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

Abstract

The application belongs to the technical field of marine seismic exploration, and discloses a seabed node laying device and laying method based on wireless underwater robots. The seabed node laying device comprises a node laying control unit arranged on a node ship, a node matrix winding and unwinding unit arranged on the node ship, a node matrix used for loading OBN and conveying to a specified depth underwater, and at least two wireless underwater robots used for transferring OBN underwater and completing OBN laying. The node matrix is connected with the node laying control unit and a power supply system of the node ship through a multifunctional cable to realize data communication and power transmission. The node matrix is connected with the node matrix winding and unwinding unit through a steel cable to realize hoisting and lowering of the node matrix underwater. The wireless underwater robots realize data communication with the node matrix through wireless radio communication. With the device and the operation mode of double node matrix rotation and multiple wireless underwater robots laying nodes, the laying speed of OBN can be doubled.

Description

TECHNICAL FIELD

[0001] The present application relates to the laying of marine seismic exploration nodes, in particular to a seabed node laying device and method based on a wireless underwater robot. BACKGROUND

[0002] The seabed node (OBN) has advantages in effectively compensating for the exploration blind area of the towed cable seismic (TS), providing multi-wave and wide azimuth data, fixed point and repeatability, and has become an important technical means of marine seismic exploration. The OBN mainly adopts a seabed acquisition mode, and a large number of OBNs need to be placed and positioned on the seabed during seismic exploration. The deviation between the actual sinking position of the OBN and the preset position will directly affect the quality of the seismic exploration information collection.

[0003] At present, the underwater unmanned vehicle technology is gradually mature, and has begun to be gradually applied to the exploration and development of marine resources and marine engineering construction. In the aspect of laying OBN by underwater unmanned vehicle (i.e. underwater robot), the "insertion type" operation mode is mostly used, that is, the underwater robot carries a single OBN to the laying point by the mechanical hand grabbing, magnetic adsorption, vacuum adsorption and other ways from the water surface ship, and then the laying operation is carried out by the remote control operation of the staff, and after the laying is completed, the underwater robot returns to the deck of the water surface ship to carry the next OBN to dive again for the laying operation. In this way, all OBNs in the target area are laid.

[0004] At present, the underwater unmanned vehicle technology is gradually mature, and has begun to be gradually applied to the exploration and development of marine resources and marine engineering construction. In the aspect of laying OBN by underwater unmanned vehicle (i.e. underwater robot), the "insertion type" operation mode is mostly used, that is, the underwater robot carries a single OBN to the laying point by the mechanical hand grabbing, magnetic adsorption, vacuum adsorption and other ways from the water surface ship, and then the laying operation is carried out by the remote control operation of the staff, and after the laying is completed, the underwater robot returns to the deck of the water surface ship to carry the next OBN to dive again for the laying operation. In this way, all OBNs in the target area are laid. SUMMARY

[0005] In order to solve the above problems in the prior art, the present application aims to provide a seabed node laying device and method based on a wireless underwater robot, so as to improve the laying precision and speed of OBN.

[0006] In order to achieve the above-mentioned purpose, the technical scheme adopted by the present application is as follows: a seabed node laying device based on a wireless underwater robot, comprising a node laying control unit arranged on a marine seismic exploration node ship, a node matrix winding and unwinding unit arranged on the marine seismic exploration node ship, a node matrix for loading OBN and conveying to a specified depth underwater, and at least two wireless underwater robots for underwater transfer of OBN and completion of OBN laying.

[0007] The node matrix is connected with the node laying control unit and the power system of the marine seismic exploration node ship through the multifunctional cable to realize data communication and power transmission; the node matrix is connected with the node matrix winding unit through the steel cable to realize the hoisting and laying of the node matrix under water.

[0008] The wireless underwater robot realizes data communication with the node matrix through the wireless communication mode.

[0009] As the limitation of the application, the node matrix comprises a plurality of node cabins arranged in a matrix and a node matrix control module fixed on the uppermost node cabin;

[0010] The node cabin comprises a frame structure for accommodating the OBN, a cabin door rotatably assembled at the bottom of the frame structure to support the OBN, and an electromagnetic lock assembly assembled on the frame structure to control the opening of the cabin door;

[0011] The node matrix control module is electrically connected with the electromagnetic lock assembly and connected with the node laying control unit and the power system of the marine seismic exploration node ship through the multifunctional cable.

[0012] As the further limitation of the application, the cabin door of the lowermost node cabin is provided with a transmitting end for wireless charging, and the transmitting end is electrically connected with the node matrix control module;

[0013] The top of the wireless underwater robot is provided with a receiving end for docking with the transmitting end to complete the wireless charging, and the receiving end is electrically connected with the power module of the wireless underwater robot.

[0014] As another limitation of the application, the wireless underwater robot comprises a node storage cabin, a plurality of propellers assembled on the node storage cabin to realize underwater navigation, and a node release mechanical arm assembled at the bottom of the node storage cabin to support the OBN.

[0015] As the further limitation of the application, the wireless underwater robot further comprises a water depth sensor, a speed sensor, an acoustic positioning sensor, an attitude sensor, a video probe and a robot control module distributed on the node storage cabin;

[0016] The robot control module realizes data communication with the node matrix through the wireless communication mode; and the robot control module is electrically connected with the propeller, the node release mechanical arm, the water depth sensor, the speed sensor, the acoustic positioning sensor, the attitude sensor and the video probe.

[0017] As the further limitation of the application, the wireless underwater robot further comprises a tail mechanical arm assembled on the node storage cabin, and the tail mechanical arm is electrically connected with the robot control module.

[0018] As a further limitation of the present application, the wireless underwater robot further comprises a sensing sensor for sensing whether the OBN enters the node storage cabin.

[0019] The present application also discloses a seabed node laying method based on a wireless underwater robot, which is implemented by means of the seabed node laying device based on a wireless underwater robot as described above, and comprises the following steps:

[0020] S1, after the marine seismic exploration node ship sails to the target area, the node matrix loading unit is used to lower the node matrix filled with OBN to the specified water depth; the wireless underwater robot is docked on the node matrix and is released to the working depth together, and enters the quasi-construction state;

[0021] S2, the node laying control unit controls the wireless underwater robot to sail to the lower side of the node matrix and to be docked to the lower side of the corresponding node cabin; the node laying control unit controls the opening of the node cabin door, and the OBN falls into the wireless underwater robot by gravity;

[0022] S3, the node laying control unit controls the wireless underwater robot to be separated from the node matrix, to sail to the first set laying point and then release the OBN;

[0023] S4, when the wireless underwater robot is separated from the node matrix, the node laying control unit controls another wireless underwater robot to sail to the lower side of the node matrix and to be docked to the lower side of the corresponding node cabin, and the steps S2 and S3 are repeated to release the OBN at the second laying point;

[0024] S5, in this way, after the wireless underwater robot lays all the OBN filled in the node matrix at the corresponding laying points, the node matrix loading unit recovers the node matrix to the deck of the marine seismic exploration node ship, and after reloading the OBN, the node matrix is lowered to the specified water depth again, and the steps S2 to S4 are repeated until the OBN laying operation in the target area is completed.

[0025] As a limitation of the present application, the method adopts a double-node matrix rotation operation mode: when the first node matrix is working underwater, the other node matrix is on standby on the deck; when the first node matrix is about to release all the OBN filled therein, the node matrix loading unit lowers the other node matrix to the corresponding position underwater; after the first node matrix releases all the OBN filled therein, the first node matrix is recovered to the deck by the node matrix loading unit to reload the OBN, and the other node matrix takes over to provide OBN for the wireless underwater robot.

[0026] As another limitation of the present application, when the wireless underwater robot is docked to the lower side of the corresponding node cabin, the receiving end of the wireless underwater robot is connected with the transmitting end of the door of the adjacent node cabin to wirelessly charge the wireless underwater robot.

[0027] By means of the technical scheme, the present application has the following beneficial effects compared with the prior art:

[0028] (1) The present application adopts a double-node matrix rotation operation mode and a multi-wireless underwater robot launching node operation mode. The double-node matrix carries OBN by alternately going up and down the water, which can continuously provide OBN for the wireless underwater robot, and there is no need to frequently go back and forth between the deep sea and the deck, thereby ensuring the continuity of the launching operation. The multi-wireless underwater robot simultaneously operates, so that the ocean seismic exploration node ship can complete the launching of multiple measuring line nodes in one voyage. Compared with the existing "insertion type" operation mode, the present application can double the OBN launching speed.

[0029] (2) In the present application, the wireless underwater robot is positioned and communicated with the node matrix by means of wireless communication, and the node matrix is communicated with the node launching control unit on the ocean seismic exploration node ship in real time through a multifunctional cable, forming a communication data chain. The node launching control unit receives navigation data, processes underwater data, executes the OBN launching operation electronic task sheet, and automatically controls the OBN launching, which can effectively guarantee the point accuracy of the OBN launching. BRIEF DESCRIPTION OF DRAWINGS

[0030] The present application will be described in further detail below in conjunction with the drawings and specific embodiments.

[0031] Figure 1 It is a structure relationship front view of the seabed node launching device in the embodiment of the present application;

[0032] Figure 2 It is a structure relationship front view of the node matrix transferring OBN to the wireless underwater robot in the embodiment of the present application;

[0033] Figure 3 It is a structure schematic diagram of the node cabin in the closed state of the cabin door in the embodiment of the present application;

[0034] Figure 4 It is a structure schematic diagram of the node cabin in the open state of the cabin door in the embodiment of the present application;

[0035] Figure 5 It is a structure relationship front view of the wireless underwater robot in the embodiment of the present application;

[0036] Figure 6 It is a structure relationship front view of the wireless underwater robot releasing OBN in the embodiment of the present application;

[0037] In the diagram: 1. Marine seismic exploration node vessel; 2. Node deployment and control unit; 3. Node matrix deployment and retrieval unit; 4. Node matrix; 5. Wireless underwater robot; 6. OBN; 7. Steel cable; 8. Multifunctional cable; 9. Cable winch; 10. Node compartment; 11. Node matrix control module; 12. Lifting lug; 13. Frame structure; 14. First hatch; 15. Second hatch; 16. Ring; 17. Through hole; 18. Electromagnetic lock; 19. Pull pin; 20. Node storage compartment; 21. Forward and backward thrusters; 22. Left and right vector thrusters; 23. Pitch vector thruster; 24. Node release robotic arm; 25. Tail robotic arm; 26. Receiver. Detailed Implementation

[0038] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustrative and understanding purposes only and are not intended to limit the scope of the invention.

[0039] This embodiment discloses a seabed node deployment device based on a wireless underwater robot. The device transports seabed nodes (OBN6) in batches to a specified underwater depth through a node matrix 4. Power transmission and data communication are achieved through a multi-functional cable 8. At least two wireless underwater robots 5 are used to deploy seabed nodes on a single vessel with multiple survey lines. That is, the seabed nodes are continuously transferred from the node matrix 4. Under the automatic control of the node deployment control unit 2, multiple seabed nodes are deployed on the seabed at predetermined positions to form a seabed node arrangement, thereby realizing the collection of seismic exploration information.

[0040] It should be noted that this embodiment requires installation on the marine seismic exploration node vessel 1 for OBN6 deployment operations. The marine seismic exploration node vessel 1 is generally a vessel equipped with dynamic positioning and autopilot functions. The deck of the marine seismic exploration node vessel 1 can provide an installation location for this embodiment, and the power system can meet the power supply requirements of this embodiment.

[0041] like Figure 1 As shown, the seabed node deployment device based on wireless underwater robots disclosed in this embodiment includes a node deployment control unit 2, a node matrix deployment and take-up unit 3, a node matrix 4, and at least two wireless underwater robots 5.

[0042] The node deployment control unit 2 is located on the deck of the marine seismic exploration node vessel 1. It is a commercial computer in the prior art. It can accept node deployment task books prepared as required, control the underwater trajectory of the wireless underwater robot 5 and the deployment of OBN6 according to the node deployment task book, and can obtain data transmitted from underwater through the interface, process the data, and automatically generate a node deployment result report.

[0043] The node matrix launching and recovering unit 3 is used to launch the node matrix 4 into the water or recover it to the deck of the marine seismic exploration node ship 1. As shown in Figure 1 the node matrix launching and recovering unit 3 in the embodiment includes a crane arranged at the stern of the marine seismic exploration node ship 1, which is connected with the node matrix 4 through a steel cable 7 (a lifting lug 12 is arranged on the node matrix 4 for connecting the steel cable 7, which will be described below). During the OBN 6 launching operation, the node matrix launching and recovering unit 3 launches the node matrix 4 into the water to a specified depth through the steel cable 7 and always pulls the node matrix 4, and after all the loaded OBNs 6 are launched, the node matrix launching and recovering unit 3 recovers the node matrix 4 to the deck of the marine seismic exploration node ship 1 through the steel cable 7.

[0044] The node matrix 4 is used to load multiple OBNs 6 and transport them to a specified depth under water, and timely transfer the OBNs 6 to the wireless underwater robot 5 one by one in a set order, while providing charging for the wireless underwater robot 5 and forming data communication with it. As shown in Figure 2 the node matrix 4 includes multiple node cabins 10 arranged in a matrix and a node matrix control module 11 fixed on the uppermost node cabin 10. Among them, the two sides of the uppermost node cabin 10 are each provided with a lifting lug 12 for fixing the steel cable 7 to realize connection with the crane; the door of the lowermost node cabin 10 is provided with a transmitting end for wireless charging, which is composed of an electromagnetic coil and is a structure in the prior art.

[0045] As shown in Figure 3 and Figure 4 the node cabin 10 includes a frame structure 13 for accommodating the OBN 6, a cabin door rotatably assembled at the bottom of the frame structure 13 to support the OBN 6, and an electromagnetic lock assembly assembled on the frame structure 13 to control the opening of the cabin door.

[0046] Specifically, the frame structure 13 is welded by square tube profiles and round tube profiles. The cabin door includes oppositely arranged first and second cabin doors 14 and 15, which are the same in structure and are each provided with a circular ring 16 at the tail, which is sleeved on the round tube profile at the bottom of the frame structure 13 to realize rotatable assembly on the frame structure 13. In the embodiment, the tail circular ring 16 of the first and second cabin doors 14 and 15 is each provided with a through hole 17 for positioning in cooperation with the electromagnetic lock assembly. The electromagnetic lock assembly includes an electromagnetic lock 18 fixed on the frame structure 13 and a draw pin 19 assembled on the output end of the electromagnetic lock 18 for limiting the rotation of the cabin door, and the electromagnetic lock 18 is electrically connected with the node matrix control module 11. In the embodiment, the first and second cabin doors 14 and 15 correspond to a set of electromagnetic lock assemblies respectively.

[0047] Taking the first cabin door 14 as an example: as shown in Figure 3As shown, in the power-off state, the output end of the electromagnetic lock 18 is extended, the free end of the pull pin 19 is placed in the through hole 17 of the tail ring 16 of the first hatch 14, and the pull pin 19 cooperates with the through hole 17 to limit the first hatch 14 in the horizontal state for lifting the OBN 6; as Figure 4 As shown, after power-on, the output end of the electromagnetic lock 18 is retracted, the free end of the pull pin 19 is moved upward to disengage from the through hole 17 of the tail ring 16 of the first hatch 14, the first hatch 14 is rotated downward around the circular pipe profile under the weight, and the lifting of the OBN 6 is removed. When the second hatch 15 is also opened in the same way, the OBN 6 can be separated from the frame structure 13, that is, the release of the OBN 6 is realized, so that the OBN 6 falls into the wireless underwater robot 5 below by relying on the weight.

[0048] It should be noted that the embodiment is not limited to the control of the hatch by the electromagnetic lock assembly, and any other structure of the controllable hatch is also applicable to the embodiment, which aims to control the hatch to enable the OBN 6 to rely on gravity to fall.

[0049] The node matrix control module 11 is electrically connected to the node laying control unit 2 through the multifunctional cable 8, and is used for realizing data communication between the node laying control unit 2 and the wireless underwater robot 5. Meanwhile, the node matrix control module 11 is also connected to the power supply system of the marine seismic exploration node ship 1 through the multifunctional cable 8, and is used for transmitting the power of the marine seismic exploration node ship 1 to the electromagnetic lock 18, and transmitting the power to the wireless underwater robot 5 through the transmitting end on the hatch of the lowermost node cabin 10.

[0050] In the embodiment, the cable winch 9 is arranged on the marine seismic exploration node ship 1, and is used for accommodating the multifunctional cable 8. According to the working condition management, the cable winch 9 adaptively reels and unreels the multifunctional cable 8 to adapt to the water depth of the node matrix 4.

[0051] The wireless underwater robot 5 is used for receiving the OBN 6 released by the node matrix 4 underwater, and laying the OBN 6 one by one according to the set laying point, so as to finally form the seabed node arrangement. Figure 5 and Figure 6As shown, the wireless underwater robot 5 includes a node storage cabin 20, a plurality of thrusters, a plurality of sensors, a video probe, a robot control module, a node release mechanical arm 24 and a tail mechanical arm 25. Among them, the plurality of thrusters are arranged on the outside of the node storage cabin 20, including front and rear thrusters 21, left and right vector thrusters 22 and pitch vector thrusters 23, for realizing the underwater navigation of the wireless underwater robot 5. The video probe and the plurality of sensors are distributed on the node storage cabin 20, the video probe is used to collect the real scene data of the laying point, and the plurality of sensors include but are not limited to depth sensor, speed sensor, acoustic positioning sensor and attitude sensor, for monitoring the navigation state of the wireless underwater robot 5 and sensing the underwater environment. The robot control module is electrically connected with the above-mentioned thrusters, depth sensor, speed sensor, acoustic positioning sensor, attitude sensor and video probe, controls the thrusters, and receives the data information obtained by the sensors and video probe. The robot control module is also electrically connected with the above-mentioned node matrix control module 11 through wireless communication, and realizes the data communication between the robot control module and the node laying control unit 2 through the node matrix control module 11 as a medium. The node release mechanical arm 24 is arranged at the bottom of the node storage cabin 20 and is electrically connected with the robot control module, which supports the OBN 6 under the control of the robot control module to limit it in the node storage cabin 20, or releases the OBN 6 from the node storage cabin 20; the tail mechanical arm is arranged at the tail of the node storage cabin 20 and is also electrically connected with the robot control module, which is used to cooperate with the node release mechanical arm 24 to perform "insertion type" operation on the OBN 6 in special cases where "flying type" operation mode is not applicable, such as when the OBN 6 needs to be laid on the seabed covered with optical cable / cable.

[0052] Need to be specially pointed out, the top of the wireless underwater robot 5 in the embodiment is provided with a receiving end 26 for wireless charging, which is electrically connected with the power module of the wireless underwater robot 5. The receiving end 26 is composed of an electromagnetic coil, which is a prior art. When the wireless underwater robot 5 is docked with the node matrix 4 from the bottom, the receiving end 26 correctly matches the transmitting end arranged on the hatch of the lowermost node cabin 10 of the node matrix 4, which can not only supplement the power of the wireless underwater robot 5 through wireless charging to realize the long-endurance working state, but also automatically adjust the orientation deviation of the wireless robot through the magnetic structure of the transmitting end and the receiving end 26 to ensure the accurate docking with the node matrix 4.

[0053] In the embodiment, a sensing sensor is also arranged at the entrance of the node storage cabin 20, which is electrically connected with the robot control module and is used to sense whether the OBN 6 accurately enters the cabin.

[0054] The embodiment also discloses a seabed node laying method based on a wireless underwater robot.

[0055] S1, after the marine seismic exploration node ship 1 sails to a target area, the node matrix 4 filled with the OBN 6 is hoisted and launched to a specified water depth by the node matrix launching and receiving unit 3. Since the wireless underwater robot 5 generally operates in pairs, two wireless underwater robots 5 are arranged in the embodiment and are hung on the node matrix 4 and are released to the operating depth together to enter the quasi-construction state;

[0056] In the embodiment, one of the wireless underwater robots 5 is defined as the first wireless underwater robot 5, and the other wireless underwater robot 5 is defined as the second wireless underwater robot 5.

[0057] S2, according to a node laying task sheet, the node laying control unit 2 controls the first wireless underwater robot 5 to sail to below the node matrix 4 and to dock below the corresponding node cabin 10, at the same time, the receiving end 26 of the first wireless underwater robot 5 is connected with the transmitting end of the door of the adjacent node cabin 10 to wirelessly charge the first wireless underwater robot 5; after the first wireless underwater robot 5 is confirmed to be docked, the node laying control unit 2 controls the door of the corresponding node cabin 10 to be opened, and the OBN 6 is dropped into the node storage cabin 20 of the first wireless underwater robot 5 by gravity and triggers the sensing sensor.

[0058] S3, after the OBN 6 is confirmed to enter the cabin through the sensing sensor, the node laying control unit 2 controls the first wireless underwater robot 5 to be separated from the node matrix 4 and to sail to the first laying point; the node laying control unit 2 analyzes the sailing data of the first wireless underwater robot 5, controls the node releasing mechanical arm 24 to be opened in time when the first wireless underwater robot 5 sails to the set first laying point, releases the first OBN 6, and makes the first OBN 6 slide to the set first laying point along a parabolic trajectory; then the first wireless underwater robot 5 returns to below the node matrix 4 and is re-docked to the node cabin 10.

[0059] S4, when the first wireless underwater robot 5 is separated from the node matrix 4, the node laying control unit 2 controls the second wireless underwater robot 5 to sail to below the node matrix 4 and to be docked below the corresponding node cabin 10, at the same time, the receiving end 26 of the second wireless underwater robot 5 is connected with the transmitting end of the door of the adjacent node cabin 10 to wirelessly charge the second wireless underwater robot 5; after the second wireless underwater robot 5 is confirmed to be docked, the node laying control unit 2 controls the door of the corresponding node cabin 10 to be opened, and the OBN 6 is dropped into the node storage cabin 20 of the second wireless underwater robot 5 by gravity and triggers the sensing sensor.

[0060] Then the same operation as step S3 is repeated, and the second OBN 6 is released in time, so that the second OBN 6 slides along a parabolic trajectory to a set second deployment point; then the second wireless underwater robot 5 returns;

[0061] In this embodiment, the first wireless underwater robot 5 and the second wireless underwater robot 5 are independently operated, and receive nodes on the node matrix 4 and are then released at the intended deployment point;

[0062] S5, in this way, after the first wireless underwater robot 5 and the second wireless underwater robot 5 deploy all the OBNs 6 provided by the node matrix 4 at the corresponding deployment points, the node matrix 4 is retracted to the deck of the marine seismic exploration node ship 1 by the node matrix retraction unit 3, and after being reloaded with OBNs 6, it is again hoisted to the specified water depth, and steps S2 to S4 are repeated until the OBN 6 deployment operation in the target area is completed.

[0063] It is further explained that in steps S3 and S4, the "timely control of the node release mechanical arm 24 to open" means that the node deployment control unit 2 analyzes the navigation data of the wireless underwater robot 5 and opens the node release mechanical arm 24 in advance to release the OBN 6, so that the OBN 6 accurately slides along a parabolic trajectory under the action of horizontal acceleration and gravity to the set deployment point.

[0064] In steps S2 and S4, the node deployment control unit 2 controls the opening of the node compartment 10 door in the following manner: the node deployment control unit 2 controls the electromagnetic lock 18 to be powered on, the electromagnetic lock 18 output end acts to pull the pin 19 upward, cancels the limitation of the pin 19 on the door, and the door is opened under the action of gravity.

[0065] The seabed node deployment method based on a wireless underwater robot disclosed in this embodiment adopts a double node matrix 4 rotation operation mode: when the first node matrix 4 is operating underwater, the other node matrix 4 is on standby on the deck; when the first node matrix 4 is about to release all the OBNs 6 loaded, the node matrix retraction unit 3 hoists the other node matrix 4 to the corresponding position underwater; after the first node matrix 4 releases all the OBNs 6 loaded, the first node matrix 4 is retracted to the deck by the node matrix retraction unit 3 to be reloaded with OBNs 6, and the other node matrix 4 takes over to provide OBNs 6 for the wireless underwater robot 5.

[0066] It should be noted that the above only describes the preferred embodiments of the present application and is not used to limit the present application. Although the present application is described in detail with reference to the above embodiments, those skilled in the art can modify the technical solutions described in the above embodiments or make equivalent replacements to some technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A seabed node deployment device based on a wireless underwater robot, characterized in that: It includes a node deployment and control unit installed on the marine seismic exploration node vessel, a node matrix deployment and retrieval unit installed on the marine seismic exploration node vessel, a node matrix for loading OBN and transporting it to a specified underwater depth, and at least two wireless underwater robots for underwater transfer of OBN and completion of OBN deployment. The node matrix is ​​connected to the node deployment control unit and the power system of the marine seismic exploration node vessel via a multi-functional cable to achieve data communication and power transmission; the node matrix is ​​connected to the node matrix deployment and retrieval unit via a steel cable to enable the underwater deployment and retrieval of the node matrix. The wireless underwater robot communicates with the node matrix via radio communication. The node matrix includes multiple node compartments arranged in a matrix and a node matrix control module fixed on the uppermost node compartment; the node compartment includes a frame structure for housing the OBN, a hatch rotatably mounted at the bottom of the frame structure to support the OBN, and an electromagnetic lock assembly mounted on the frame structure to control the opening of the hatch; the node matrix control module is electrically connected to the electromagnetic lock assembly and is connected to the node deployment control unit and the power system of the marine seismic exploration node vessel via a multi-functional cable; The wireless underwater robot includes a node storage compartment, multiple thrusters mounted on the node storage compartment for underwater navigation, and a node release robotic arm mounted on the bottom of the node storage compartment to support the OBN.

2. The seabed node deployment device based on a wireless underwater robot according to claim 1, characterized in that: The door of the lowest node compartment is equipped with a transmitter for wireless charging, which is electrically connected to the node matrix control module. The wireless underwater robot has a receiver on its top for docking with the transmitter to complete wireless charging. The receiver is electrically connected to the power module of the wireless underwater robot.

3. The seabed node deployment device based on a wireless underwater robot according to claim 1 or 2, characterized in that: The wireless underwater robot also includes depth sensors, speed sensors, acoustic positioning sensors, attitude sensors, video probes, and robot control modules distributed on the node storage compartments; The robot control module communicates with the node matrix via radio communication; and the robot control module is electrically connected to the thruster, node release manipulator, water depth sensor, speed sensor, acoustic positioning sensor, attitude sensor and video probe respectively.

4. The seabed node deployment device based on a wireless underwater robot according to claim 3, characterized in that: The wireless underwater robot also includes a tail robotic arm mounted on the node storage compartment, which is electrically connected to the robot control module.

5. The seabed node deployment device based on a wireless underwater robot according to claim 4, characterized in that: The wireless underwater robot also includes sensing sensors to detect whether the OBN has entered the node storage compartment.

6. A method for deploying seabed nodes based on a wireless underwater robot, characterized in that: This method is implemented using the seabed node deployment device based on a wireless underwater robot as described in claim 1, and includes the following steps: S1. After the marine seismic exploration node vessel sails to the target area, it uses the node matrix deployment and retrieval unit to hoist the node matrix filled with OBN to the designated water depth; the wireless underwater robot is attached to the node matrix and is released to the working depth together, entering the quasi-construction state. S2. The node deployment control unit controls the wireless underwater robot to navigate to the bottom of the node matrix and dock with the bottom of the corresponding node compartment; the node deployment control unit controls the node compartment door to open, and the OBN falls into the wireless underwater robot by its own weight. S3. The node deployment control unit controls the wireless underwater robot to detach from the node matrix and sail to the first set deployment point to release the OBN. When releasing the OBN, the wireless underwater robot is in a sailing state, and the OBN slides down along a parabolic trajectory to the first set deployment point. S4. When the wireless underwater robot detaches from the node matrix, the node deployment control unit controls another wireless underwater robot to sail to the bottom of the node matrix and dock with the bottom of the corresponding node compartment. Repeat steps S2 and S3 to release the OBN at the second deployment point. S5. Following this pattern, after the wireless underwater robot places all the OBNs loaded into the node matrix at the corresponding deployment points, the node matrix deployment and retrieval unit retrieves the node matrix onto the deck of the marine seismic exploration node ship, reloads the OBNs, and then lowers it to the designated water depth. Steps S2 to S4 are repeated until the OBN deployment operation in the target area is completed.

7. The seabed node deployment method based on a wireless underwater robot according to claim 6, characterized in that: This method employs a dual-node matrix rotation operation mode: while the first node matrix is ​​operating underwater, the other node matrix is ​​on standby on the deck; when the first node matrix is ​​about to release all the loaded OBNs, the node matrix deployment and retrieval unit hoists the other node matrix to the corresponding underwater position. After the first node matrix releases all the loaded OBNs, the first node matrix is ​​retrieved to the deck by the node matrix deployment and reloading unit and reloaded with OBNs. Another node matrix then takes over to provide OBNs for the wireless underwater robot.

8. The seabed node deployment method based on a wireless underwater robot according to claim 6 or 7, characterized in that: Once the wireless underwater robot is docked to the bottom of the corresponding node compartment, the receiver of the wireless underwater robot will connect to the transmitter of the adjacent node compartment door to wirelessly charge the wireless underwater robot.

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