Electrical system for submarine sediment acoustic in-situ measurement device and control method

Abstract

The invention relates to an electrical system for a submarine sediment acoustic in-situ measurement device and a control method, and belongs to the technical field of submarine measurement electrical control, the electrical system for the submarine sediment acoustic in-situ measurement device comprises a shipborne part and an underwater part, and the shipborne part and the underwater part are connected through a photoelectric composite cable. The shipborne part is used for controlling the work of the underwater part; wherein the underwater part comprises a plurality of modular units which are connected through standardized interfaces, and the modular units comprise a main control unit, an acoustic measurement unit, a power amplifier unit, a transducer unit, a hydrophone unit and a power supply unit. According to the electrical system for the acoustic in-situ measurement device for the submarine sediments, through modular design, the adaptability and universality of the electrical system are improved; and moreover, a worker can add corresponding units or modules according to measurement requirements, so that the expandability of the system is improved, and different measurement scenes and requirements are better met.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater measurement electrical control, and particularly relates to an electrical system and a control method for an in-situ acoustic measurement device of submarine sediments. Background Art

[0002] The in-situ acoustic measurement device of submarine sediments is mainly used to directly measure the acoustic properties of sediments on the seabed, such as sound velocity, sound attenuation, etc., in order to study the seabed geological structure, sediment types and their physical properties. The development of the electrical system for the in-situ acoustic measurement device of submarine sediments is an important part of the measurement device. With the continuous update and iteration of the in-situ acoustic measurement device of submarine sediments, its functions are becoming more and more complex, and the performance, reliability, adaptability and scalability of the electrical system are particularly important.

[0003] According to the different characteristics of submarine sediments, the in-situ acoustic measurement devices of submarine sediments are also divided into various types; among them, shallow-layer and high-precision acoustic measurements generally use acoustic probes for measurement work. During measurement, at least one end of the acoustic probe at the transmitting end or the receiving end needs to be inserted into the submarine sediments to analyze the propagation time (sound velocity) and attenuation degree of sound waves in the sediments. The methods of configuring the acoustic probes on the measurement device mainly include two types. The first type is to fixedly install the acoustic probes at the bottom of the measurement device frame. When the measurement device sinks to the sediment surface, the acoustic probes are pressed into the sediments under the action of the gravity of the measurement device. The second type is to install the acoustic probes on a telescopic rod. When the measurement device sinks to the sediment surface, the rod carries the acoustic probes and extends into the sediments.

[0004] For different types of in-situ acoustic measurement devices of submarine sediments, the prior art does not provide a general electrical system for cooperative control, resulting in the need for relevant electrical control professionals to cooperate in addition to structural designers during the research and development process of the measurement device, and the research and development process is slow and inefficient. Therefore, how to provide an electrical system with strong adaptability for the in-situ acoustic measurement device of submarine sediments is a technical problem that needs to be solved urgently at present. Summary of the Invention

[0005] Aiming at the deficiencies existing in the prior art, the present invention provides an electrical system and a control method for an in-situ acoustic measurement device of submarine sediments, which improve the adaptability and versatility of the electrical system through modular design.

[0006] The present invention provides an electrical system for an in-situ acoustic measurement device of submarine sediments, including a shipborne part and an underwater part. The shipborne part is connected to the underwater part through an optoelectronic composite cable, and the shipborne part is used to control the operation of the underwater part; wherein, the underwater part includes a plurality of modular units connected through a standardized interface, including:

[0007] The main control unit is connected to the shipborne part and includes a main control module. The main control module is used to control the actions of other units according to the instructions of the shipborne part and monitor the states of other units.

[0008] The acoustic measurement unit is connected to the main control unit and includes an acoustic signal transmitting and collecting module. The acoustic signal transmitting and collecting module is used to generate acoustic signals according to the instructions of the main control unit, and is also used to collect acoustic measurement data and transmit the acoustic measurement data to the main control module.

[0009] The power amplifier unit is connected to the acoustic measurement unit and includes a power amplifier module. The power amplifier module is used to amplify the acoustic signals emitted by the acoustic measurement unit into electrical signals with high-voltage waveforms and transmit them.

[0010] The transducer unit is respectively connected to the power amplifier unit and the acoustic measurement unit and includes a transmitting transducer. The transmitting transducer is used to convert electrical signals into acoustic vibrations and transmit them into the seabed sediments.

[0011] The hydrophone unit is connected to the acoustic measurement unit and includes a hydrophone. The hydrophone is used to receive acoustic wave signals passing through the seabed sediments, convert them into electrical signals, and transmit them as acoustic measurement data to the acoustic signal transmitting and collecting module.

[0012] The power supply unit is equipped with battery packs of different voltages and is used to supply power to the shipborne part and the underwater part.

[0013] Through modular design, this technical solution improves the adaptability and versatility of the electrical system.

[0014] In some embodiments, the underwater part further includes a sampling unit. The sampling unit is electrically connected to the power supply unit and is used to take samples of the seabed sediments during measurement. Through the setting of the sampling unit, this technical solution enables the device to not only obtain acoustic characteristic data, but also directly obtain sediment samples, providing a physical basis for subsequent multi-dimensional analysis.

[0015] In some embodiments, the underwater part further includes a hydraulic unit. The hydraulic unit is respectively connected to the main control unit and the power supply unit and is used to drill into the seabed sediments according to the instructions of the main control unit.

[0016] In some embodiments, the underwater part further includes a peripheral unit. The peripheral unit is connected to the main control unit. The peripheral unit includes a camera for obtaining underwater images. Through the setting of the camera, this technical solution can directly obtain image information of the underwater environment and the seabed sediment measurement device during measurement.

[0017] In some of these embodiments, the on-ship part includes a host computer unit, which is communicatively connected to the main control unit and includes an action monitoring host computer and an acoustic measurement host computer. The action monitoring host computer is used to issue control instructions and monitor the status of each unit, and the acoustic measurement host computer is used to process, analyze, and display acoustic measurement data.

[0018] In some of these embodiments, the on-ship part further includes a communication unit, which is respectively connected to the main control unit and the host computer unit and is used to transmit the control instructions of the host computer unit to the main control module and also used to transmit the acoustic measurement data collected by the main control module to the host computer. This technical solution constructs a two-way data transmission channel through the communication unit, effectively solving the problem of data interaction between the on-ship part and the underwater part.

[0019] In some of these embodiments, the power supply unit further includes a power management module and a first protection circuit. The power management module is respectively connected to battery packs with different voltages, and the first protection circuit is connected to the power management module; the first protection circuit is used to cut off the power supply of the high-voltage battery pack when an abnormality occurs in the circuit; the power management module is used to reasonably distribute the current of each battery pack according to the requirements of each unit.

[0020] In addition, the present invention also provides a control method for a seabed sediment acoustic in-situ measurement device, which is applied to the electrical system of the seabed sediment acoustic in-situ measurement device as described above and includes the following steps:

[0021] S1, the power supply unit turns on the power supply, and the main control unit, the acoustic measurement unit, the power amplifier unit, the transducer unit, and the hydrophone unit are all powered on;

[0022] S2, the main control module controls the acoustic signal transmitting and collecting module to emit an acoustic signal according to the instructions of the on-ship part;

[0023] S3, the power amplifier unit amplifies the acoustic signal into an electrical signal with a high-voltage waveform, and the transducer unit converts the electrical signal into a sound wave vibration and then emits it into the seabed sediment;

[0024] S4, the hydrophone unit receives the acoustic wave signal passing through the seabed sediment and converts it into an electrical signal, which is transmitted to the acoustic signal transmitting and collecting module as acoustic measurement data;

[0025] S5, the acoustic signal transmitting and collecting module transmits the acoustic measurement data to the main control module, and the main control module transmits the acoustic measurement data to the on-ship part for analysis and processing.

[0026] This technical solution realizes the coordinated operation of each unit of the electrical system, ensuring the efficient and accurate progress of the measurement work.

[0027] In some of these embodiments, the instruction control of the main control module includes an instruction single-step execution mode, a semi-automatic execution mode, and a full-automatic execution mode; among them, in the instruction single-step execution mode, it is required to act according to the instructions issued by the on-board part, and perform one action each time; in the semi-automatic execution mode, after receiving the instructions issued by the on-board part, some instructions are combined into a combined instruction, and the device actions are completed by issuing multiple combined instructions; in the full-automatic execution mode, the on-board part only needs to issue a command once to automatically execute a series of actions.

[0028] In some of these embodiments, before step S2, it further includes: the main control module controls the hydraulic unit to drill into the seabed sediment.

[0029] Based on the above solution, in the electrical system and control method for the seabed sediment acoustic in-situ measurement device in the embodiments of the present invention, through modular design, the adaptability and versatility of the electrical system are improved. During the research and development process of the measurement device, it is not necessary to rely on relevant electrical control professionals to redesign the electrical system for each different type of measurement device every time, which can reduce the excessive dependence on electrical control professionals during the research and development process, thereby improving the research and development efficiency; and the functions of each modular unit are clear, and the collaborative work of each unit can ensure the effective realization of the functions of the electrical system of the seabed sediment acoustic in-situ measurement device; in addition, the electrical system in the above embodiments provides the simplest technical solution, which can not only be applicable to the measurement device with the acoustic probe fixedly installed at the bottom of the measurement device frame, and the staff can add corresponding units or modules based on it according to the measurement requirements, but also be applicable to the measurement device with the acoustic probe installed on the retractable probe rod, thereby further enhancing the scalability of the system and better meeting different measurement scenarios and requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings described herein are used to provide a further understanding of the present invention, and constitute a part of this application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention, and do not constitute an improper limitation to the present invention. In the drawings:

[0031] Figure 1 is a structural block diagram of the electrical system for the seabed sediment acoustic in-situ measurement device in the embodiments of the present invention;

[0032] Figure 2 is a structural schematic diagram of the electrical system for the seabed sediment acoustic in-situ measurement device in Embodiment 1;

[0033] Figure 3 is a structural schematic diagram of the electrical system for the seabed sediment acoustic in-situ measurement device in Embodiment 2. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0035] In the description of the present invention, it should be understood that the terms "center", "horizontal", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present invention.

[0036] The terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", "third" may explicitly or implicitly include one or more of such features.

[0037] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "mounted", "connected", "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0038] The terms "system", "unit", "module" used herein are a method for distinguishing different components, elements, parts, portions or components at different levels, and these terms can be replaced by other expressions that can achieve the same purpose.

[0039] Embodiment 1

[0040] As Figures 1-3As shown, in an embodiment of the electrical system and control method for the in-situ acoustic measurement device of seabed sediments in the present invention, the electrical system for the in-situ acoustic measurement device of seabed sediments includes a shipborne part and an underwater part. The shipborne part is connected to the underwater part through an optical and electrical composite cable, and the shipborne part is used to control the operation of the underwater part. Among them, the underwater part includes a plurality of modular units connected through a standardized interface, including a main control unit, an acoustic measurement unit, a power amplifier unit, a transducer unit, a hydrophone unit, and a power supply unit. Among them, the main control unit is connected to the shipborne part and includes a main control module. The main control module is used to control the actions of other units according to the instructions of the shipborne part and monitor the states of other units. The acoustic measurement unit is connected to the main control unit and includes an acoustic signal transmitting and collecting module. The acoustic signal transmitting and collecting module is used to generate an acoustic signal according to the instructions of the main control unit, and is also used to collect acoustic measurement data and transmit the acoustic measurement data to the main control module. The power amplifier unit is connected to the acoustic measurement unit and includes a power amplifier module. The power amplifier module is used to amplify the acoustic signal emitted by the acoustic measurement unit into an electrical signal with a high-voltage waveform and transmit it. The transducer unit is respectively connected to the power amplifier unit and the acoustic measurement unit and includes a transmitting transducer. The transmitting transducer is used to convert the electrical signal into a sound wave vibration and emit it into the seabed sediments. The hydrophone unit is connected to the acoustic measurement unit and includes a hydrophone. The hydrophone is used to receive the sound wave signal passing through the seabed sediments and convert it into an electrical signal, which is transmitted to the acoustic signal transmitting and collecting module as acoustic measurement data. The power supply unit is equipped with battery packs of different voltages and is used to supply power to the shipborne part and the underwater part.

[0041] In the above-mentioned schematic embodiment, the electrical system for the in-situ acoustic measurement device of seabed sediments adopts a modular design, which improves the adaptability and versatility of the electrical system. During the research and development process of the measurement device, there is no need to rely on relevant electrical control professionals to redesign the electrical system for each different type of measurement device every time, which can reduce the excessive dependence on electrical control professionals during the research and development process, thereby improving the research and development efficiency. Moreover, the functions of each modular unit are clear, and the coordinated work of each unit can ensure the effective realization of the functions of the electrical system of the in-situ acoustic measurement device of seabed sediments. In addition, the electrical system in the above-mentioned embodiment provides the simplest technical solution, which can not only be applicable to the measurement device with an acoustic probe fixedly installed at the bottom of the measurement device frame, but also allows the staff to add corresponding units or modules based on the measurement requirements to further enhance the scalability of the system to better meet different measurement scenarios and requirements.

[0042] Furthermore, the transducer unit may include one to multiple transmitting transducers, and the hydrophone unit may also include one to multiple hydrophones.

[0043] In some embodiments, such as Figure 2As shown, the main control unit further includes an attitude module, which is connected to the main control module and is used to obtain the real-time attitude data of the in-situ acoustic measurement device for submarine sediments and transmit the real-time attitude data to the main control module. Due to the complex and changeable submarine environment, the measurement device is prone to change its attitude under the influence of factors such as water flow and terrain during operation. If the attitude deviates greatly, it will seriously interfere with the accuracy of acoustic measurement. For example, it will change the acoustic wave propagation path and angle, resulting in errors in measurement results such as sound speed and sound attenuation. Through the attitude data real-time feedback by the attitude module, the main control module can accurately correct the measurement data, ensure the authenticity and reliability of the measurement results, provide an accurate data basis for studying the submarine geological structure, sediment type and physical properties, and at the same time facilitate the operator to master the device attitude in real time, discover potential anomalies in time, and ensure the smooth progress of the measurement work.

[0044] In some embodiments, as Figure 2 shown, the main control unit further includes a storage module, which is connected to the main control module and is used to store all the data collected by the main control module. By storing all the data through the storage module, data loss is avoided.

[0045] It should be noted that on the basis of the main control unit, acoustic measurement unit, power amplifier unit, transducer unit, hydrophone unit, and power supply unit, after adding a sampling unit or a hydraulic unit, the electrical system for the in-situ acoustic measurement device for submarine sediments can be applicable to the measurement device with an acoustic probe installed on a telescopic probe rod. The peripheral units can be selected according to the measurement requirements.

[0046] Embodiment 2

[0047] This embodiment adds modular units as needed on the basis of Embodiment 1.

[0048] In some embodiments, as Figure 3 shown, the underwater part further includes a sampling unit, which is electrically connected to the power supply unit and is used to take samples of submarine sediments during measurement. Through the setting of the sampling unit, the device can not only obtain acoustic characteristic data, but also directly obtain sediment samples, providing a physical basis for subsequent multi-dimensional analysis.

[0049] In some embodiments, as Figure 3 shown, the sampling unit includes a sampler and a sampling driver. The sampler is installed on the output shaft of the sampling driver, and the sampling driver is connected to the power supply unit; when sampling is required, the power supply unit supplies power, and the sampling driver drives the sampler to take samples. After sampling is completed, the power is cut off. By directly connecting the sampling driver to the power supply unit, power-on for sampling and power-off to stop sampling, when a failure occurs in the control circuit such as the main control unit, the sampler will not overwork.

[0050] Furthermore, the sampler uses a high-frequency vibration sampling device, which can be applied to relatively soft seabed sediment conditions. It is equipped with a guiding head, a sediment sampling tube, and a one-way valve. Through the setting of the guiding head, accurate positioning of the sampling location can be ensured; the sediment sampling tube is responsible for sample collection; the one-way valve prevents leakage during sample collection; comprehensively guaranteeing the accuracy and integrity of sampling.

[0051] In some embodiments, as Figure 3 shown, the underwater part further includes a hydraulic unit, which is respectively connected to the main control unit and the power supply unit and is used to drill into the seabed sediment according to the instructions of the main control unit.

[0052] In some embodiments, as Figure 3 shown, the hydraulic unit includes a hydraulic driver and a hydraulic motor. The hydraulic driver is connected to the main control module and is used to control the operation of the hydraulic motor and obtain the rotation speed of the hydraulic motor. The hydraulic cylinder of the hydraulic motor is used to connect the probe rod. Through the main control unit, flexible control of the hydraulic unit can be achieved, and the drilling parameters can be accurately adjusted according to different measurement requirements, strongly supporting in-depth research on the seabed geological stratification structure and the variation of acoustic characteristics of each layer with depth.

[0053] In some embodiments, as Figure 3 shown, the hydraulic unit further includes a drilling motor and a water pump motor. The hydraulic driver is respectively connected to the drilling motor and the water pump motor. The hydraulic driver is used to control the operation of the drilling motor and the water pump motor and respectively obtain the rotation speed of the drilling motor and the rotation speed of the water pump motor; the drilling motor is used to drive the probe rod to rotate, a drill bit is installed at the top of the probe rod, and at the same time, high-pressure water is sprayed by the water pump motor; the drill bit can be selected according to the seabed geological conditions. Through the setting of the drilling motor and the water pump motor, the adaptability of in-situ acoustic measurement can be greatly improved.

[0054] In some embodiments, the sampling unit is installed at the bottom of the hydraulic unit. After the hydraulic unit drills into the sediment and carries the sampling unit to the required depth, the sampling unit conducts sampling.

[0055] In some embodiments, as Figure 3 shown, the underwater part further includes a peripheral unit, which is connected to the main control unit. The peripheral unit includes a camera for obtaining underwater images. Through the setting of the camera, image information of the underwater environment and the seabed sediment measuring device can be intuitively obtained during measurement. Through these images, researchers can be assisted to more comprehensively and accurately understand the actual situation of the measurement area, such as the surface morphology of the sediment, the surrounding seabed topography and landforms, etc., which complement the acoustic measurement data, greatly enhancing the intuitiveness and accuracy of the research on the seabed geological structure and sediment characteristics, and providing richer and three-dimensional data support for marine geological research.

[0056] In some embodiments, asFigure 3 As shown, the peripheral unit further includes a lighting module for assisting the camera in taking underwater images. As a schematic embodiment, the lighting module includes LED lights. Since the light in the seabed environment is extremely weak, sufficient light is provided through the lighting module, significantly improving the clarity and quality of the underwater images taken by the camera and making the details of the acquired images richer.

[0057] In some embodiments, as Figure 3 shown, the peripheral unit further includes a displacement sensor connected to the probe rod for measuring the penetration depth of the probe rod. Through the setting of the displacement sensor, the penetration depth can be obtained in real time, enabling timely adjustment of the drilling parameters, avoiding drilling deviation, and improving the efficiency and accuracy of the measurement work.

[0058] In some embodiments, the transmitting transducer is installed on the extension arm, which unfolds during measurement and can be retracted at other times; during measurement, it is usually required that the extension arm be perpendicular to the probe rod. As Figure 3 shown, the peripheral unit further includes an angle sensor connected to the extension arm for monitoring the angle of the extension arm. Through the setting of the angle sensor, it is ensured that the extension arm is perpendicular to the probe rod, so as to ensure the perpendicularity between the transmitting transducer and the hydrophone, which is beneficial to simplifying the signal processing process and improving the measurement accuracy.

[0059] In some embodiments, as Figure 3 shown, the shipborne part includes a host computer unit, which is communicatively connected to the main control unit and includes an action monitoring host computer and an acoustic measurement host computer. The action monitoring host computer is used to issue control instructions and monitor the status of each unit, and the acoustic measurement host computer is used to process, analyze and display acoustic measurement data. Specifically, the action monitoring host computer can control and monitor: the camera taking underwater images, the switch and lighting direction of the lighting module, the rotation speed and drilling displacement of the hydraulic motor, the rotation speed and drilling displacement of the drilling motor, the rotation speed and drilling displacement of the water pump motor, the attitude data of the measuring device obtained by the attitude module, all the data stored in the storage module, and the status information of different battery packs of the power supply unit; the acoustic measurement host computer is used to control and monitor: the acoustic signals transmitted by the acoustic signal transmitting and collecting module and the acquired acoustic measurement data.

[0060] In some embodiments, as Figure 3As shown, the shipborne part further includes a communication unit, which is respectively connected to the main control unit and the upper computer unit, and is used to transmit the control instructions of the upper computer unit to the main control module, and is also used to transmit the acoustic measurement data collected by the main control module to the upper computer. A two-way data transmission channel is established through the communication unit; on the one hand, this communication unit can efficiently transmit the control instructions issued by the upper computer unit to the main control module to achieve remote and precise control of the actions of each unit of the underwater measurement device; on the other hand, the acoustic measurement data collected by the main control module can be quickly transmitted to the upper computer, facilitating researchers to analyze and process in a timely manner; effectively solving the data interaction problem between the shipborne part and the underwater part, greatly improving the collaborative working efficiency and remote control ability of the entire measurement system, and providing convenient and efficient data transmission guarantee for marine geological research work.

[0061] In some embodiments, as Figure 3 shown, the communication unit includes an optical fiber transceiver, which is respectively connected to the main control unit and the upper computer unit and is used for data transmission between the main control unit and the upper computer unit. The optical fiber transceiver can effectively reduce signal interference and attenuation, ensuring the accuracy and integrity of the control instructions and acoustic measurement data during the transmission process, and greatly improving the data transmission quality. It can be understood that the upper computer unit is provided with a router that cooperates with the optical fiber transceiver of the communication unit.

[0062] Furthermore, as Figure 3 shown, the communication unit further includes an optoelectronic winch, which is used to control the length of the electro-optical composite cable. The electro-optical composite cable is respectively connected to the main control unit and the optical fiber transceiver of the communication unit. Through the setting of the optoelectronic winch, the length of the electro-optical composite cable can be flexibly adjusted to realize the overall hoisting, release and recovery of the measurement device, so as to adapt to the different operation depth requirements of the underwater measurement device.

[0063] In some embodiments, as Figure 3 shown, the power supply unit further includes a power management module and a first protection circuit. The power management module is respectively connected to battery packs with different voltages, and the first protection circuit is connected to the power management module; the first protection circuit is used to cut off the power supply of the high-voltage battery pack when an abnormality occurs in the circuit; the power management module is used to reasonably distribute the current of the low-voltage battery pack according to the needs of each unit. As a schematic embodiment, when an abnormality occurs in the circuit, after the first protection circuit cuts off the power supply of the high-voltage battery pack, the power management module is also used to diagnose and record the fault information; if the fault is eliminated, the power management module controls the first protection circuit to continue working and resume power supply; if the fault persists, the power management module continues to maintain the power-off state.

[0064] In some embodiments, as Figure 3As shown, the power supply unit further includes a power control module, which is respectively connected to the first protection circuit and the power management module and is used to control the current of the high-voltage battery pack. The power supply unit is also provided with a standardized isolation interface. The isolation interface of the power supply unit is used for the connection between the power control module and the power management module, and is also used for the connection between the power supply unit and the main control module. It can be understood that a matching standardized isolation interface is provided in the main control unit for the connection between the power control module and the main control module.

[0065] In some embodiments, as Figure 3 shown, the power supply unit includes a 24V battery pack and a 48V battery pack. After the current of the 48V battery pack passes through the power management module, the first protection circuit, and the power control module, it supplies power to the sampling driver and the hydraulic driver respectively. As a schematic embodiment, the hydraulic unit is also provided with an interlock protection module. The power control module is indirectly connected to the hydraulic driver through the interlock protection module to provide 48V voltage power supply for the hydraulic driver; the power management module is indirectly connected to the hydraulic driver through the interlock protection module to provide 24V voltage power supply for the hydraulic driver; only when the power control module and the power management module simultaneously provide 48V voltage power supply and 24V voltage power supply for the interlock protection module, the hydraulic driver can start to work.

[0066] In some embodiments, as Figure 3 shown, the power control module is also connected to the sampling driver for power supply to the sampling driver.

[0067] In some embodiments, as Figure 3 shown, the main control unit is also provided with a second protection circuit, which is connected to the power management module and receives 24V power supply from the power management module. The main control module is also provided with a voltage conversion module and a delayed power-on module. The voltage conversion module reduces the voltage to 5V or 3.3V and then transmits it to the main control module. The main control module is connected to the attitude module and the storage module and provides 5V power supply.

[0068] In some embodiments, as Figure 3 shown, the acoustic measurement unit is provided with a voltage conversion module and a low-noise power module. The delayed power-on module transmits the 24V power supply from the second protection circuit to the voltage conversion module of the acoustic measurement unit. The voltage conversion module of the acoustic measurement unit reduces the voltage to 5V or 12V and then transmits it to the acoustic signal transmitting and collecting module, and reduces the voltage to 12V and then transmits it to the low-noise power module. At the same time, the low-noise power module provides ±5V or ±2.5V power supply for the acoustic signal transmitting and collecting module.

[0069] In some embodiments, as Figure 3As shown, the peripheral unit is also provided with a power supply module. The delay power-on module delivers 24V power supply to the power supply module of the peripheral unit, and the power supply module of the peripheral unit provides 24V power supply for the camera, angle sensor, displacement sensor, and lighting module respectively. According to different working modes, some peripheral power supplies can be turned off to save system power.

[0070] In some embodiments, as Figure 3 shown, the power amplifier unit is also provided with a 24V battery pack and a power manager. The 24V battery pack of the power amplifier unit is connected to the power manager, and the power manager is connected to the power amplifier module. The 24V power supply required by the power amplifier module is provided by the 24V battery pack of the power amplifier unit through the power manager. The power amplifier module provides AC100V - 1000V power supply for each transmitting transducer in the transducer unit. Protective functions such as balanced charging, overcurrent, over-temperature, overcharge, and over-discharge are achieved through the power manager.

[0071] Based on the above electrical system for the in-situ acoustic measurement device of submarine sediments, the present invention also provides a control method for the in-situ acoustic measurement device of submarine sediments. This control method is applied to the above electrical system for the in-situ acoustic measurement device of submarine sediments and includes the following steps:

[0072] S1, the power supply unit turns on the power supply, and the main control unit, acoustic measurement unit, power amplifier unit, transducer unit, and hydrophone unit are all powered on;

[0073] S2, the main control module controls the acoustic signal transmitting and collecting module to emit acoustic signals according to the instructions of the shipborne part;

[0074] S3, the power amplifier unit amplifies the acoustic signal into an electrical signal with a high-voltage waveform, and the transducer unit converts the electrical signal into acoustic vibrations and then emits them into the submarine sediments;

[0075] S4, the hydrophone unit receives the acoustic wave signal passing through the submarine sediments and converts it into an electrical signal, which is transmitted to the acoustic signal transmitting and collecting module as acoustic measurement data;

[0076] S5, the acoustic signal transmitting and collecting module transmits the acoustic measurement data to the main control module, and the main control module transmits the acoustic measurement data to the shipborne part for analysis and processing.

[0077] In the above-described exemplary embodiments, the control method for the in-situ acoustic measurement device of submarine sediments realizes the coordinated operation of each unit of the electrical system, ensuring the efficient and accurate conduct of the measurement work. The power supply unit provides unified power supply, enabling each key unit to start orderly and laying the foundation for the measurement; the main control module precisely controls the emission of acoustic signals according to the shipborne instructions, ensuring the pertinence of the signals; the power amplifier unit enhances the signals, improving their propagation effect in the sediments; the transducer unit emits signals, and the hydrophone unit accurately captures the reflected acoustic waves and converts them into electrical signals, ensuring the integrity of the data; finally, the orderly data transmission link enables the underwater-acquired data to be transmitted to the shipborne part for analysis and processing in a timely and stable manner. Overall, this control method optimizes the in-situ acoustic measurement process of submarine sediments, improves the accuracy and reliability of the measurement data, provides strong support for in-depth research on submarine geological structures, sediment types, and their physical properties, and enhances the practicality and effectiveness of the entire electrical system in practical applications.

[0078] In some embodiments, the command control of the main control module includes a command single-step execution mode, a semi-automatic execution mode, and a full-automatic execution mode; among them, in the command single-step execution mode, it is necessary to act according to the commands issued by the shipborne part, and each action is performed one by one; in the semi-automatic execution mode, after receiving the commands issued by the shipborne part, some commands are combined into a combined command, and the device actions are completed by issuing multiple combined commands; in the full-automatic execution mode, the shipborne part only needs to issue a command once to automatically execute a series of actions. In this embodiment, in the command single-step execution mode, each action is performed one by one according to the commands issued by the shipborne part, providing a highly precise step-by-step control method for the operator. When fine debugging is required or separate operations are to be performed on specific links, it can ensure that each action is accurate and error-free, facilitating the precise grasp of the measurement process. The semi-automatic execution mode combines some commands into combined commands and completes the device actions by issuing multiple combined commands. This method reduces the number of command issuances while ensuring a certain degree of flexibility, improving the operation efficiency, and is suitable for some measurement scenarios with relatively fixed operation processes but requiring moderate adjustments. In the full-automatic execution mode, the shipborne part only needs to issue a command once to automatically execute a series of actions, greatly simplifying the operation process, increasing the automation degree of the measurement, especially suitable for measurement tasks with high repeatability and strict requirements for operation coherence, effectively saving manpower, reducing the risk of operation errors, and improving the overall measurement efficiency and accuracy, meeting the in-situ acoustic measurement work of submarine sediments with different levels of complexity and requirements.

[0079] In some embodiments, before step S2, it further includes: the main control module controls the hydraulic unit to drill into the submarine sediments.

[0080] In some embodiments, when the main control module controls the hydraulic unit to drill, the hydraulic unit can carry the sampling unit to drill synchronously until the required depth is reached, and sampling is carried out using the sampling unit while measuring.

[0081] Through the description of multiple embodiments of the electrical system and control method of the device for in-situ acoustic measurement of submarine sediments of the present invention, it can be seen that the embodiments of the electrical system and control method of the device for in-situ acoustic measurement of submarine sediments of the present invention have at least one or more of the following advantages:

[0082] 1. The electrical system of the device for in-situ acoustic measurement of submarine sediments provided by the present invention, through modular design, improves the adaptability and versatility of the electrical system, and can reduce the excessive dependence on electrical control professionals during the R & D process, thereby improving the R & D efficiency;

[0083] 2. For the electrical system of the device for in-situ acoustic measurement of submarine sediments provided by the present invention, staff can add corresponding units or modules on this basis according to measurement requirements, further enhancing the scalability of the system to better meet different measurement scenarios and requirements;

[0084] 3. The control method of the device for in-situ acoustic measurement of submarine sediments provided by the present invention realizes the coordinated operation of each unit of the electrical system, ensuring the efficient and accurate progress of the measurement work.

[0085] Finally, it should be noted that: the various embodiments in this specification are described in a progressive manner, and the key point of each embodiment is to illustrate the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other.

[0086] The above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit them; although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that: still can modify the specific implementation manners of the present invention or perform equivalent replacements on some technical features; without departing from the spirit of the technical solutions of the present invention, they should all be covered within the scope of the technical solutions claimed by the present invention.

Claims

1. An electrical system for an acoustic in-situ measurement device for seafloor sediments, characterized in that: It includes a shipborne part and an underwater part. The shipborne part and the underwater part are connected by an optoelectronic composite cable. The shipborne part is used to control the operation of the underwater part. The underwater part includes a plurality of modular units connected by standardized interfaces, including: A main control unit, which is connected to the shipboard part and includes a main control module, which is used to control the actions of other units according to the instructions of the shipboard part and monitor the status of other units; An acoustic measurement unit, which is connected to the main control unit and includes an acoustic signal transmitting and collecting module, the acoustic signal transmitting and collecting module is used to generate an acoustic signal according to an instruction of the main control unit, and is also used to collect acoustic measurement data and transmit the acoustic measurement data to the main control module; A power amplifier unit, which is connected to the acoustic measurement unit and includes a power amplifier module, which is used to amplify the acoustic signal emitted by the acoustic measurement unit into an electrical signal with a high-voltage waveform and transmit it; The transducer unit is connected to the power amplifier unit and the acoustic measurement unit respectively, and includes a transmitting transducer, which is used to convert the electrical signal into acoustic wave vibration and transmit it into the seabed sediment; A hydrophone unit, which is connected to the acoustic measurement unit and includes a hydrophone, which is used to receive the sound wave signal passing through the seabed sediment and convert it into an electrical signal, which is transmitted to the acoustic signal transmission and acquisition module as acoustic measurement data; The power supply unit is equipped with battery packs of different voltages and is used to power the onboard part and the underwater part.

2. The electrical system for the acoustic in-situ measurement device for seabed sediments according to claim 1, characterized in that: The underwater part also includes a sampling unit, which is electrically connected to the power supply unit and is used to sample seabed sediments during measurement.

3. The electrical system for the acoustic in-situ measurement device of seabed sediments according to claim 2, characterized in that: The underwater part also includes a hydraulic unit, which is connected to the main control unit and the power supply unit respectively, and is used to drill into seabed sediments according to the instructions of the main control unit.

4. The electrical system for the acoustic in-situ measurement device of seabed sediments according to claim 1, characterized in that: The underwater part also includes a peripheral unit, which is connected to the main control unit and includes a camera for acquiring underwater images.

5. The electrical system for the acoustic in-situ measurement device of seabed sediments according to claim 1, characterized in that: The shipborne part includes a host computer unit, which is communicated with the main control unit and includes a motion monitoring host computer and an acoustic measurement host computer. The motion monitoring host computer is used to issue control instructions and monitor the status of each unit, and the acoustic measurement host computer is used to process, analyze and display acoustic measurement data.

6. The electrical system for the acoustic in-situ measurement device of seabed sediments according to claim 5, characterized in that: The shipborne part also includes a communication unit, which is connected to the main control unit and the host computer unit respectively, and is used to transmit the control instructions of the host computer unit to the main control module, and is also used to transmit the acoustic measurement data collected by the main control module to the host computer.

7. The electrical system for the acoustic in-situ measurement device of seabed sediments according to claim 1, characterized in that: The power supply unit further includes a power management module and a first protection circuit, the power management modules are respectively connected to battery packs of different voltages, and the first protection circuit is connected to the power management module; The first protection circuit is used to cut off the power supply of the high-voltage battery pack when an abnormality occurs in the circuit; the power management module is used to reasonably distribute the current of each battery pack according to the needs of each unit.

8. A control method for an acoustic in-situ measurement device for seabed sediments, characterized in that: An electrical system for an acoustic in-situ measurement device for seabed sediments as claimed in any one of claims 1 to 7 comprises the following steps: S1, the power supply unit turns on the power supply, and the main control unit, acoustic measurement unit, power amplifier unit, transducer unit, and hydrophone unit are all powered on; S2, the main control module controls the acoustic signal transmission and collection module to send out acoustic signals according to the instructions of the shipborne part; S3, the power amplifier unit amplifies the acoustic signal into an electrical signal with a high-voltage waveform, and the transducer unit converts the electrical signal into sound wave vibration and transmits it into the seabed sediment; S4, the hydrophone unit receives the sound wave signal passing through the seabed sediment and converts it into an electrical signal, which is transmitted to the acoustic signal transmission and acquisition module as acoustic measurement data; S5, the acoustic signal transmission and acquisition module transmits the acoustic measurement data to the main control module, and the main control module transmits the acoustic measurement data to the shipborne part for analysis and processing.

9. The control method for the acoustic in-situ measurement device for seabed sediments according to claim 8, characterized in that: The command control of the main control module includes command single-step execution mode, semi-automatic execution mode and fully automatic execution mode; among them, the command single-step execution mode needs to act according to the command issued by the shipborne part, and perform one action at a time; the semi-automatic execution mode combines some commands into a combined command after receiving the command issued by the shipborne part, and completes the equipment action by issuing multiple combined commands; in the fully automatic execution mode, the shipborne part only needs to issue a command once to automatically execute a series of actions.

10. The control method for the acoustic in-situ measurement device for seabed sediments according to claim 8, characterized in that: Before step S2, the method also includes: the main control module controls the hydraulic unit to drill into the seabed sediment.

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