Undersea node laying device and underwater vehicle for laying

Abstract

The invention discloses an undersea node laying device and an underwater vehicle for laying, and belongs to the technical field of underwater equipment. The device comprises an OBN node placing box, an OBN node supplementing box, a supplementing pushing part, a recycling pushing part and a grabbing unit. The OBN node placing box is provided with a plurality of placing grooves with upward openings, is provided with an overturning driving part, and can be switched between a horizontal state and a vertical state; the OBN node supplement boxes are vertically arranged, and the placing grooves of the OBN node supplement boxes correspond to the notches of the placing boxes in the vertical state in a one-to-one mode. The supplement pushing part is used for pushing the OBN nodes in the supplement box into the placement box, and the recovery pushing part is used for pushing the OBN nodes in the placement box back to the supplement box. The grabbing unit comprises a horizontal plane moving module and a vertical moving module, and the clamping jaw is installed on the vertical moving module and used for grabbing and releasing OBN nodes. The device is compact in structure, has the advantages of being large in node capacity, accurate in laying and recycling, efficient in operation, high in automation degree and the like, is suitable for being carried on an underwater vehicle, achieves efficient laying and recycling of OBN nodes in the complex seabed environment, remarkably improves the working efficiency and laying precision, and has good engineering application value and popularization prospects.

Description

Technical Field

[0001] This invention belongs to the field of underwater equipment technology, and particularly relates to an underwater node deployment device and an underwater vehicle for deployment. Background Technology

[0002] An Ocean Bottom Node (OBN) is a seismograph that can independently acquire and record seismic signals on the seabed. This device is commonly used in marine areas with complex topography and significant variations in subsurface structure, and is also widely applied in oilfield or reservoir exploration in the deep-shallow water interface. OBN-acquired seismic data features high coverage, multiple permutations, wide azimuth, and high accuracy, and also possesses data storage capabilities, effectively improving seismic imaging quality and repeatability, and significantly enhancing reservoir monitoring. Therefore, it is highly valued by major oil companies both domestically and internationally.

[0003] In shallow waters less than 100m deep, with low current velocity and flat seabed topography, manual deployment is typically used. This method involves connecting OBNs (Onboard Nozzles) in a specific sequence onto a cable and manually controlling the course to complete the deployment. However, when the water depth exceeds 100m, the current velocity is high, or the seabed topography is complex, manual deployment is insufficient to meet the requirements for precise deployment. More reliable deep-water operational techniques are needed to ensure accurate node placement and efficient deployment.

[0004] Currently, the deployment of seabed nodes (OBNs) in deep water areas generally employs an ROV (Remotely Operated Vehicle) in conjunction with an underwater gondola. This involves a working vessel carrying a gondola containing multiple OBNs to the deployment area, with the ROV repeatedly traveling between the gondola and the seabed deployment point to complete the deployment of nodes one by one. While this method allows for the deployment of a large number of nodes in a single operation, it still has several drawbacks: First, during deployment, the vessel must continuously move and navigate with the ROV to different deployment locations, making the operation complex and requiring a high-precision positioning system; even slight changes in sea conditions can affect operational accuracy and safety. Second, the ROV must travel back and forth between the gondola and the deployment point for each node deployed, resulting in frequent trips and low operational efficiency, especially when the deployment path is large or the number of nodes is high, significantly extending the deployment cycle. Furthermore, the gondola's volume limits the number of nodes that can be carried in each mission; for large-scale deployments, multiple gondola changes or repeated operations are necessary, further increasing the time, manpower, and vessel costs associated with the mission. Therefore, the existing ROV basket deployment mode has obvious shortcomings in terms of deployment efficiency, accuracy control and operational flexibility, and urgently needs to be optimized and improved. Summary of the Invention

[0005] In view of the problems of low ROV deployment efficiency, heavy burden of ship-following operations, and limited deployment quantity per batch due to the capacity limitation of the ROV basket in the existing technology, the present invention provides a solution to the problems of XXX.

[0006] This invention is implemented as follows: an OBN (Online Node) deployment and retrieval device, characterized in that it includes an OBN node placement box, an OBN node replenishment box, a replenishment pushing component, a retrieval pushing component, and a gripping unit; the OBN node placement box is configured with N upward-facing OBN node placement slots and a side-mounted flip-drive component, which drives the OBN node placement box to switch between horizontal and vertical states; the OBN node replenishment box is configured with N OBN node placement slots and is vertically arranged, the OBN node placement slots of the replenishment box being aligned with the OBN node placement slots of the vertically positioned OBN node placement box. The slot openings are aligned one-to-one; a supplementary pushing component is installed in the OBN node replenishment box to push the OBN nodes in the OBN node replenishment box into the vertical OBN node placement box; a recovery pushing component is installed in the OBN node placement box to push the OBN nodes in the vertical OBN node placement box into the OBN node replenishment box; the gripping unit has a horizontal plane moving module located above the horizontal OBN node placement box and a vertical moving module installed on the horizontal plane moving module, the vertical moving module being equipped with grippers for gripping the OBN nodes in the OBN node placement box.

[0007] In the above technical solution, preferably, a bridge-type housing is included. The bridge-type housing includes an upper top plate and side supports located on both sides. The OBN node replenishment boxes are respectively installed on the two side supports of the bridge-type housing. Two OBN node placement boxes are arranged below the upper top plate of the bridge-type housing. The two OBN node placement boxes are respectively installed on the flipping drive components located on both sides. The two OBN node placement boxes are flipped towards the side supports by the flipping drive components. The horizontal plane moving module is installed on the top plate of the bridge-type housing.

[0008] In the above technical solution, preferably, the OBN node placement slot is a rectangular grid equally formed on the OBN node placement box and the OBN node replenishment box. The replenishment pushing component and the recycling pushing component correspond one-to-one with the rectangular grid. The rear side of the OBN node placement box and the OBN node replenishment box is provided with a back plate. The replenishment pushing component and the recycling pushing component are installed on the back plate and are used to push the OBN nodes in the rectangular grid from the opening.

[0009] In the above technical solution, preferably, the flip drive component includes a flip shaft and a flip drive motor that drives the flip shaft to rotate. The flip shaft is mounted on the side bracket of the bridge-type box through a shaft seat in a manner that allows it to rotate around its own axis. The OBN node placement box is mounted on the flip shaft.

[0010] In the above technical solution, preferably, the flip drive motor is mounted on the side bracket of the bridge-type housing, and the output shaft of the flip drive motor is connected to the shaft end of the flip shaft through gear transmission.

[0011] In the above technical solution, preferably, the vertical moving module is a lifting lock motor, and the gripper is mounted on the lifting lock motor.

[0012] The OBN node deployment device provided by this invention possesses several advantages, including modular structure, integrated functions, and strong adaptability, significantly improving the efficiency and accuracy of seabed node deployment operations. Firstly, the device has a compact overall structure, integrating two functional components: an OBN node placement box and a replenishment box. Through the coordinated operation of the replenishment and recovery pushing components, nodes are transferred orderly between the two containers, significantly improving node management and scheduling efficiency. Secondly, the gripping unit located above the device, combined with horizontal and vertical movement modules and installed grippers, can precisely grasp and release OBN nodes, ensuring that nodes are stably deployed one by one according to a preset order and position. Furthermore, the OBN node placement box can switch between horizontal and vertical states via a flipping drive component, facilitating node loading, replenishment, and gripping operations, and optimizing the device's spatial adaptability at different operational stages. Particularly noteworthy is the addition of an external OBN node replenishment box, which significantly expands the number of nodes that can be carried in a single deployment mission, up to 24, significantly reducing the number of AUV round trips and improving operational efficiency. This device can be flexibly mounted on an autonomous underwater vehicle (AUV) platform, making full use of the high-precision positioning and stable motion capabilities of the AUV to make the node deployment process more intelligent and automated. It can achieve precise docking with the preset deployment points on the seabed, improve the deployment quality and repeatability of the seabed seismic data acquisition system, and has good engineering application prospects and promotion value.

[0013] A second objective of this invention is to provide an underwater vehicle comprising a pressure hull, an attitude adjustment unit, a buoyancy adjustment unit, and a propulsion system, characterized in that the underwater vehicle is equipped with an OBN deployment and retrieval device as described in any one of claims 1-6.

[0014] In the above technical solution, preferably, the pressure-resistant housing has a recess with a lower opening, and the OBN take-up and put-down device is embedded in the recess of the pressure-resistant housing.

[0015] In the above technical solution, preferably, the underwater vehicle is equipped with a sonar positioning system.

[0016] In the above technical solution, preferably, the pressure hull of the underwater vehicle is equipped with telescopic outriggers that extend downward to form support. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the OBN take-up and take-down device in this invention; Figure 2 yes Figure 1 Top view; Figure 3 This is a diagram showing the positional relationship between the OBN node placement box and the OBN node replenishment box in this invention; Figure 4 This is a schematic diagram of the structure of the underwater vehicle of the present invention; Figure 5 This is a schematic diagram of the OBN deployment and retrieval device in an underwater vehicle according to the present invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0019] To address the problems of low ROV deployment efficiency, heavy vessel-following workload, and limited deployment capacity in existing technologies, which restrict the number of ROVs deployed at a time, this invention provides an underwater node deployment device and an underwater vehicle for deployment. To further illustrate the structure of this invention, a detailed description is provided below in conjunction with the accompanying drawings: Please see Figures 1-3 An OBN deployment and take-up device includes an OBN node placement box 1, an OBN node replenishment box 2, a replenishment pushing component 3, a recovery pushing component 4, and a gripping unit.

[0020] The OBN node placement box is constructed with N upward-facing OBN node placement slots and a side-mounted flip-drive component. The flip-drive component drives the OBN node placement box to switch between horizontal and vertical positions. The OBN node replenishment box is constructed with N vertically positioned OBN node placement slots, and the openings of the OBN node placement slots in the replenishment box correspond one-to-one with those in the vertical OBN node placement box. Specifically, it includes a bridge-type box 5, which includes a top plate and side supports on both sides. OBN node replenishment boxes are installed on the two side supports of the bridge-type box. Two OBN node placement boxes are located below the top plate of the bridge-type box, and each OBN node placement box is mounted on a flip-drive component on one side. The two OBN node placement boxes flip towards the side supports via the flip-drive component. The OBN node placement slots are equally spaced rectangular slots formed on both the OBN node placement box and the OBN node replenishment box. The replenishment push component and the recovery push component correspond one-to-one with the rectangular slots. The flip drive component includes a flip shaft 6 and a flip drive motor that drives the flip shaft to rotate. The flip shaft is mounted on the side bracket of the bridge housing via a shaft seat so that it rotates around its own axis. The OBN node placement box is mounted on the flip shaft. That is, the flip drive motor is mounted on the side bracket of the bridge housing, and the output shaft of the flip drive motor is connected to the shaft end of the flip shaft through a gear transmission.

[0021] A supplementary jacking component is installed in the OBN node replenishment box to push the OBN nodes from the replenishment box into the vertically positioned OBN node placement box. A retrieval jacking component is installed in the OBN node placement box to push the OBN nodes from the vertically positioned placement box into the replenishment box. Specifically, the rear sides of the OBN node placement box and the OBN node replenishment box are provided with back plates. The supplementary jacking component and the retrieval jacking component are installed on the back plates and are used to push the OBN nodes in the rectangular grid slots out of the openings.

[0022] In this embodiment, an electric push rod 7 is installed on the back plate of the OBN node replenishment box and the back of the OBN node placement box. The replenishment push component and the recovery push component are designed as a frame type and driven by the electric push rod. The planar frame structure is driven by the electric push rod to apply a pushing force to the OBN node, and the planar frame structure matches the outer shape of the OBN node, making it easier for the OBN node to be pushed out of the placement slot.

[0023] The gripping unit includes a horizontal moving module located above the OBN node placement box in a horizontal state, and a vertical moving module installed on the horizontal moving module 8. The vertical moving module is equipped with grippers 9 for gripping OBN nodes in the OBN node placement box. The horizontal moving module is mounted on the top plate of the bridge-type box. The vertical moving module is a lifting lock motor 10, and the grippers are mounted on the lifting lock motor.

[0024] Example 2 Please see Figure 4 and Figure 5 An underwater vehicle 11 is disclosed, comprising a pressure hull, an attitude adjustment unit, a buoyancy adjustment unit, a propulsion system, a sonar positioning system, and an OBN (On-Board Noise Retrieval) device disclosed in Embodiment 1. The pressure hull has a recess with a lower opening, and the OBN device is fitted into this recess. Specifically, the recess is formed on the belly of the pressure hull, and the bridge-type housing of the OBN device is fixed to this recess as a connecting body, so that the OBN device is entirely fitted within it. The pressure hull of the underwater vehicle is equipped with telescopic outriggers that extend downwards to form supports. The sonar positioning system is a multi-beam sonar device. As those skilled in the art know, the attitude adjustment unit includes a roll attitude adjustment device and a pitch attitude adjustment device.

[0025] In this embodiment, specifically, after the underwater vehicle enters the water, it uses a multibeam sonar to survey the underwater environment and search for the target sea area. During the process, the attitude of the underwater vehicle is adjusted by a roll attitude adjustment device, a pitch attitude adjustment device, and a buoyancy adjustment unit. The propulsion system further provides underwater navigation power.

[0026] After locating the target seabed using a multibeam sonar, the underwater vehicle is kept in a neutral position by adjusting the roll attitude adjustment device, pitch attitude adjustment device, and buoyancy adjustment unit. Then, the telescopic outriggers begin operation. Normally, the outriggers are retracted, nearly in contact with the pressure hull of the underwater vehicle. Upon activation, the outriggers extend downwards. Under the action of internal springs, the outriggers no longer remain in contact with the pressure hull but instead extend downwards, maintaining parallelity to the seabed surface and ensuring the underwater vehicle can stably land on the seabed. The telescopic outriggers, as a mechanical structure with telescopic support, are a conventionally known optional functional unit in the field of mechanics and are not specifically limited here. With the outriggers in the supported state, the underwater vehicle's shape creates space for the OBN (On-Board Network) nodes.

[0027] The deployment device begins operation. The tilting drive motor starts working, and through gear meshing, it rotates the OBN node placement box on one side from a vertical position to a horizontal position by 90°.

[0028] The horizontal movement module of the gripping unit begins operation, bringing the grippers above the rectangular slot corresponding to the OBN node's location. The jacking motor starts, controlling the grippers to descend until they engage with the OBN node's gripping point. Then, the internal motor of the grippers is controlled to clamp the OBN node tightly. The jacking motor then drives the grippers upward, removing the node from the rectangular slot. The horizontal movement module continues operation. Since the top plate's design area is larger than the OBN node placement box area, the horizontal movement module moves the grippers to the placement path node. The sling motor starts, controlling the grippers to descend until the node is placed on the seabed.

[0029] After completing the deployment of the first node, control the OBN node placement box, grippers, and telescopic outriggers to return to their original positions, and readjust the buoyancy adjustment unit, roll attitude adjustment device, and pitch attitude adjustment device to enable the underwater vehicle to move to the next node deployment location.

[0030] Repeat the above steps until the first batch of 12 nodes in the two OBN node placement boxes are deployed.

[0031] The OBN node replenishment box located on the side of the device begins operation. After the OBN node placement box returns to its original vertical position, the replenishment pushing component, driven by the push rod motor, advances inward, pushing the OBN nodes from the replenishment box into the OBN node placement box, thus replenishing the nodes in the placement box. After replenishing the nodes, the above deployment steps are repeated to redeploy the nodes until all 24 nodes have been deployed.

[0032] When nodes need to be recycled, the first batch of 12 recycled nodes are first recycled into two OBN node placement boxes using grippers. Then the node placement boxes return to their vertical original position, and the recycling pusher starts working. Driven by the corresponding push rod motor, the nodes are pushed outward to realize the transfer of nodes from the OBN node placement box to the OBN node replenishment box until all 24 nodes are recycled.

[0033] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A subsea node installation apparatus, characterized by: The OBN node placement box, the OBN node supplement box, the supplement pushing component, the recovery pushing component and the grabbing unit are included. The OBN node placement box is configured to have N OBN node placement slots with openings upward and a side-mounted turnover driving component, and the turnover driving component drives the OBN node placement box to convert between horizontal and vertical states. The OBN node supplement box is configured to have N OBN node placement slots and is vertically arranged, and the OBN node placement slots of the OBN node supplement box are in one-to-one correspondence with the openings of the OBN node placement slots of the OBN node placement box in the vertical state. The supplement pushing component is mounted on the OBN node supplement box and used to push the OBN nodes in the OBN node supplement box into the OBN node placement box in the vertical state. The recovery pushing component is mounted on the OBN node placement box and used to push the OBN nodes in the OBN node placement box in the vertical state into the OBN node supplement box. The grabbing unit is provided with a horizontal plane moving module above the OBN node placement box in the horizontal state and a vertical moving module mounted on the horizontal plane moving module, and the vertical moving module is mounted with a gripper used to grab the OBN nodes in the OBN node placement box.

2. The subsea node installation apparatus of claim 1, wherein: The bridge box includes an upper top plate and side supports on both sides, and the OBN node supplement box is mounted on each of the two side supports of the bridge box. Two OBN node placement boxes are arranged below the upper top plate of the bridge box, and each of the two OBN node placement boxes is mounted on a turnover driving component on the side. The two OBN node placement boxes are respectively flipped to the direction of the two side supports by the turnover driving components. The horizontal plane moving module is mounted on the top plate of the bridge box.

3. The subsea node installation apparatus of claim 1, wherein: The OBN node placement slots are rectangular grid slots formed on the OBN node placement box and the OBN node supplement box. The supplement pushing component and the recovery pushing component correspond to the rectangular grid slots one by one. The back of the OBN node placement box and the OBN node supplement box is provided with a back plate, and the supplement pushing component and the recovery pushing component are mounted on the back plate and used to push the OBN nodes in the rectangular grid slots out of the openings.

4. The subsea node installation apparatus of claim 3, wherein: The turnover driving component includes a turnover shaft and a turnover driving motor driving the turnover shaft to rotate. The turnover shaft is mounted on the side support of the bridge box in a manner of rotating around its own axis through a shaft seat, and the OBN node placement box is mounted on the turnover shaft.

5. The subsea node installation apparatus of claim 4, wherein: The turnover driving motor is mounted on the side support of the bridge box, and the output shaft of the turnover driving motor is connected to the shaft end of the turnover shaft through gear transmission.

6. The subsea node installation apparatus of claim 1, wherein: The vertical moving module is a hoist motor, and the gripper is matched with the hoist motor.

7. An underwater vehicle comprising a pressure hull, an attitude adjustment unit, a buoyancy adjustment unit and a propulsion system, characterized in that: The underwater vehicle is provided with the OBN launching and recovering device according to any one of claims 1-6.

8. The underwater vehicle of claim 7, wherein: The pressure-resistant shell is provided with a recess with an opening at the lower part, and the OBN launching and recovering device is embedded in the recess of the pressure-resistant shell.

9. The underwater vehicle of claim 8, wherein: The underwater vehicle is provided with a sonar positioning system.

10. The underwater vehicle of claim 9, wherein: The pressure-resistant shell of the underwater vehicle is provided with a telescopic support extending downward to form a support.

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