Seabed node laying device and method for deep sea sulfide exploration

Abstract

The invention relates to the technical field of geological exploration, in particular to a seabed node laying device and method for deep sea sulfide exploration, and the device comprises a node ship, the node ship is in line connection with a node rope and a main body, and the node rope is sleeved with a plurality of node bodies for seismic exploration. A driving assembly used for driving the main body to move, a steering assembly used for assisting steering of the main body, a propelling assembly used for assisting propelling and a buoyancy assembly used for adjusting ascending and descending are arranged in the main body. The driving assembly comprises a controller, a driving paddle and a rotating piece used for rotating the driving paddle, and the rotating piece is in sliding fit with the inner side wall of the body. The main body is kept at the safe height away from the seabed, the node bodies are sequentially laid through the clamping assemblies, and subsequent node body laying is continued after laying at the position is completed, so that the laying precision and laying efficiency of the node bodies are effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of geological exploration, and particularly relates to a device and method for deploying a seafloor node for deep-sea sulfide exploration. Background Art

[0002] Deep-sea polymetallic sulfides are unique mineral resources associated with hydrothermal activities on the deep-sea seafloor and occur around hydrothermal vents, rich in valuable metal elements such as copper, zinc, gold, and silver. Marine seismic exploration is a geophysical method that utilizes the propagation characteristics of seismic waves in the seafloor and underlying strata, and infers the structure and properties of the seafloor strata by receiving and analyzing seismic wave signals. The Ocean Bottom Node (OBN) has obtained important applications in deep-sea sulfide exploration due to its advantages of being close to the target and having high resolution. Since deep-sea sulfides usually have the characteristics of small ore body scale, large occurrence water depth, and large topographic undulation, such complex topographic conditions pose great challenges to the deployment of marine seismic nodes. Therefore, a high-precision OBN deployment method is required to meet the needs of accurate exploration of deep-sea sulfides.

[0003] In the prior art, large equipment such as manned submersibles or ROVs are usually used to accurately deploy the OBN around the target area, and then subsequent seismic exploration operations are carried out. However, such methods have some deficiencies. Specifically, such devices usually use multiple power components for driving, integrating multiple power devices into one body, with limited equipment carrying capacity, slow deployment speed, and low deployment accuracy, and it is not convenient to perform professional operations on the OBN device, thus increasing the exploration cost and being greatly limited in practical applications.

[0004] In summary, how to solve the problems of limited equipment carrying capacity, slow deployment speed, and low deployment accuracy that may exist when using multiple power components to drive the device operation in the prior art has become a difficult problem that urgently needs to be solved in the current field. Therefore, it is necessary to propose a device and method for deploying a seafloor node for deep-sea sulfide exploration. Summary of the Invention

[0005] To solve the above problems, the present invention provides a device and method for deploying a seafloor node for deep-sea sulfide exploration. By maintaining the main body at a safe height from the seafloor and using a clamping assembly to sequentially deploy the node body, and continuing to deploy the subsequent node body after the deployment at this position is completed, the deployment accuracy and efficiency of the node body are effectively improved.

[0006] To achieve the above object, the technical solution of the present invention is as follows: A seabed node deployment device for deep-sea sulfide exploration, including a node ship, which is connected by a node rope and a main body. A number of node bodies for seismic exploration are sleeved on the node rope. Inside the main body, there are a driving component for driving the main body to move, a steering component for assisting the main body to turn, a propulsion component for assisting propulsion, and a buoyancy component for adjusting ascending and descending.

[0007] The driving component includes a controller, a driving paddle, and a rotating member for rotating the driving paddle. The rotating member is slidably engaged with the inner side wall of the main body; the output shaft of the rotating member extends to the outside of the main body and is fixedly connected to the driving paddle; a camera is fixedly connected to the outer wall of the main body. The controller is used to receive the image information captured by the camera and control the operation of the rotating member based on the image information.

[0008] On the side of the main body away from the driving component, there are also a number of clamping components for clamping the node body.

[0009] The technical principle of the above solution is as follows: Since the output shaft of the rotating member is fixedly connected to the driving paddle on the outside, when the rotating member drives the driving paddle to rotate, this driving paddle structure can generate power for the device, thereby driving the device to move. The camera provides visual information for the device. When steering is required, the steering component is activated to steer the device. The propulsion component can provide additional power for the device, thereby reducing the cost of the device. The buoyancy component can adjust the ascending and descending height of the device to achieve the adjustment of the depth position of the device. When reaching 20 - 40 meters from the seabed and maintaining it at a safe height from the seabed topography, a number of clamping components are used to clamp the node body and release the node body in sequence, further improving the deployment accuracy of the node body. After the deployment of this node body is completed, the subsequent node body deployment continues.

[0010] The following are the beneficial effects of adopting the above solution: 1. By optimizing the design of the power components and the transmission efficiency of the steering component, the device can generate the required power with lower energy consumption. The movement and steering of the device can be achieved by driving with one rotating member, effectively reducing the installation of power components, thereby reducing the volume and weight of the device, making the device more maneuverable and flexible. At the same time, the addition of the propulsion component provides additional auxiliary power support for the device, thereby reducing energy consumption and operating costs. Compared with the prior art, this solution further improves the overall energy efficiency by reducing the energy loss between multiple independent power components; through the auxiliary steering control, the adaptability of the device in complex seabed terrain is enhanced.

[0011] 2. Through the flexible adjustment of the buoyancy component, the device of the present invention can rise or dive to different depth positions as needed. Compared with the traditional multi-power drive mode, it can effectively reduce the energy consumption of the device, making the device have high flexibility, reducing the dependence on manual operation, and thus improving the operation efficiency of the device.

[0012] 3. Through the design of several clamping components, the present invention can accurately clamp and release the node body, can clamp and release multiple node bodies, and can release them sequentially according to the placement spacing, so as to ensure that the node body can be accurately deployed at the predetermined position, thereby effectively improving the placement accuracy and placement efficiency of the node body. And it can adapt to node bodies of different shapes and sizes, enhancing the versatility and flexibility of the system; through this automated placement process, it can reduce manual intervention, improve operation efficiency, and reduce the risk of human errors.

[0013] Furthermore, the steering component includes a bracket, a first bevel gear, and several second bevel gears. The bracket is fixedly connected to the inner side wall of the main body; the output shaft of the rotating member penetrates through the bracket and is rotatably matched with the bracket. The second bevel gears are all coaxially fixedly connected to the output shaft of the rotating member located inside the bracket. The second bevel gears are all meshed with the first bevel gear. The installation spacing between adjacent second bevel gears is greater than the diameter of the first bevel gear; on the side of the first bevel gear away from the second bevel gears, a steering shaft is coaxially fixedly connected. The end of the steering shaft away from the first bevel gear penetrates through the bracket and the main body and is fixedly connected with a steering paddle.

[0014] The bracket is also provided with a moving component for driving the rotating member to move.

[0015] Beneficial effects: The moving component drives the rotating member to move. Since the output shaft of the rotating member is coaxially fixedly connected to the second bevel gears, and the second bevel gears are all meshed with the first bevel gear, and the installation spacing between the second bevel gears is greater than the diameter of the first bevel gear; when the rotating member moves, it can drive the second bevel gears to be respectively meshed with the first bevel gear. When they are respectively meshed, the rotation directions of the first bevel gears are opposite. Since the first bevel gear is coaxially fixedly connected with a steering shaft, and the steering shaft is fixedly connected with a steering paddle, the steering paddle can be driven to rotate forward or backward by the forward or reverse rotation of the first bevel gear, so as to generate thrust in different directions by the steering paddle, and thus the device can turn.

[0016] Furthermore, the moving component includes a first telescopic member and a transverse rod. The controller is used to control the first telescopic member to expand and contract; the first telescopic member is fixedly connected to the inner side wall of the main body. The output shaft of the first telescopic member penetrates through the bracket and is fixedly connected with the transverse rod. The end of the transverse rod away from the first telescopic member is fixedly connected with the output shaft of the rotating member.

[0017] Beneficial effects: Since the output shaft of the first telescopic member is fixedly connected to the transverse rod, the other end of the transverse rod is fixedly connected to the output shaft of the rotating member, and the rotating member is slidably engaged with the inner bottom wall of the main body, the transverse rod can be driven to move by the first telescopic member. When the transverse rod moves, the output shaft of the rotating member is driven to move, thereby realizing the movement of the rotating member.

[0018] Furthermore, the propulsion assembly includes a piston rod, a piston cylinder, and a rubber piston. The piston cylinder is fixedly connected to the inner bottom wall of the main body; one end of the piston rod is fixedly connected to the rubber piston, the other end of the piston rod is fixedly connected to the output shaft of the first telescopic member, and the rubber piston is slidably engaged with the inner side wall of the piston cylinder.

[0019] The piston cylinder is connected to an input pipe and an output pipe. The end of the output pipe away from the piston cylinder penetrates the main body and communicates with the outside of the main body; the input pipe is connected to an air storage tank, and the air storage tank is fixedly connected to the inner bottom wall of the main body; the piston cylinder is connected to the input pipe and the output pipe at the connection points with a first one-way valve, and the flow direction of the first one-way valve is towards the end of the output pipe away from the piston cylinder; the air storage tank is connected to a charging pipe, and a second one-way valve is connected to the charging pipe.

[0020] Beneficial effects: Since one end of the piston rod is fixedly connected to the rubber piston and the other end of the piston rod is fixedly connected to the output shaft of the first telescopic member, the piston rod can be driven to move by the first telescopic member. When the piston rod moves, the gas inside the air storage tank can be transmitted to the outside of the main body. When the gas is ejected, an additional driving force can be generated, and the airflow transmitted to the outside can also generate an additional auxiliary force on the main body to assist the main body in making a quick turn.

[0021] Furthermore, the buoyancy assembly includes a water storage tank, and the water storage tank is fixedly connected to the inner top wall of the main body; the water storage tank is connected to a water pumping member for pumping water, and the controller is used to control the opening and closing of the water pumping member. The input end of the water pumping member is connected to the water storage tank, and the output end of the water pumping member is connected to the outside of the main body.

[0022] Beneficial effects: The liquid inside the water storage tank is transported by the water pumping member. When the main body needs to float, the water in the water storage tank is pumped out, reducing the overall weight of the main body, increasing the buoyancy of the main body and causing it to rise. Conversely, the water inside the water storage tank can be increased, reducing the buoyancy of the main body and causing the main body to descend. In this way, the device is assisted in rising and diving.

[0023] Furthermore, the clamping assembly includes a sleeve and a second telescopic member, and the controller is used to control the operation of the second telescopic member; the sleeve is fixedly connected to the side of the main body away from the driving paddle, and the end of the sleeve away from the main body is symmetrically hinged with clamping arms; the second telescopic member is embedded inside the sleeve, and the output shaft of the second telescopic member extends outside the sleeve and is symmetrically hinged with hinge rods, and the end of the hinge rod away from the second telescopic member is hinged to the adjacent clamping arm.

[0024] Beneficial effects: The second telescopic member drives the articulated rod to move. Since the other end of the articulated rod is hinged to the clamping arm and the clamping arm is hinged to the sleeve, during the process of the second telescopic member driving the articulated rod to move, the articulated rod can drive the clamping arm to perform clamping, so as to clamp and release the node body through the clamping arm.

[0025] Furthermore, a lighting lamp is fixedly connected to the main body, and the controller is used to control the on / off of the lighting lamp; an acoustic positioning system and a depth sensor are fixedly connected to the inner wall of the main body, and the controller is used to receive and store the positioning information and depth information sent by the acoustic positioning system and the depth sensor.

[0026] Beneficial effects: The design of the lighting lamp can illuminate the surrounding environment, and the acoustic positioning system and the depth sensor can provide positioning and depth display for the device, so as to realize the remote operation of the device.

[0027] Furthermore, positioning anchors are detachably connected to the bottoms of the node bodies; buffer air bags are fixedly connected to the tops of the node bodies, and the buffer air bags are all communicated with electromagnetic valves, and the controller is used to control the opening and closing of the electromagnetic valves.

[0028] Beneficial effects: By fixing the positioning anchors on the node bodies, the node bodies are placed on the seabed to ensure that the node bodies are fixed at the predetermined positions. Through the design of the buffer air bags, when the node bodies are released, they can land slowly, and can effectively provide buffering when adjacent node bodies collide with each other or contact the seabed, protecting the precision instruments inside.

[0029] Furthermore, a method for deploying subsea nodes for deep-sea sulfide exploration includes the following steps: S1. According to the regional geological characteristics, topographic and geomorphic conditions and expected coverage range of the geological survey target, formulate a deployment plan for the node bodies; the deployment plan includes determining the number, spacing distance and deployment path of the node bodies.

[0030] S2. Drive the node ship to the target area, install the node bodies on the node ropes in sequence according to the deployment plan, and install positioning anchors on the node bodies, and deploy the node bodies in turn; at the same time, release the main body from the node ship and lower it to a safe height close to the seabed.

[0031] S3. When the main body reaches above the node body at the predetermined deployment point, control the second telescopic member to contract to drive the clamping arm to close and grasp the node body; after reaching the target position, control the second telescopic member to extend to drive the clamping arm to loosen and place the first node body at the target position.

[0032] S4. After the node body located at the head is placed, the control body continues to travel along the node ship and continues to place other node bodies at a predetermined interval distance until the placement task of all node bodies is completed.

[0033] Beneficial effects: Through the pre-formulated detailed placement plan, the efficiency and accuracy of the placement process can be effectively improved; it helps the geological survey team to accurately cover the target area with the node body, thereby improving the efficiency and accuracy of seismic exploration. By using a number of clamping arms to clamp a number of node bodies in sequence, so that the nodes are dropped after reaching the predetermined location, the placement efficiency of the nodes can be further improved.

[0034] Further, in S2, based on the positioning information sent by the acoustic positioning system, the rotating member is controlled to drive the driving paddle to rotate, and the driving body travels.

[0035] According to the depth information sent by the depth sensor, the water volume in the water storage tank is adjusted by the water pumping member, and the control body reaches the predetermined depth.

[0036] According to the image information of the near-seabed captured by the camera in real time, the first telescopic member is controlled to expand and contract based on the image information, and the control body turns.

[0037] Beneficial effects: The acoustic positioning system can provide the position information of the main body in real time, ensuring that the main body can accurately travel to the target area along the predetermined placement path. The depth sensor can be used to monitor the distance between the main body and the seabed in real time, ensuring that the main body conducts the placement operation at a safe height close to the seabed. The camera can capture the image information of the near-seabed in real time, providing an intuitive visual effect for the operator and helping them accurately judge the seabed terrain and obstacles.

[0038] The additional aspects and advantages of the present invention will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the present invention. Brief Description of the Drawings

[0039] Figure 1 It is an installation schematic diagram of the seabed node placement device for deep-sea sulfide exploration of the present invention.

[0040] Figure 2 It is an axonometric view of the main body in the seabed node placement device for deep-sea sulfide exploration of the present invention.

[0041] Figure 3 It is a cross-sectional view of the main body in the seabed node placement device for deep-sea sulfide exploration of the present invention.

[0042] Figure 4 It is an axonometric view of the steering assembly in the seabed node placement device for deep-sea sulfide exploration of the present invention.

[0043] Figure 5 For the present invention Figure 2 An enlarged view of part A in the present invention

[0044] Figure 6 It is a schematic flow chart of the method for deploying subsea nodes for deep - sea sulfide exploration of the present invention

[0045] The reference numerals in the accompanying drawings of the specification include: 1, node ship; 2, main body; 3, node body; 4, driving paddle; 5, rotating motor; 6, bracket; 7, first bevel gear; 8, second bevel gear; 9, steering paddle; 10, first electric push rod; 11, transverse rod; 12, piston rod; 13, piston cylinder; 14, rubber piston; 15, gas storage tank; 16, water storage tank; 17, sleeve; 18, second electric push rod; 19, clamping arm; 20, articulated rod Detailed implementation manners

[0046] The following is a further detailed description through specific implementation manners Embodiment 1

[0047] As shown Figures 1-5 : A subsea node deployment device for deep - sea sulfide exploration includes a node ship 1. The node ship 1 is connected to a node rope and a main body 2 in a wired manner. In this embodiment, the main body 2 is made of a high - strength alloy material, preferably titanium alloy; it is connected in a wired manner using a communication cable, and the communication cable provides communication and power supply for the main body 2; the main body 2 is released through a cable winch and a type - A frame. A number of node bodies 3 for seismic exploration are sleeved on the node rope. In this embodiment, the node body 3 mainly includes a sonic detector, a dissolved gas analyzer, a thermometer, a pH sensor, a metal ion sensor, a gravity gradiometer, and a magnetometer, etc., for marine seismic exploration

[0048] Inside the main body 2, there are a driving component for driving the main body 2 to move, a steering component for assisting the main body 2 to turn, a propulsion component for assisting in propulsion, and a buoyancy component for adjusting ascending and descending; on the right side of the main body 2, there are also a number of clamping components for clamping the node body 3

[0049] Combined with Figure 3 and Figure 4 shown, the driving component includes a controller, a driving paddle 4, and a rotating member for rotating the driving paddle 4. In this embodiment, the rotating member is a rotating motor 5, and the rotating motor 5 is slidably engaged with the inner side wall of the main body 2; the output shaft of the rotating motor 5 extends to the outside of the main body 2 and is fixedly clamped with the driving paddle 4; a camera is fixedly connected to the outer wall of the main body 2 by screws. The controller is used to receive the image information captured by the camera and control the operation of the rotating motor 5 based on the image information

[0050] The steering assembly includes a bracket 6, a first bevel gear 7 and a plurality of second bevel gears 8. The bracket 6 is fixedly connected to the inner wall of the main body 2 with bolts; the output shaft of the rotating motor 5 passes through the bracket 6 and rotates with the bracket 6; the second bevel gears 8 are coaxially fixedly connected to the output shaft of the rotating motor 5 located in the bracket 6; the second bevel gears 8 are meshed with the first bevel gear 7, and the installation spacing between adjacent second bevel gears 8 is greater than the diameter of the first bevel gear 7; a steering shaft is coaxially fixedly connected to the other side of the first bevel gear 7, and the other end of the steering shaft passes through the bracket 6 and the main body 2 and is fixedly connected to a steering paddle 9.

[0051] The bracket 6 is also provided with a moving assembly for driving the rotating motor 5 to move. The moving assembly includes a first telescopic member and a transverse rod 11. In this embodiment, the first telescopic member is a first electric push rod 10, and the controller is used to control the first electric push rod 10 to extend and retract; the first electric push rod 10 is fixedly connected to the inner wall of the main body 2 by screws, the output shaft of the first electric push rod 10 passes through the bracket 6 and is fixedly sleeved with the transverse rod 11, and the other end of the transverse rod 11 is fixedly clamped with the output shaft of the rotating motor 5.

[0052] The propulsion assembly includes a piston rod 12, a piston cylinder 13 and a rubber piston 14. The piston cylinder 13 is fixedly connected to the inner bottom wall of the main body 2 by screws; one end of the piston rod 12 is fixedly bonded to the rubber piston 14, and the other end of the piston rod 12 is fixedly connected to the output shaft of the first electric push rod 10 by screws, and the rubber piston 14 is slidably matched with the inner side wall of the piston cylinder 13.

[0053] The piston cylinder 13 is connected to an input pipe and an output pipe, and the left end of the output pipe passes through the main body 2 and is connected to the outside of the main body 2; the input pipe is connected to an air storage tank 15, and in this embodiment, the air storage tank 15 is made of high-strength alloy material, preferably titanium alloy; the air storage tank 15 is fixedly connected to the inner bottom wall of the main body 2 with screws; the connection between the piston cylinder 13 and the input pipe and the output pipe is connected to a first one-way valve, and the flow direction of the first one-way valve is toward the left end of the output pipe; the air storage tank 15 is connected to an inflation pipe, and the inflation pipe is connected to a second one-way valve. Before the main body 2 is launched into the water, gas is transported into the air storage tank 15 through the second one-way valve to retain the gas inside the air storage tank 15.

[0054] The buoyancy assembly includes a water tank 16. In this embodiment, the water tank 16 is made of high-strength alloy material, preferably titanium alloy; the water tank 16 is bolted and fixedly connected to the inner top wall of the main body 2; the water tank 16 is connected to a pumping component for pumping water, and the controller is used to control the opening and closing of the pumping component. The input end of the pumping component is connected to the water tank 16, and the output end of the pumping component is connected to the outer side of the main body 2. In this embodiment, the pumping component is a water pump.

[0055] Combination Figure 5As shown in the figure, the clamping assembly includes a sleeve 17 and a second telescopic member. In this embodiment, the second telescopic member is a second electric push rod 18, and the controller is used to control the operation of the second electric push rod 18; the sleeve 17 is fixedly connected to the right side of the main body 2 by screws, and the right end of the sleeve 17 is symmetrically hinged with clamping arms 19; the second electric push rod 18 is embedded and installed inside the sleeve 17, and the output shaft of the second electric push rod 18 extends to the outside of the sleeve 17 and is symmetrically hinged with hinge rods 20, and the other end of the hinge rod 20 is hinged with the adjacent clamping arm 19.

[0056] The specific implementation process is as follows: First, when the node body 3 is placed, the main body 2 is placed into the water through the node ship 1 and the main body 2 is maintained at a safe height from the seabed. Since the output shaft of the rotation motor 5 is fixedly clamped with the outer drive paddle 4, when the rotation motor 5 drives the drive paddle 4 to rotate, this drive paddle 4 structure can generate power for the device. Based on Newton's third law (action and reaction), when the drive paddle 4 rotates, it will push the water backward, generating a forward thrust, thereby driving the device to move. The camera provides visual information for the device. When steering is required, the first electric push rod 10 is started. Since the output shaft of the first electric push rod 10 is fixedly sleeved with the transverse rod 11, the other end of the transverse rod 11 is fixedly clamped with the output shaft of the rotation motor 5, and the rotation motor 5 is slidably matched with the inner bottom wall of the main body 2, so the transverse rod 11 can be driven to move by the first electric push rod 10. When the transverse rod 11 moves, the output shaft of the rotation motor 5 is driven to move, thereby realizing the movement of the rotation motor 5.

[0057] Since the output shaft of the rotation motor 5 is coaxially and fixedly clamped with the second bevel gear 8, the second bevel gears 8 are all meshed with the first bevel gear 7, and the installation distance between the second bevel gears 8 is greater than the diameter of the first bevel gear 7; so when the rotation motor 5 moves, it can drive the second bevel gears 8 to be meshed with the first bevel gear 7 respectively. When they are meshed respectively, the rotation directions of the first bevel gears 7 are opposite. Since the first bevel gear 7 is coaxially fixedly clamped with a steering shaft, and the steering shaft is fixedly clamped with a steering paddle 9, the steering paddle 9 can be driven to rotate forward or backward by the forward or reverse rotation of the first bevel gear 7, so that the steering paddle 9 generates thrust in different directions, thereby enabling the device to turn.

[0058] Take Figure 2 and Figure 4 as an example. When the rotation motor 5 drives the second bevel gear 8 to rotate counterclockwise, the first electric push rod 10 is used to drive the rotation motor 5 to move to the right. At this time, the second bevel gear 8 on the left is meshed with the first bevel gear 7, so that the counterclockwise rotating second bevel gear 8 drives the first bevel gear 7 to rotate clockwise, and the clockwise rotation causes the steering paddle 9 to generate a leftward thrust on the main body 2. On the contrary, the direction of the main body 2 can be made to face the right. When steering is not required, the second bevel gears 8 are disengaged from the first bevel gear 7.

[0059] Since one end of the piston rod 12 is fixedly bonded to the rubber piston 14 and the other end of the piston rod 12 is fixedly connected to the output shaft of the first electric push rod 10 by screws, the piston rod 12 can be driven to move by the first electric push rod 10. When the piston rod 12 moves, the gas inside the gas storage tank 15 can be transmitted to the outside of the main body 2.

[0060] Take Figure 3 as an example. When the first electric push rod 10 drives the piston rod 12 to move to the right, the rubber piston 14 is used to suck the gas inside the gas storage tank 15 into the piston cylinder 13. When the first electric push rod 10 drives the piston rod 12 to move to the left, the gas can be transmitted to the outside. When the gas sprays out of the outside of the main body 2, an additional driving force can be generated, and the airflow transmitted to the outside can also generate an additional auxiliary force on the main body 2 to assist the main body 2 to turn quickly.

[0061] When it is necessary to adjust the depth of the main body 2, the liquid inside the water storage tank 16 is transported through the water pumping member. When the main body 2 needs to float, the water in the water storage tank 16 is pumped out, so that the overall weight of the main body 2 is gradually reduced, the buoyancy of the main body 2 increases and it rises. On the contrary, the water inside the water storage tank 16 can be increased, the overall weight of the main body 2 is gradually increased, so that the buoyancy of the main body 2 is reduced and the main body 2 descends. In this way, the auxiliary device rises and dives.

[0062] When it is necessary to clamp the node body 3, the second electric push rod 18 drives the articulated rod 20 to move. Since the other end of the articulated rod 20 is hinged to the clamping arm 19 and the clamping arm 19 is hinged to the sleeve 17, during the process of the second electric push rod 18 driving the articulated rod 20 to move, the articulated rod 20 can drive the clamping arm 19 to clamp. Take Figure 5 as an example. When the second electric push rod 18 extends and drives the articulated rod 20 to move to the right, the clamping arm 19 opens to both sides; on the contrary, the clamping arm 19 can be clamped inward. In this way, the clamping and releasing functions of the clamping arm 19 on the node body 3 are realized. By arranging the node bodies 3 in sequence, after the node body 3 at this position is arranged, the subsequent node bodies 3 are continued to be arranged.

[0063] In the prior art, multiple power components are usually used to drive the device to operate, which not only increases the cost of the device but also makes the device more bulky. In this embodiment, by optimizing the design of the power components and the transmission efficiency of the steering components, the device can generate the required power with lower energy consumption. The movement and steering of the device can be realized by driving with a single rotating motor 5, effectively reducing the installation of power components, thereby reducing the volume and weight of the device. At the same time, the addition of the piston rod 12 and the piston cylinder 13 provides additional auxiliary power support for the device, thereby reducing energy consumption and operating costs.

[0064] By flexibly adjusting the water volume inside the water storage tank 16 through the water pumping component, the device can rise or dive to different depth positions as needed. Compared with the traditional multi-power drive method, it can effectively reduce the energy consumption of the equipment, making the device highly flexible and thus improving the operation efficiency of the device. Through the design of several clamping arms 19, the node body 3 can be accurately clamped and released, multiple node bodies 3 can be clamped and released, and they can be sequentially released according to the laying spacing, so as to ensure that the node body 3 can be accurately deployed at the predetermined position, thereby effectively improving the laying accuracy and laying efficiency of the node body 3.

[0065] Embodiment 2:

[0066] The difference from the above embodiment is that a lighting lamp is also fixedly connected to the main body 2 by screws, and the controller is used to control the on-off of the lighting lamp; an acoustic positioning system and a depth sensor are fixedly connected to the inner wall of the main body 2 by screws, and the controller is used to receive and store the positioning information and depth information sent by the acoustic positioning system and the depth sensor.

[0067] The specific implementation process is as follows: The surrounding environment can be illuminated through the design of the lighting lamp, and the acoustic positioning system and the depth sensor can provide positioning and depth display for the device, so as to realize the remote operation of the device.

[0068] Embodiment 3:

[0069] As shown in the attached Figure 1 figure, the difference from the above embodiment is that positioning anchors are detachably clamped and connected to the bottoms of the node bodies 3; buffer air bags are fixedly adhered to the tops of the node bodies 3, and the buffer air bags are all connected to electromagnetic valves, and the controller is used to control the opening and closing of the electromagnetic valves.

[0070] The specific implementation process is as follows: By installing the positioning anchors on the node bodies 3, the node bodies 3 are laid on the seabed to ensure that the node bodies 3 are fixed at the predetermined positions. Through the design of the buffer air bags, when the node bodies 3 are released, they can land slowly, and can effectively provide buffering when adjacent nodes collide with each other or contact the seabed, protecting the precision instruments inside.

[0071] Embodiment 4:

[0072] As shown in the attached Figure 1 and Figure 6 figure, the difference from the above embodiment is that the present invention also provides a method for laying subsea nodes for deep-sea sulfide exploration, which specifically includes the following steps: S1. According to the geological characteristics, topographic and geomorphic conditions and expected coverage range of the geological survey target area, formulate a laying plan for the node body 3; the laying plan includes determining the number, interval distance and laying path of the node body 3.

[0073] S2. Move the node ship 1 to the target area, install the node body 3 onto the node rope in sequence according to the deployment plan, and install positioning anchors on the node body 3, then deploy the node body 3 one by one; at the same time, release the main body 2 from the node ship 1 and lower it to a safe height close to the seabed. In this embodiment, the safe height is 40 meters or a safe height considered appropriate by on-site operators. In this embodiment, the node body 3 is sleeved onto the node rope by loading an automatic hook-on and detachment device on the node ship 1, and the node body 3 is released by using a cable winch and an A-frame.

[0074] When the main body 2 is moving, based on the positioning information sent by the acoustic positioning system, control the rotation motor 5 to drive the drive paddle 4 to rotate, so as to drive the main body 2 to move.

[0075] According to the depth information sent by the depth sensor, adjust the water volume in the water storage tank 16 through the water pumping component to control the main body 2 to reach the predetermined depth.

[0076] According to the image information of the seabed near the bottom captured by the camera in real time, control the first electric push rod 10 to extend and retract based on the image information to control the main body 2 to turn.

[0077] S3. When the main body 2 reaches above the node body 3 at the predetermined deployment point, control the second electric push rod 18 to contract, drive the clamping arm 19 to close and grasp the node body 3; after reaching the target position, control the second electric push rod 18 to extend, drive the clamping arm 19 to loosen, and place the node body 3 at the head on the target position.

[0078] S4. After the node body 3 at the head is placed, control the main body 2 to continue moving along the node ship 1, and continue to deploy other node bodies 3 at a predetermined interval distance until the deployment task of all node bodies 3 is completed; in this embodiment, the node body 3 can also be installed on the node rope separately to realize the separate release of the node body 3.

[0079] The specific implementation process is as follows: Through a pre-formulated detailed deployment plan, the efficiency and accuracy of the deployment process can be effectively improved; it helps the geological survey team to accurately cover the target area with the node body 3, thereby improving the efficiency and accuracy of seismic exploration. By using a number of clamping arms 19 to clamp a number of node bodies 3 in sequence, so that the nodes are deployed after reaching the predetermined location, the deployment efficiency of the nodes can be further improved.

[0080] The acoustic positioning system can provide the position information of the main body 2 in real time, ensuring that the main body 2 can accurately travel to the target area along the predetermined placement path. The depth sensor can monitor the distance between the main body 2 and the seabed in real time, ensuring that the main body 2 conducts the placement operation at a safe height close to the seabed. The camera can capture the image information near the seabed in real time, providing an intuitive visual effect for the operators and helping them accurately judge the seabed terrain and obstacles.

[0081] Obviously, the above embodiments are merely examples given for clear illustration and are not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or alterations can be made based on the above description. It is not necessary and impossible to exhaustively list all the implementation manners here. And the obvious changes or alterations derived therefrom still fall within the protection scope of the present invention.

Claims

1. A seabed node deployment device for deep-sea sulfide exploration, comprising a node ship (1), the node ship (1) being connected with a node rope and a main body (2), the node rope being sleeved with a plurality of node bodies (3) for seismic exploration, characterized in that: The main body (2) is provided with a driving component for driving the main body (2) to move; a steering component for assisting the main body (2) in steering; a propulsion component for assisting propulsion; and a buoyancy component for adjusting ascent and descent. The driving assembly comprises a controller, a driving paddle (4) and a rotating member for rotating the driving paddle (4), the rotating member being in sliding engagement with an inner side wall of the main body (2); an output shaft of the rotating member extending to the outside of the main body (2) and being fixedly connected to the driving paddle (4); a camera being fixedly connected to the outer wall of the main body (2), the controller being used to receive image information captured by the camera and to control the operation of the rotating member based on the image information; A plurality of clamping components for clamping the node body (3) are also provided on a side of the main body (2) away from the driving component.

2. The seabed node deployment device for deep-sea sulfide exploration according to claim 1, characterized in that: The steering assembly comprises a bracket (6), a first bevel gear (7) and a plurality of second bevel gears (8); the bracket (6) is fixedly connected to the inner side wall of the main body (2); the output shaft of the rotating member passes through the bracket (6) and is rotatably matched with the bracket (6); the second bevel gears (8) are coaxially fixedly connected to the output shaft of the rotating member located in the bracket (6); the second bevel gears (8) are meshed with the first bevel gears (7); the installation spacing between adjacent second bevel gears (8) is greater than the diameter of the first bevel gear (7); the first bevel gear (7) is coaxially fixedly connected to the steering shaft on one side away from the second bevel gear (8); the steering shaft is fixedly connected to the end of the steering shaft away from the first bevel gear (7) that passes through the bracket (6) and the main body (2) and is fixedly connected to the steering paddle (9); The bracket (6) is also provided with a moving component for driving the rotating member to move.

3. The seabed node deployment device for deep-sea sulfide exploration according to claim 2, characterized in that: The moving assembly comprises a first telescopic member and a transverse rod (11), and the controller is used to control the first telescopic member to telescope; the first telescopic member is fixedly connected to the inner wall of the main body (2), the output shaft of the first telescopic member passes through the bracket (6) and is fixedly connected to the transverse rod (11), and one end of the transverse rod (11) away from the first telescopic member is fixedly connected to the output shaft of the rotating member.

4. The seabed node deployment device for deep-sea sulfide exploration according to claim 3 is characterized in that: The propulsion assembly comprises a piston rod (12), a piston cylinder (13) and a rubber piston (14); the piston cylinder (13) is fixedly connected to the inner bottom wall of the main body (2); one end of the piston rod (12) is fixedly connected to the rubber piston (14), the other end of the piston rod (12) is fixedly connected to the output shaft of the first telescopic member, and the rubber piston (14) is slidably matched with the inner side wall of the piston cylinder (13); The piston cylinder (13) is connected to an input pipe and an output pipe, and one end of the output pipe away from the piston cylinder (13) passes through the main body (2) and is connected to the outside of the main body (2); the input pipe is connected to an air storage tank (15), and the air storage tank (15) is fixedly connected to the inner bottom wall of the main body (2); the connection between the piston cylinder (13) and the input pipe and the output pipe is connected to a first one-way valve, and the flow direction of the first one-way valve is toward the end of the output pipe away from the piston cylinder (3); the air storage tank (15) is connected to an inflation pipe, and the inflation pipe is connected to a second one-way valve.

5. The seabed node deployment device for deep-sea sulfide exploration according to claim 4, characterized in that: The buoyancy component comprises a water storage tank (16), the water storage tank (16) being fixedly connected to the inner top wall of the main body (2); the water storage tank (16) is connected to a pumping member for pumping water, and the controller is used to control the opening and closing of the pumping member; the input end of the pumping member is connected to the water storage tank (16), and the output end of the pumping member is connected to the outer side of the main body (2).

6. The seabed node deployment device for deep-sea sulfide exploration according to claim 5, characterized in that: The clamping assembly comprises a sleeve (17) and a second telescopic member, and a controller is used to control the second telescopic member to extend and retract; the sleeve (17) is fixedly connected to a side of the main body (2) away from the driving paddle (4), and an end of the sleeve (17) away from the main body (2) is symmetrically hinged with a clamping arm (19); the second telescopic member is embedded and installed inside the sleeve (17), an output shaft of the second telescopic member extends to the outside of the sleeve (17) and is symmetrically hinged with a hinged rod (20), and an end of the hinged rod (20) away from the second telescopic member is hinged to the clamping arm (19) adjacent thereto.

7. The seabed node deployment device for deep-sea sulfide exploration according to claim 6, characterized in that: The main body (2) is also fixedly connected to a lighting lamp, and the controller is used to control the lighting lamp to be turned on and off; the inner wall of the main body (2) is fixedly connected to an acoustic positioning system and a depth sensor, and the controller is used to receive and store positioning information and depth information sent by the acoustic positioning system and the depth sensor.

8. The seabed node deployment device for deep-sea sulfide exploration according to claim 7, characterized in that: The bottom of the node body (3) is detachably connected to a positioning anchor; the top of the node body (3) is fixedly connected to a buffer airbag, the buffer airbag is connected to a solenoid valve, and the controller is used to control the opening and closing of the solenoid valve.

9. A method for deploying seabed nodes for deep-sea sulfide exploration, based on the seabed node deployment device for deep-sea sulfide exploration as claimed in any one of claims 1 to 8, characterized in that: The following steps are involved: S1. Formulate a deployment plan for the node bodies (3) based on the geological characteristics, topographic conditions and expected coverage of the target area of ​​the geological survey; the deployment plan includes determining the number of node bodies (3), spacing distances and deployment paths; S2, driving the node ship (1) to the target area, installing the node body (3) on the node rope in sequence according to the deployment plan, installing a positioning anchor on the node body (3), and deploying the node body (3) in sequence; at the same time, releasing the main body (2) from the node ship (1) and lowering it to a safe height close to the seabed; S3, when the main body (2) reaches above the node body (3) at the predetermined placement point, the second telescopic member is controlled to retract, driving the clamping arm (19) to close and grasp the node body (3); after reaching the target position, the second telescopic member is controlled to extend, driving the clamping arm (19) to release, and placing the node body (3) at the head at the target position; S4. After the node body (3) located at the bow is placed, the control body (2) continues to travel along the node ship (1) and continues to place other node bodies (3) at a predetermined interval until the placement task of all node bodies (3) is completed.

10. The method for deploying seabed nodes for deep-sea sulfide exploration according to claim 9, characterized in that: In S2, the positioning information sent by the acoustic positioning system is used to control the rotating member based on the positioning information to drive the driving propeller (4) to rotate, thereby driving the main body (2) to move; According to the depth information sent by the depth sensor, the amount of water in the water storage tank (16) is adjusted by the pumping member to control the main body (2) to reach a predetermined depth; According to the image information of the seabed captured in real time by the camera, the first telescopic member is controlled to be telescopic based on the image information, and the main body (2) is controlled to be turned.

Images