) to achieve speed adjustment and posture adjustment of the probe body (2); the detection unit (22) comprises a multi-element probe (221) and a counterweight (222) to achieve detection of relevant parameters in air, water and soil; The relevant data is transmitted to the self-return unit (21); the self-return unit (21) comprises a control cabin (211), a floating body (212) and a release unit (214); the control system in the control cabin (211) monitors and controls the posture of the self-return probe during the falling process in the ocean; the release unit (214) controls the release of the probe, and the probe automatically returns to the water surface in combination with the floating body (212) and transmits data back; the floating body (212) is provided with guide wings (218) around it, and the guide wings (218) are provided with guide holes (219) running through them from top to bottom; The detection method comprises the following steps: Step A: First, determine the actual placement of the probe body based on the actual detection point and combined with wave analysis; Considering that the detection device is also affected by the horizontal force generated by the water flow when it moves in the water, it will produce a horizontal displacement S. The position at a horizontal distance S in the flow direction from the actual detection point is the actual deployment point: Where m is the mass of the detection device, F x (t) is the horizontal force generated by the wave, a 水平 is the horizontal acceleration, a 竖直 is the vertical acceleration, t is the time, and H is the water depth; Step B: deploy the probe body at the actual deployment point through the unmanned deployment unit, control the movement speed and posture in the air and water by controlling the automatic control wing, and collect air-water-soil medium parameters based on the multi-element probe; Step B1, detection in the air: the movement of the detection device in the air conforms to the free fall motion, the sampling frequency is set, the isomorphic automatic control wing adjusts the movement posture of the detection device in the air, and collects relevant parameter information in the air; Step B2, underwater detection: the probe sinks under the action of gravity. During the sinking process, the control system monitors the posture of the detection device in real time. Under the action of the guide wing, the guide hole and the automatic control wing, the detection device maintains a vertical state in real time. During the movement in the water, the measurement of seawater is started synchronously; Step B3, sediment measurement: After the probe is dropped to the seabed, the gravity is greater than the buoyancy. Due to the gravity, the detection unit of the probe penetrates into the seabed sediment, and the physical and chemical properties of the sediment are obtained at the same time; The step B also includes the step of setting the sampling frequency. The principle of the sampling frequency is the same when moving in the air and in the water, specifically: Assume that when the detection device moves in the air, the throwing height is h, and the time it moves in the air is: Where ρ is the air density, C is the drag coefficient, S 总 is the maximum cross-sectional area of ​​the detection device; then the sampling frequency in the air can be determined according to the required data volume n: Step C: After the detection task is completed, the self-return unit and the detection unit are separated, and the self-return unit is recovered.

2. The method for detecting all media of gas, water and soil based on a throwing type detection device according to claim 1 is characterized in that: The release unit (214) is used to separate the self-return unit (21) from the detection unit (22), and comprises an electronic component cabin (141), a fixing ring (142), a transmission end (144) and a releaser (146); The electronic component cabin (141) is equipped with a main control component for realizing data acquisition and storage as well as overall control of the device. The fixed transmission end (144) is connected to the electronic component cabin (141) via a fixed ring (142). The transmission end (144) is used to transmit various control signals and collect data. The transmission end (144) has watertight connector sockets (143) at the top and bottom, respectively, and locking threads are provided on its periphery for locking with the lower end cover of the control cabin. The socket below the transmission end (144) adopts a semi-ring socket (147) design. The bottom of the transmission end (144) is fixedly connected to a releaser (146) to realize the connection and separation of the self-return unit (21) and the detection unit (22).

3. The method for detecting all media of gas, water and soil based on a throwing type detection device according to claim 1 is characterized in that: The multi-element probe (221) is used to detect seabed sediments, and comprises a cone tip, a mounting ring and probe segments, each probe segment is equipped with a different sensor unit, and adjacent probe segments are fixedly connected via the mounting ring.

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