Submarine node detection system and method

Abstract

The invention discloses a seabed node detection system and method. The system comprises a main control module, a vacuumizing device, an inflation device, a mechanical arm and a thermometer. The vacuumizing device responds to a first instruction issued by the main control module to vacuumize the seabed node; the inflation device responds to a second instruction issued by the main control module to inflate the seabed node; the mechanical arm clamps a mass spectrum analyzer probe, responds to a detection instruction issued by the main control template and advances according to a detection route, and the mass spectrum analyzer probe detects the gas leakage rate of the seabed node; if the main control module judges that the environment temperature data measured by the thermometer is matched with the internal temperature data measured by the hygrothermograph in the seabed node, the internal humidity data measured by the hygrothermograph is collected; by adopting the system, an automatic mode replaces a manual operation mode, air tightness and temperature and humidity detection can be completed automatically and intelligently, the safety of detection work can be ensured, and the efficiency of seabed node detection is improved.

Description

Technical Field

[0001] The present application relates to the field of exploration technology, and in particular to a detection system and method for seabed nodes. Background Art

[0002] A seafloor node is a multi-component seismograph located on the seafloor that independently collects and records seismic signals. It contains a battery, sensors, and data acquisition memory. Seafloor nodes operate on the seafloor for extended periods, placing high demands on internal temperature, humidity, and airtightness. Otherwise, their performance would be affected. Therefore, accurate testing of these parameters is essential.

[0003] In the existing technology, the detection of submarine nodes needs to be controlled manually. The manual operation method is labor-intensive, costly and cannot guarantee safety. There is an urgent need for an automated submarine node detection method. Summary of the Invention

[0004] In view of the above problems, the present application is proposed to provide a system and method for detecting seabed nodes that overcome the above problems or at least partially solve the above problems.

[0005] According to one aspect of the present application, a detection system for a seabed node is provided, comprising: a main control module, a vacuum pumping device, an inflation device, a robotic arm, and a thermometer;

[0006] The vacuuming device is configured to respond to a first instruction issued by the main control module and vacuum the submarine node through the air inlet and outlet of the submarine node;

[0007] The inflation device is configured to inflate the submarine node through the air inlet and outlet of the submarine node in response to the second instruction issued by the main control module;

[0008] The robotic arm is configured to hold a mass spectrometer probe and to respond to a detection instruction issued by the main control module and move along a detection route corresponding to the submarine node, wherein the mass spectrometer probe detects a gas leakage rate of the submarine node;

[0009] The main control module is further configured to: if it is determined that the ambient temperature data measured by the thermometer matches the internal temperature data measured by the thermometer and hygrometer inside the seabed node, collect the internal humidity data measured by the thermometer and hygrometer.

[0010] Optionally, the system further includes: an alarm module;

[0011] The main control module is further configured to: receive the gas leakage rate detected by the mass spectrometer probe, and trigger an alarm instruction according to the gas leakage rate;

[0012] The alarm module is used to receive the alarm instruction sent by the main control module and perform an alarm operation in response to the alarm instruction.

[0013] Optionally, the vacuuming device includes: a first solenoid valve, a vacuum pump, and a relay connected to the vacuum pump; the inflation device includes: a gas bottle and a second solenoid valve; the first solenoid valve is installed on the exhaust pipeline between the vacuum pump and the gas inlet and outlet; the second solenoid valve is installed on the inflation pipeline between the gas bottle and the gas inlet and outlet;

[0014] The main control module is further configured to: send a closing instruction to the second solenoid valve to close the second solenoid valve; send an opening instruction to the relay, the first solenoid valve, and the vacuum pump to open the relay, the first solenoid valve, and the vacuum pump;

[0015] The main control module is further configured to: send a closing instruction to the first solenoid valve and the vacuum pump to close the first solenoid valve and the vacuum pump; and send an opening instruction to the second solenoid valve to open the second solenoid valve.

[0016] Optionally, the main control module is further configured to:

[0017] If it is determined that the ambient temperature data does not match the internal temperature data, the first instruction is sent to the vacuuming device to enable the vacuuming device to continue to perform the vacuuming operation.

[0018] Optionally, the system further comprises:

[0019] a control panel, configured to send an operation signal to the main control module in response to a detected touch operation;

[0020] The main control module is further configured to trigger the first instruction in response to the operation signal.

[0021] Optionally, the main control module is further configured to:

[0022] When the first instruction is issued to the vacuum device, a timer is started to start timing; when the timer expires, a shutdown instruction is issued to the vacuum device to stop the vacuum operation;

[0023] When the second instruction is sent to the inflation device, a timer is started to start timing; when the timer ends, a shutdown instruction is sent to the inflation device to stop the inflation operation;

[0024] The second instruction is triggered after the vacuuming device stops the vacuuming operation.

[0025] Optionally, the alarm module includes: an audible alarm device and / or an optical alarm device.

[0026] Optionally, the main control module further includes a power supply module; the power supply module is connected to the thermometer, the relay, the first solenoid valve and the second solenoid valve.

[0027] Optionally, the detection route corresponding to the seabed node is determined according to the connection point of the seabed node.

[0028] According to another aspect of the present application, a method for detecting a submarine node is provided. The method is applied to the submarine node detection system provided in the present application, and the method includes:

[0029] Vacuuming the seabed node through the air inlet and outlet of the seabed node;

[0030] Inflating the seabed node through the air inlet and outlet of the seabed node;

[0031] detecting a gas leakage rate of the submarine node by using a mass spectrometer probe, wherein the mass spectrometer probe is clamped by a robotic arm, and the robotic arm moves along a detection route corresponding to the submarine node;

[0032] If it is determined that the measured ambient temperature data matches the internal temperature data of the seafloor node, the internal humidity data of the seafloor node is collected.

[0033] Optionally, the method further comprises:

[0034] The gas leakage rate detected by the mass spectrometer probe is received, and an alarm operation is performed according to the gas leakage rate.

[0035] Optionally, vacuuming the seabed node through the air inlet and outlet of the seabed node further includes:

[0036] The second solenoid valve is closed, and the relay connected to the vacuum pump, the first solenoid valve and the vacuum pump are turned on.

[0037] The inflating the seabed node through the air inlet and outlet of the seabed node further includes:

[0038] Close the first solenoid valve and the vacuum pump, and open the second solenoid valve.

[0039] Optionally, the method further comprises:

[0040] If it is determined that the ambient temperature data does not match the internal temperature data, the seabed node is continuously vacuumed through the air inlet and outlet of the seabed node.

[0041] Optionally, the method further comprises:

[0042] triggering an operation signal, wherein the operation signal is triggered in response to a detected touch operation;

[0043] In response to the operation signal, the seabed node is vacuumed through the air inlet and outlet of the seabed node.

[0044] Optionally, the method further comprises:

[0045] When the vacuuming time reaches the timer time, stop vacuuming;

[0046] When the inflation time reaches the timer time, the inflation is stopped; wherein, the inflation is started again after the vacuuming is stopped.

[0047] Optionally, performing an alarm operation according to the gas leakage rate further includes: issuing an alarm by means of an audible alarm and / or an optical alarm.

[0048] Optionally, the detection route corresponding to the seabed node is determined according to the connection point of the seabed node.

[0049] According to the detection system and method of the submarine node provided in the embodiment of the present application, the system includes: a main control module, a vacuuming device, an inflation device, a robotic arm and a thermometer; the vacuuming device is used to respond to a first instruction issued by the main control module and vacuum the submarine node through the air inlet and outlet of the submarine node; the inflation device is used to respond to a second instruction issued by the main control module and inflate the submarine node through the air inlet and outlet of the submarine node; the robotic arm is used to clamp the mass spectrometer probe, and is used to respond to the detection instruction issued by the main control module and move along the detection route corresponding to the submarine node, and the mass spectrometer probe detects the gas leakage rate of the submarine node; the main control module is also used to: if it is determined that the ambient temperature data measured by the thermometer matches the internal temperature data measured by the thermometer and hygrometer inside the submarine node, collect the internal humidity data measured by the thermometer and hygrometer. By utilizing the detection system of the present application, instructions are sent to each mechanism through the main control module, so that each mechanism can be controlled to automatically perform operations, which greatly reduces the workload of operators, reduces the time and cost of personnel pre-training, avoids the danger caused by operator distraction, ensures the safety of detection work, and improves the efficiency of seabed node detection; at the same time, the air tightness of the seabed node is detected by clamping the mass spectrometer probe with a robotic arm, which can automatically and intelligently complete the air tightness detection; combining temperature and humidity acquisition with air tightness detection optimizes the measurement process and reduces the steps of disassembling and assembling node sealing screws; the main control module automatically collects the internal humidity of the seabed node when it determines that the internal temperature of the seabed node matches the ambient temperature, and improves the accuracy of the humidity measurement of the seabed node by controlling variables.

[0050] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present application. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0052] Figure 1 A schematic structural diagram of a submarine node detection system provided by an embodiment of the present application is shown;

[0053] Figure 2 A schematic structural diagram of a submarine node detection system provided by another embodiment of the present application is shown;

[0054] Figure 3 A flow chart of a method for detecting submarine nodes provided in another embodiment of the present application is shown. DETAILED DESCRIPTION

[0055] The following describes exemplary embodiments of the present application in more detail with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0056] Figure 1 FIG. 1 shows a schematic diagram of a detection system for a submarine node according to an embodiment of the present application. Figure 1 As shown, the system includes: a main control module 11, a vacuum device 12, an inflation device 13, a robotic arm 14 and a thermometer 15.

[0057] The vacuuming device 12 is used to respond to the first instruction sent by the main control module 11 and vacuum the seabed node through the air inlet and outlet of the seabed node.

[0058] The vacuuming device 12's air extraction pipeline is connected to the inlet and outlet of the submarine node. This pipeline is used to extract gas from the submarine node. During vacuuming, gas flows from the submarine node to the inlet and outlet, and then to the vacuuming device 12. The negative pressure of the vacuuming device 12 is used to vacuum the submarine node. When triggered by an operation signal, the main control module 11 issues a first instruction to the vacuuming device 12. In response to the first instruction, the vacuuming device 12 automatically executes the vacuuming operation, thereby automatically vacuuming the submarine node.

[0059] The inflation device 13 is used to respond to the second instruction issued by the main control module 11 and inflate the seabed node through the air inlet and outlet of the seabed node; wherein, the second instruction is triggered after the vacuum device stops the vacuum operation.

[0060] The inflation pipeline of the inflation device 13 is connected to the air inlet and outlet of the seabed node. The inflation pipeline is a pipeline used to inject gas into the seabed node. During inflation, the flow direction of gas is from the inflation device 13 to the air inlet and outlet to the seabed node. The pressure of the inflation device 13 is used to inflate the seabed node.

[0061] After the vacuuming device 12 stops vacuuming, the main control module 11 sends a second instruction to the inflation device 13. In response to the second instruction, the inflation device 13 automatically performs the inflation operation, thereby automatically vacuuming and inflating the seabed node. The second instruction can be triggered automatically by the main control module or in response to an operation signal.

[0062] It should be noted that the vacuum device 12 and the inflation device 13 can be connected to different air inlets and outlets of the seabed node respectively, or they can be connected to the same air inlet and outlet of the seabed node in a convergent manner, for example, by being converged to the air inlet and outlet in a Y-type connection.

[0063] The robotic arm 14 is used to clamp the mass spectrometer probe and to respond to the detection instruction issued by the main control module and move along the detection route corresponding to the seabed node. The mass spectrometer probe detects the gas leakage rate of the seabed node.

[0064] The clamp at the end of the robotic arm 14 clamps the mass spectrometer probe, and the main control module 11 sends a detection instruction to the robotic arm 14 to control the robotic arm 14 to move at a specified speed along the detection route corresponding to the seabed node, that is, the movement route and speed of the robotic arm are fixed. During the movement, the clamped mass spectrometer probe detects the gas leakage rate. For example, when the gas cylinder is a helium cylinder, the helium leakage rate is detected, thereby realizing automated air tightness detection.

[0065] Among them, the detection route corresponding to the seabed node is determined according to the connection of the seabed node, that is, the robotic arm 14 is controlled to move along the connection of the seabed node (including gaps, connection points, etc.) so that the mass spectrometer probe can detect the gas leakage rate at the connection.

[0066] The mass spectrometer probe uploads the detected gas leakage rate to the main control module 11. The main control module 11 generates a detection report based on the travel position of the robotic arm when detecting the gas leakage rate and the detected gas leakage rate. The detection report includes the detected gas leakage rate and the corresponding connection position of the submarine node. By combining the mass spectrometer probe and the robotic arm, the leaking connection on the submarine node can be determined, thereby facilitating the operator to repair the leaking position.

[0067] The main control module 11 is further configured to: if it is determined that the ambient temperature data measured by the thermometer 15 matches the internal temperature data measured by the thermometer and hygrometer inside the seabed node, collect the internal humidity data measured by the thermometer and hygrometer.

[0068] The system includes a thermometer 15 placed outside the submarine node, which measures ambient temperature and transmits this data to the main control module 11. A thermometer and hygrometer are located inside the submarine node, measuring the internal temperature and humidity of the submarine node and transmitting this data to the main control module 11. The main control module 11 compares the ambient temperature data with the internal temperature data, and determines that they match when they are equal or the difference is within a controllable range. At this point, the internal humidity data measured by the submarine node's thermometer and hygrometer is collected and used as the measurement result of the submarine node's humidity data. Because temperature can affect humidity, the system of this embodiment controls variables to collect the internal humidity of the submarine node when the internal and external temperatures of the submarine node match. The collected relative humidity ensures humidity accuracy and enables automated submarine node humidity collection.

[0069] Optionally, the main control module 11 is also used for: if it is determined that the seabed node is not leaking based on the gas leakage rate uploaded by the mass spectrometer probe, then a first instruction is sent to the vacuum device 12 to control the vacuum device 12 to vacuum the seabed node, and a measurement instruction is sent to the thermometer 15 to control the thermometer 15 to measure and upload the ambient temperature data, and the ambient temperature data measured by the thermometer 15 is compared with the internal temperature data measured by the thermometer and hygrometer inside the seabed node. When it is determined that the ambient temperature data measured by the thermometer 15 matches the internal temperature data measured by the thermometer and hygrometer inside the seabed node, the internal humidity data measured by the thermometer and hygrometer is collected. Wherein, if the gas leakage rate uploaded by the mass spectrometer probe does not reach the preset threshold value (such as 2*10 -7mbar-l / s), the subsea node is considered leak-proof. This approach allows for subsequent vacuuming and internal humidity data collection only after leak-proof testing is confirmed, ensuring the accuracy of the collected internal humidity data.

[0070] Correspondingly, the main control module 11 is also used to: if it is determined that the seabed node is leaking according to the gas leakage rate uploaded by the mass spectrometer probe, the subsequent vacuuming and humidity collection operations will not be performed; specifically, if during the entire process of the robotic arm moving along the detection route corresponding to the seabed node, the mass spectrometer probe detects and uploads at least one gas that reaches a preset threshold (such as 2*10 -7 mbar-l / s), the seabed node is judged to be leaking.

[0071] In an optional embodiment, determining whether the seabed node is leaking is specifically as follows: when the gas pressure in the seabed node reaches a corresponding threshold, determining whether the gas leakage rate reaches the corresponding threshold; that is, if the gas pressure in the seabed node reaches the corresponding threshold and the gas leakage rate reaches the corresponding threshold, then it is determined that the seabed node is leaking; conversely, if the gas pressure in the seabed node reaches the corresponding threshold but the gas leakage rate does not reach the corresponding threshold, then it is determined that the seabed node is not leaking.

[0072] In addition, if the main control module 11 determines that the ambient temperature data does not match the internal temperature data, it sends the first instruction to the vacuum device 12 to enable the vacuum device 12 to continue to perform the vacuum operation, and continue vacuuming until the ambient temperature data and the internal temperature data of the seabed node match, and then collect the internal humidity data of the seabed node.

[0073] In an optional embodiment, the first instruction, the second instruction and the detection instruction are all triggered by the main control module 11 according to the detected touch signal. That is, the operator only needs to click the interactive button multiple times, and the system can automatically vacuum, inflate and detect the air tightness of the seabed node. The operation is simple, provides convenience for the operator, and can ensure the safety of the detection process.

[0074] In the existing technology, manual operation is required during the inspection process of submarine nodes, including tightening screws to install air nozzles, opening and closing the vacuum device, opening and closing the inflation device, opening and closing the air inlet and outlet of the submarine node, using a handheld probe to detect air tightness, connecting the submarine node and the computer to collect the temperature and humidity of the submarine node, etc. The operator needs to manually operate the mechanical switch, which requires costly operator training and is prone to errors during the operation process. In addition, in the existing technology, the air tightness detection and temperature and humidity detection of the submarine node are separate. When the temperature and humidity of the submarine node do not meet the standards, re-vacuuming is required, which further increases the difficulty and workload of the operation.

[0075] In summary, according to the detection system of the submarine node provided in this embodiment, by using the detection system, instructions are issued to each mechanism through the main control module, so that each mechanism can be controlled to automatically perform operations, which greatly reduces the workload of the operator, reduces the time and cost of personnel pre-training, avoids the danger caused by the operator's distraction, can ensure the safety of the detection work, and improves the efficiency of submarine node detection; at the same time, the air tightness of the submarine node is detected by clamping the mass spectrometer probe with a robotic arm, which can automatically and intelligently complete the air tightness detection; combining temperature and humidity acquisition with air tightness detection optimizes the measurement process and reduces the steps of disassembling and assembling node sealing screws; the main control module automatically collects the internal humidity of the submarine node when it determines that the internal temperature of the submarine node matches the ambient temperature, and improves the accuracy of the humidity measurement of the submarine node by controlling variables.

[0076] Figure 2 A schematic structural diagram of a detection system for a submarine node provided in another embodiment of the present application is shown. The system includes: a control panel 10, a main control module 11, a vacuum device 12, an inflation device 13, a robotic arm 14, and a thermometer 15. In the system of this embodiment, the vacuum device 12 specifically includes a first solenoid valve 123, a vacuum pump 121, and a relay 122, and the inflation device 13 specifically includes: a gas bottle 131 and a second solenoid valve 132.

[0077] The core of the main control module 11 is the main control chip; the main control module 11 also includes a power module, which is connected to the thermometer 15, the relay 122, the first solenoid valve 123 and the second solenoid valve 132. The main control module 11 also includes a communication module, through which data and instructions are sent and received.

[0078] The control panel 10 is used to send an operation signal to the main control module 11 in response to a detected touch operation; the main control module 11 triggers a first instruction in response to the operation signal; wherein, the control panel has a touch screen, and the touch operation is specifically a touch operation on the buttons on the control panel, that is, the operator can click the button on the control panel to make the system automatically vacuum the seabed node.

[0079] The vacuuming device 12 is used to respond to the first instruction issued by the main control module and vacuum the seabed node 16 through the air inlet and outlet of the seabed node 16; the inflation device 13 is used to respond to the second instruction issued by the main control module and inflate the seabed node 16 through the air inlet and outlet of the seabed node 16.

[0080] The main control module 11 is used to: start a timer to start timing while issuing a first instruction to the vacuum device 12; when the timer ends, issue a shutdown instruction to the vacuum device 12 to stop the vacuum operation; wherein, the vacuum device 12 starts vacuuming in response to the received first instruction, and when the timer ends, the vacuum device 12 will receive the shutdown instruction issued by the main control module 11, and the vacuum device 12 stops vacuuming in response to the shutdown instruction.

[0081] The main control module 11 is used to: start a timer to start timing while issuing a second instruction to the inflation device 13; when the timer ends, issue a closing instruction to the inflation device 13 to stop the inflation operation; wherein, the inflation device 13 starts to inflate in response to the received second instruction, and when the timer ends, the inflation device 13 will receive the closing instruction issued by the main control module 11, and the inflation device 13 stops inflating in response to the closing instruction.

[0082] The system of the embodiment of the present application controls the inflation device 13 to start the inflation operation after controlling the vacuum pumping device 12 to stop the vacuum pumping operation. That is, the second instruction acting on the inflation device 13 is triggered after the vacuum pumping device 12 stops the vacuum pumping operation, which can prevent the vacuum pumping device from extracting the gas filled into the seabed node. That is, the main control module 11 is used to send the second instruction to the inflation device 13 after sending the shutdown instruction to the vacuum pumping device 12.

[0083] The robotic arm 14 is used to clamp the mass spectrometer probe and to respond to the detection instruction issued by the main control module 11 and move along the detection route corresponding to the seabed node 16. The mass spectrometer probe detects the gas leakage rate of the seabed node 16.

[0084] The detection instruction acting on the robotic arm 14 is automatically triggered by the main control module 11. Optionally, the main control module 11 is further used to: start the timer for timing while issuing the second instruction to the inflation device 13, and when the timer ends, issue a detection instruction to the robotic arm 14. This method is to automatically perform an air tightness test after the inflation device 13 inflates the seabed node for a specified period of time. Optionally, the main control module 11 is further used to: collect the gas pressure detected by the pressure detection module in the seabed node, and if the gas pressure reaches a preset threshold, issue a detection instruction to the robotic arm 14. This method is to automatically perform an air tightness test when the gas pressure inside the seabed node meets the standard. In this way, the automatic execution of the air tightness detection operation can be achieved.

[0085] Through the above method, the timer is integrated into the main control module, the main control module automatically triggers the timer for timing, and automatically triggers the control instruction when the timing ends, thereby realizing automatic start of vacuuming, automatic stop of vacuuming, automatic start of inflation, and automatic stop of inflation, avoiding the problem of requiring an additional timer and manual timing by the operator in the prior art.

[0086] The vacuum pumping device 12 specifically includes: a first solenoid valve 123, a vacuum pump 121 and a relay 122 connected to the vacuum pump 121; the relay 122 is connected to the power module and is used to control the power on and off of the vacuum pump 121; the first solenoid valve 123 is installed on the exhaust pipeline between the vacuum pump 121 and the air inlet and outlet, and is used to control the on and off of the air path. When the first solenoid valve 123 is opened, the gas in the seabed node is allowed to be pumped away through the exhaust pipeline. When the first solenoid valve 123 is closed, the gas path is cut off and the vacuum operation stops.

[0087] The inflation device 13 specifically includes a gas cylinder 131 and a second solenoid valve 132. The second solenoid valve 132 is installed on the inflation line between the gas cylinder 131 and the gas inlet and outlet. The second solenoid valve 132 is connected to a power module. The gas cylinder 131 can specifically be a helium cylinder. The second solenoid valve 132 is used to control the on-off of the gas circuit. When the second solenoid valve 132 is open, the gas in the gas cylinder is allowed to be charged into the subsea node. When the second solenoid valve 132 is closed, the gas circuit is cut off, and the inflation operation stops. In actual application, before power is applied and in the initial state, the first and second solenoid valves are both closed.

[0088] To achieve vacuuming of the seabed node, the main control module 11 is specifically configured to: send a closing instruction to the second solenoid valve 132 to close the second solenoid valve 132; send an opening instruction to the relay 122, the first solenoid valve 123, and the vacuum pump 121 to open the relay 122, the first solenoid valve 123, and the vacuum pump 121; close the second solenoid valve 132 to cut off the air path for inflation, open the relay 122 to energize the vacuum pump 121, and open the first solenoid valve 123 to open the air path for extraction, thereby vacuuming the seabed node. Based on this, the first instruction sent by the main control module 11 to the vacuuming device 12 includes: an opening instruction for the relay, the first solenoid valve, and the vacuum pump.

[0089] To inflate the seabed node, the main control module 11 is specifically configured to: send a closing instruction to the first solenoid valve 123 and the vacuum pump 121 to close the first solenoid valve 123 and the vacuum pump 121; and send an opening instruction to the second solenoid valve 132 to open the second solenoid valve 132. After the closing instruction is sent to the first solenoid valve 123 and before the opening instruction is sent to the second solenoid valve 132, both the first and second solenoid valves are closed, ensuring that the air paths for both inflation and evacuation are cut off at the end of vacuuming. The second solenoid valve 132 is then opened to open the inflation path, and the gas cylinder is adjusted to the appropriate pressure before operation to inflate the seabed node. Based on this, the second instruction sent by the main control module 11 to the inflation device 13 includes an opening instruction for the second solenoid valve.

[0090] Through the embodiment of the present application, by adjusting the switching sequence of the first solenoid valve and the second solenoid valve, the automatic and precise execution of the vacuum operation and the inflation operation can be achieved.

[0091] The main control module 11 is further configured to collect internal humidity data measured by the thermometer and hygrometer if it determines that the ambient temperature data measured by the thermometer 15 matches the internal temperature data measured by the thermometer and hygrometer within the submarine node 16. The thermometer 15, connected to a power module and located outside the submarine node, measures ambient temperature data and transmits it to the main control module 11. The main control module 11 compares the ambient temperature data with the internal temperature data. If the two are equal or the difference is within a controllable range, the main control module 11 determines that they match. At this point, the internal humidity data measured by the submarine node's thermometer and hygrometer is collected and used as the submarine node's humidity data measurement result.

[0092] Specifically, after detecting that the seabed node is not leaking, the seabed node is vacuumed and the internal humidity data of the seabed node is collected.

[0093] In another embodiment of the present application, the system further includes an alarm module, which is mainly used to issue an alarm based on the air tightness test result; specifically, the main control module 11 receives the gas leakage rate detected by the mass spectrometer probe and triggers an alarm instruction according to the gas leakage rate. Specifically, if the gas leakage rate reaches a preset threshold (such as 2*10 -7 mbar-1 / s), it is considered that there is a problem with the seabed node leaking, then an alarm instruction is triggered and sent to the alarm module; the alarm module receives the alarm instruction sent by the main control module, responds to the alarm instruction and executes the alarm operation, thereby prompting the operator that there is a problem with the air tightness of the currently detected seabed node, thereby facilitating the operator to repair the leaking seabed node in time.

[0094] In an optional embodiment, if the main control module 11 determines that the gas pressure in the seabed node reaches a corresponding threshold value (such as 15 psi), and the gas leakage rate also reaches a corresponding threshold value (such as 2*10 -7 mbar-l / s), an alarm command is sent to the alarm module.

[0095] The alarm module includes an audible alarm device and / or an optical alarm device. The audible alarm device emits a sound in response to an alarm command, such as a buzzer, and the optical alarm device emits a light in response to an alarm command, such as an LED. The alarm module provides timely warnings of the air tightness test results of the submarine node, improving the intelligence of air tightness testing.

[0096] In another embodiment of the present application, the control panel 10 is further configured to display gas leakage rate data, internal humidity data, internal temperature data, and timer time. Specifically, the main control module 11 transmits the collected gas leakage rate data, internal humidity data, internal temperature data, and timer time of the submarine node to the control panel 10 for display. Using the control panel to display submarine node detection results and operation progress in real time enhances the intelligence of submarine node detection.

[0097] In summary, according to the detection system of the submarine node provided by the present embodiment, the main control module sends instructions to each mechanism, which can control each mechanism to automatically perform operations, and replaces the manually operated knobs with automatically controlled relays and solenoid valves, which greatly reduces the workload of operators, reduces the time and cost of personnel pre-training, avoids the danger caused by operator distraction, can ensure the safety of detection work, and improve the efficiency of submarine node detection; control the robotic arm to move along the connection of the submarine node, and use the robotic arm to clamp the mass spectrometer probe to detect the air tightness of the submarine node, which can automatically and intelligently complete the air tightness detection; combine temperature and humidity acquisition with air tightness detection, optimize the measurement process, and reduce the link of disassembling and assembling node sealing screws; the main control module automatically collects the internal humidity of the submarine node when it determines that the internal temperature of the submarine node matches the ambient temperature, and improves the accuracy of the humidity measurement of the submarine node by controlling variables; through By adjusting the switching sequence of each solenoid valve, the vacuuming and inflation operations can be automatically and accurately executed; the operation instructions are automatically triggered by the cooperation of the main control module and the timer, without the need for an additional timer or manual time setting by the operator; a touch-sensitive control panel with better human-computer interaction is adopted, and the operator only needs to click a button on the control panel once, and the system can automatically vacuum, inflate and test the air tightness of the seabed node, realizing the full automation of air tightness testing and better human-computer interaction; the alarm module is used to issue timely alarms for the air tightness test results of the seabed node, which improves the intelligence of air tightness testing and reminds staff to repair the seabed node in time; a test report is generated based on the travel position of the robotic arm when detecting the gas leakage rate and the detected gas leakage rate. The leak position on the seabed node can be located by combining the mass spectrometer probe and the robotic arm, which facilitates targeted maintenance of the leak position and improves maintenance efficiency.

[0098] Figure 3 FIG2 shows a flow chart of a method for detecting a submarine node provided by another embodiment of the present application, which is applied to a detection system for a submarine node provided by an embodiment of the present application. Figure 3 As shown, the method includes:

[0099] Step S310, vacuuming the seabed node through the air inlet and outlet of the seabed node;

[0100] Step S320, inflating the seabed node through the air inlet and outlet of the seabed node;

[0101] Step S330: detecting the gas leakage rate of the submarine node by using a mass spectrometer probe, wherein the mass spectrometer probe is clamped by a robotic arm, and the robotic arm moves along a detection route corresponding to the submarine node;

[0102] Step S340: If it is determined that the measured ambient temperature data matches the internal temperature data of the seabed node, the internal humidity data of the seabed node is collected.

[0103] In an optional embodiment, the method further comprises:

[0104] The gas leakage rate detected by the mass spectrometer probe is received, and an alarm operation is performed according to the gas leakage rate.

[0105] In an optional manner, vacuuming the seabed node through the air inlet and outlet of the seabed node further includes:

[0106] The second solenoid valve is closed, and the relay connected to the vacuum pump, the first solenoid valve and the vacuum pump are turned on.

[0107] The inflating the seabed node through the air inlet and outlet of the seabed node further includes:

[0108] Close the first solenoid valve and the vacuum pump, and open the second solenoid valve.

[0109] In an optional embodiment, the method further comprises:

[0110] If it is determined that the ambient temperature data does not match the internal temperature data, the seabed node is continuously vacuumed through the air inlet and outlet of the seabed node.

[0111] In an optional embodiment, the method further comprises:

[0112] triggering an operation signal, wherein the operation signal is triggered in response to a detected touch operation;

[0113] In response to the operation signal, the seabed node is vacuumed through the air inlet and outlet of the seabed node.

[0114] In an optional embodiment, the method further comprises:

[0115] When the vacuuming time reaches the timer time, stop vacuuming;

[0116] When the inflation time reaches the timer time, the inflation is stopped; wherein, the inflation is started again after the vacuuming is stopped.

[0117] In an optional manner, performing an alarm operation according to the gas leakage rate further includes: issuing an alarm through an audible alarm and / or an optical alarm.

[0118] In an optional manner, the detection route corresponding to the seabed node is determined according to the connection point of the seabed node.

[0119] To sum up, according to the detection method of the submarine node provided in this embodiment, automated operation replaces manual operation, greatly reduces the workload of operators, reduces the time and cost of personnel pre-training, avoids the danger caused by operator distraction, and can ensure the safety of the detection work; at the same time, the air tightness of the submarine node is detected by using a robotic arm to clamp the mass spectrometer probe, which can automatically and intelligently complete the air tightness detection; combining temperature and humidity acquisition with air tightness detection optimizes the measurement process and reduces the steps of disassembling and assembling node sealing screws; when it is determined that the internal temperature of the submarine node matches the ambient temperature, the internal humidity of the submarine node is automatically collected, and the accuracy of the humidity measurement of the submarine node is improved by controlling variables.

[0120] The algorithm or demonstration provided here are not inherently relevant to any particular computer, virtual system or other equipment. Various general purpose systems can also be used together with the teachings based on this. According to the above description, it is obvious that the structure required for constructing this type of system. In addition, the present application embodiment is not directed to any specific programming language yet. It should be understood that various programming languages ​​can be utilized to realize the content of the present application described here, and the above description of specific languages ​​is for the purpose of disclosing the best mode of implementation of the present application.

[0121] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures, and techniques are not shown in detail so as not to obscure the understanding of this description.

[0122] Similarly, it should be understood that in order to streamline the present application and aid in understanding one or more of the various inventive aspects, in the above description of the exemplary embodiments of the present application, various features of the embodiments of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, this disclosed method should not be interpreted as reflecting an intention that the claimed application requires more features than are expressly recited in each claim. Rather, as reflected in the claims, inventive aspects lie in less than all the features of the individual embodiments disclosed above. Accordingly, the claims that follow the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of the present application.

[0123] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and in addition may be divided into multiple submodules or subunits or subcomponents. All features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed herein may be combined in any combination, except that at least some of such features and / or processes or units are mutually exclusive. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature providing the same, equivalent or similar purpose.

[0124] Furthermore, those skilled in the art will appreciate that although some embodiments herein include certain features included in other embodiments but not other features, combinations of features from different embodiments are intended to be within the scope of this application and to form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

[0125] The various component embodiments of the present application can be implemented in hardware, or in a software module running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or digital signal processor (DSP) can be used in practice to implement some or all of the functions of some or all of the components according to the embodiments of the present application. The application can also be implemented as a device or apparatus program (e.g., computer program and computer program product) for performing a part or all of the methods described herein. Such a program implementing the present application can be stored on a computer-readable medium, or can have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0126] It should be noted that the above embodiments illustrate rather than limit the present application, and that a person skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between brackets should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present application may be implemented by means of hardware comprising several different elements and by means of appropriately programmed computers. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names. The steps in the above embodiments should not be understood as limiting the order of execution unless otherwise specified.

Claims

1. A detection system for submarine nodes, characterized in that: include: Main control module, vacuum device, inflation device, robotic arm and thermometer; The vacuuming device is configured to respond to a first instruction issued by the main control module and vacuum the submarine node through the air inlet and outlet of the submarine node; The inflation device is configured to inflate the submarine node through the air inlet and outlet of the submarine node in response to the second instruction issued by the main control module; The robotic arm is configured to hold a mass spectrometer probe and to respond to a detection instruction issued by the main control module and move along a detection route corresponding to the submarine node, wherein the mass spectrometer probe detects a gas leakage rate of the submarine node; The main control module is further configured to: if it is determined that the ambient temperature data measured by the thermometer matches the internal temperature data measured by the thermometer and hygrometer inside the seabed node, collect the internal humidity data measured by the thermometer and hygrometer.

2. The submarine node detection system according to claim 1, characterized in that: The system further comprises: an alarm module; The main control module is further configured to: receive the gas leakage rate detected by the mass spectrometer probe, and trigger an alarm instruction according to the gas leakage rate; The alarm module is used to receive the alarm instruction sent by the main control module and perform an alarm operation in response to the alarm instruction.

3. The submarine node detection system according to claim 1, characterized in that: The vacuuming device includes: a first solenoid valve, a vacuum pump, and a relay connected to the vacuum pump; the inflation device includes: a gas bottle and a second solenoid valve; the first solenoid valve is installed on the exhaust pipeline between the vacuum pump and the gas inlet and outlet; the second solenoid valve is installed on the inflation pipeline between the gas bottle and the gas inlet and outlet; The main control module is further configured to: send a closing instruction to the second solenoid valve to close the second solenoid valve; send an opening instruction to the relay, the first solenoid valve, and the vacuum pump to open the relay, the first solenoid valve, and the vacuum pump; The main control module is further configured to: send a closing instruction to the first solenoid valve and the vacuum pump to close the first solenoid valve and the vacuum pump; and send an opening instruction to the second solenoid valve to open the second solenoid valve.

4. The submarine node detection system according to any one of claims 1 to 3, characterized in that: The main control module is further used for: If it is determined that the ambient temperature data does not match the internal temperature data, the first instruction is sent to the vacuuming device to enable the vacuuming device to continue to perform the vacuuming operation.

5. The submarine node detection system according to any one of claims 1 to 3, characterized in that: The system further comprises: a control panel, configured to send an operation signal to the main control module in response to a detected touch operation; The main control module is further configured to trigger the first instruction in response to the operation signal.

6. The submarine node detection system according to any one of claims 1 to 3, characterized in that: The main control module is further used for: When the first instruction is issued to the vacuum device, a timer is started to start timing; when the timer expires, a shutdown instruction is issued to the vacuum device to stop the vacuum operation; When the second instruction is sent to the inflation device, a timer is started to start timing; when the timer ends, a shutdown instruction is sent to the inflation device to stop the inflation operation; The second instruction is triggered after the vacuuming device stops the vacuuming operation.

7. The submarine node detection system according to claim 2, characterized in that: The alarm module includes: an audible alarm device and / or an optical alarm device.

8. The submarine node detection system according to any one of claims 1 to 3, characterized in that: The main control module further includes a power supply module; the power supply module is connected to the thermometer, the relay, the first solenoid valve, and the second solenoid valve.

9. The submarine node detection system according to any one of claims 1 to 3, characterized in that: The detection routes corresponding to the seabed nodes are determined according to the connection points of the seabed nodes.

10. A method for detecting a submarine node, characterized in that: The method is applied to the detection system of the submarine node according to any one of claims 1 to 9, and the method comprises: Vacuuming the seabed node through the air inlet and outlet of the seabed node; Inflating the seabed node through the air inlet and outlet of the seabed node; detecting a gas leakage rate of the submarine node by using a mass spectrometer probe, wherein the mass spectrometer probe is clamped by a robotic arm, and the robotic arm moves along a detection route corresponding to the submarine node; If it is determined that the measured ambient temperature data matches the internal temperature data of the seafloor node, the internal humidity data of the seafloor node is collected.

Images