Self-leveling detection platform for seabed monitoring instrument and use method of self-leveling detection platform

Abstract

The invention belongs to the technical field of marine geological exploration, and relates to a self-leveling detection platform for a submarine monitoring instrument and a use method thereof.The self-leveling detection platform comprises a platform body and a self-leveling system, the self-leveling system comprises a sensing module used for pre-scanning submarine topography, monitoring the bearing state of an air bag in the leveling process and monitoring the posture of the platform after leveling, and the sensing module is used for sensing the self-leveling detection platform; the obtained data are transmitted in real time; the control module comprises a signal processor used for processing the sensing data and generating a control instruction; the power source module comprises a compressed air cylinder and an adjusting valve assembly and is used for providing stable air flow for the air bag; the execution module comprises a plurality of independent air bags, and the power source module is connected with the air bags so as to inflate the air bags. According to the invention, terrain pre-judgment can be carried out, and landing of the platform within an allowable gradient range is ensured; the posture of the platform is dynamically adjusted through the air bag, and the platform is accurately adjusted from an inclined state to a horizontal state; and the platform can be leveled again in the operation process, so that the stable operation of the platform in a complex seabed environment is ensured.

Description

Technical Field

[0001] This invention belongs to the field of marine geological exploration technology, specifically relating to a self-leveling exploration platform for seabed monitoring instruments and its usage method. Background Technology

[0002] Marine observation instruments are basic tools used to observe and measure marine phenomena. Their objects of observation range from marine organisms such as plankton and benthic organisms to phenomena such as sound, light, temperature, and dynamics in the ocean. There are different observation instruments for each, including instruments that need to be deployed on the seabed for seabed monitoring.

[0003] Seabed monitoring instruments need to be deployed onto the seabed. However, most existing observation instrument platforms cannot accurately predict the terrain of the landing site during deployment, which may cause the platform to land directly on an excessively steep slope, resulting in overall capsizing, instrument damage, or mission failure. Furthermore, most existing seabed monitoring deployment devices rely on rigid outrigger platforms or support plates, which have limited leveling range and cannot actively compensate, leading to platform instability. Moreover, rigid outriggers and hydraulic systems operate on point contact, resulting in concentrated pressure and making them prone to settling on soft seabeds, preventing the platform from maintaining long-term horizontal stability. This platform instability directly causes significant deviations in data collected by attitude-sensitive instruments (such as seabed seismometers and current meters). Additionally, rigid outriggers and other mechanical structures are prone to wear and rust in the corrosive marine environment over long-term use, leading to decreased accuracy and high maintenance costs.

[0004] Based on this, the present invention has developed a novel self-leveling detection platform. The platform has the ability to predict seabed topography and mainly relies on flexible airbags or rubber airbags for leveling. It can better adapt to the underwater environment, provide a stable horizontal benchmark, and fundamentally ensure the accuracy and reliability of various detection data. Summary of the Invention

[0005] The purpose of this invention is to solve the problems of stable and precise placement of existing seabed exploration platforms on complex and rugged seabed terrain. It proposes a self-leveling exploration platform for seabed monitoring instruments and its usage method. This platform can predict and decide on the terrain before landing, ensuring the platform lands within the allowable slope range. Furthermore, by employing multiple independently controlled airbags to inflate and deflate, the platform's attitude is dynamically adjusted, quickly and accurately shifting from an inclined state to an absolutely horizontal state, avoiding leveling failure due to local subsidence. Simultaneously, the platform can re-level itself based on changes in actual conditions during operation, achieving autonomous attitude maintenance and energy consumption optimization during long-term deployment, ensuring rapid response and stable operation in complex seabed environments.

[0006] The platform of this invention is circular in shape, with uniform stress on the bottom, making it more adaptable to uneven seabed foundations. By utilizing an independently controlled multi-chamber structure, local inflation and deflation adjustments can be made for complex terrains. Even if a single chamber fails, the remaining chambers can still maintain the stability of the platform. Furthermore, the design of multiple airbags distributed around and individually controlled is more adaptable to complex seabed environments with uneven elevations and textures.

[0007] The technical solution of this invention is:

[0008] This invention provides a self-leveling detection platform for seabed monitoring instruments, comprising a platform body and a self-leveling system disposed below the platform body, the self-leveling system comprising:

[0009] The sensing module is used to pre-scan the seabed topography, monitor the load-bearing status of the airbags during the leveling process, monitor the attitude of the platform after leveling, and transmit the acquired data in real time.

[0010] The control module includes a signal processor for processing sensed data and generating control commands;

[0011] The power source module, including a compressed air cylinder and a regulating valve assembly, is used to provide a stable airflow to the airbag;

[0012] The execution module includes multiple independent airbags, and the power source module is connected to the airbags to realize the inflation operation of the airbags.

[0013] Furthermore, the sensing module includes a sonar, a pressure sensor, and a level detector, all of which are connected to a signal processor;

[0014] The sonar is used to scan the preset landing area and transmit the acquired landing area data to the signal processor. The pressure sensor is used to receive the pressure data of each airbag and transmit it to the signal processor. The level detector continuously monitors the levelness of the platform body and transmits the detection data to the signal processor.

[0015] Furthermore, the input port of the signal processor is connected to the sensing module, and its output port is connected to the regulating valve assembly.

[0016] The regulating valve assembly includes a check valve, a pressure reducing valve, and a solenoid valve. The signal processor controls the opening and closing of the check valve, the pressure reducing valve, and the solenoid valve based on real-time data fed back by the sensing module.

[0017] Furthermore, the compressed gas cylinder is connected in sequence to a one-way valve and a pressure reducing valve. The high-pressure gas in the compressed gas cylinder passes through the one-way valve and the pressure reducing valve in sequence. After being reduced to a stable airflow, it is transported to the inlet of the solenoid valve through the pipeline. The solenoid valve is connected to the inflation port of the airbag.

[0018] Furthermore, the pressure sensor is located on the top of the airbag and is used to receive the pressure on the top of the airbag. Each airbag is equipped with a corresponding pressure sensor, and adjacent airbags are separated by a partition.

[0019] Furthermore, the airbags are arranged symmetrically in pairs, and there are more than four of them, and the number must be even; furthermore, the number of airbags is 4-16.

[0020] Considering factors such as overall manufacturing costs and long-term operation, using 8 airbags is the most suitable option.

[0021] The present invention also provides a detection method for the self-leveling detection platform used in seabed monitoring instruments, comprising:

[0022] (1) During the platform sinking process, the sonar is activated to scan the terrain of the preset landing area and calculate the slope of the seabed. The calculated slope is compared with the set angle self-adjustment threshold. If the slope is outside the threshold, the platform is recovered. If the slope is within the threshold, the platform continues to land.

[0023] (2) After the platform lands, the signal processor receives real-time data from each pressure sensor, identifies the airbag with the greatest pressure and the corresponding airbag, then controls the opening of the one-way valve and the pressure reducing valve, and drives the opening of the solenoid valve connected to the airbag with the greatest pressure, so that gas is filled into the airbag. When the pressure of the airbag is consistent with the pressure of the symmetrical airbag, the solenoid valve is closed to complete the first stage of leveling.

[0024] (3) At this time, the airbag posture changes. The signal processor re-collects the pressure data of all airbags, selects the airbag with the greatest pressure and the airbag with the opposite pressure, and repeats the leveling operation in step (2) to make the group of airbags reach pressure balance.

[0025] (4) Inflate the remaining uninflated airbags evenly so that the bearing pressure of all airbags tends to be consistent, thereby stabilizing the platform.

[0026] Furthermore, once the platform achieves horizontal stability, only the level detector and signal processor maintain normal operation; when the platform deviates from the horizontal state, the level detector detects that the tilt angle exceeds the re-leveling trigger threshold and sends it to the signal processor to control the self-leveling system to perform the leveling operation again.

[0027] The beneficial effects of this invention are:

[0028] (1) Achieve terrain-adaptive leveling and improve the stability of operations under complex seabed terrain: Multiple independently controlled airbags are used as leveling execution units. The platform attitude is dynamically adjusted by inflation and deflation to achieve active compensation for seabed slope. Spacing is set between airbags to avoid mutual squeezing and interference, ensuring the independent adjustment capability of the airbags. The system adopts two-stage precise leveling. The first adjustment corrects the tilt of the main body, and the second adjustment realizes the platform is completely level, improving the leveling accuracy and efficiency, and ensuring that the platform can be quickly and accurately adjusted to a level state within the allowable slope range.

[0029] (2) Intelligent landing judgment and autonomous leveling mechanism: Integrating sonar terrain pre-scanning and slope assessment functions, the seabed slope is calculated in real time during the platform sinking process, and the feasibility of the operation is judged before landing; the self-leveling angle threshold is set (for example, set to 20°), and the terrain is judged before landing; if the slope exceeds the threshold, the recovery command is automatically sent to avoid invalid deployment; after landing, the autonomous attitude is maintained during long-term deployment through two-level leveling and low power consumption monitoring mode.

[0030] (3) Optimize system energy consumption and reliability to meet long-term seabed monitoring needs: adopt aerodynamic leveling and low-power monitoring strategies. After leveling is completed, the system automatically switches to low-power monitoring mode, maintaining only the level detector and signal processor. Set a re-leveling trigger threshold (e.g., 0.5°). When the deviation exceeds 60 seconds, the entire system is automatically woken up to perform re-leveling, realizing attitude autonomous maintenance and energy consumption optimization in long-term deployment, significantly reducing system operating energy consumption, and improving long-term working stability and reliability in complex marine environments. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the platform structure provided by the present invention;

[0032] Figure 2 This is a schematic diagram of the self-leveling system structure provided by the present invention;

[0033] Figure 3 This is a schematic diagram of the control valve assembly structure;

[0034] Figure 4 A cross-sectional view of the self-leveling system provided by the present invention;

[0035] Figure 5 A schematic diagram for terrain prediction and decision-making before landing;

[0036] Figure 6 This is a diagram showing the initial state of the airbags after the platform lands.

[0037] Figure 7 This is a schematic diagram of the airbag's posture after the first adjustment;

[0038] Figure 8 This is a schematic diagram of the airbag's posture after the second adjustment;

[0039] Figure 9 Comparison images of the platform before and after leveling;

[0040] In the above figures, 1. Self-leveling system; 2. Platform body; 3. Tray; 4. Compressed gas cylinder; 5. Regulating valve assembly; 51. Check valve; 52. Pressure reducing valve; 53. Solenoid valve; 6. Level detector; 7. Signal processor; 8. Sonar; 9. Pressure sensor; 10. Airbag; 11. Spacer. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] To further understand the present invention, it will be further described in conjunction with the accompanying drawings and embodiments.

[0043] Example 1

[0044] like Figure 1 As shown, this embodiment provides a self-leveling detection platform for seabed monitoring instruments, including a platform body 2 and a self-leveling system 1 disposed below the platform body 2. The platform body 2 is used to carry seabed monitoring instruments.

[0045] The self-leveling system 1, as the core component of the platform, is used to automatically adjust and maintain the horizontal state of the platform body 2 under complex seabed topographic conditions. Its functions include: first, avoiding image distortion or data loss caused by platform tilt; second, providing a stable, safe and reliable working environment for precision detection instruments by stabilizing the platform attitude.

[0046] The self-leveling system 1 consists of a power source module, a sensing module, a control module, and an execution module, forming a complete closed-loop control system. (See [link to documentation]). Figure 2 and Figure 4 .

[0047] The power source module includes a compressed air cylinder 4 and a regulating valve assembly 5, such as Figure 3As shown, the regulating valve assembly 5 includes a one-way valve 51, a pressure reducing valve 52, and a solenoid valve 53 connected in sequence. The outlet of the compressed gas cylinder 4 is connected to the one-way valve 51 and the pressure reducing valve 52 in sequence. The one-way valve 51 is used to prevent gas backflow, while the pressure reducing valve 52 stabilizes the high-pressure gas to the working pressure required by the system. During operation, the high-pressure gas passes through the outlet of the compressed gas cylinder 4 in sequence through the one-way valve 51 and the pressure reducing valve 52. The stabilized gas flow after pressure reduction is distributed through pipelines to the inlet of the solenoid valve 53 of each air bladder 10, and finally enters each air bladder 10.

[0048] The sensing module consists of a leveling instrument 6, a sonar 8, and a pressure sensor 9, which are used to monitor the platform's attitude after leveling, pre-scan the seabed topography, and monitor the load-bearing status of the airbag 10 during leveling, respectively. The leveling instrument 6, sonar 8, and pressure sensor 9 are all connected to the corresponding input ports of the signal processor 7 via signal lines and transmit monitoring data in real time.

[0049] Before landing, the platform actively scans and photographs the designated landing area using sonar 8 and cameras, assessing the seabed slope and terrain features. The control module compares the calculated slope with preset safety thresholds, and only executes the landing command when the area is determined to be workable, thus avoiding the risk of leveling failure or equipment overturning due to unsuitable terrain.

[0050] The core of the control module is the signal processor 7, which is responsible for processing the sensed data and generating control commands. The control signal output port of the signal processor 7 is connected to each one-way valve 51, pressure reducing valve 52, and solenoid valve 53 via connecting lines to control their opening and closing.

[0051] The execution module consists of multiple independently controlled airbags 10, each airbag 10 is connected to a solenoid valve 53, and adjacent airbags 10 are isolated by partitions 11. The solenoid valve 53 is directly connected to the inflation port of the airbag 10, and its on / off state is controlled by the signal processor 7 to realize the inflation operation of the airbag 10. A pressure sensor 9 is also provided on the top of each airbag 10 to monitor the pressure on the top of the airbag 10.

[0052] Based on the real-time data fed back by the sensing module, the signal processor 7 precisely controls the opening and closing of the solenoid valve 53, and ultimately achieves active leveling of the platform by dynamically adjusting the volume of each airbag 10.

[0053] The platform device provided by this invention forms a surface support through multiple surrounding airbags 10, transforming the concentrated load of traditional point support into a distributed load acting on the airbags 10 made of soft material. Under the action of the platform's gravity, the flexible airbags 10 conform to the seabed, forming a large-area uniform bearing surface, which significantly reduces the pressure on the seabed exerted by the platform and the instruments and devices loaded on it. This effectively avoids the local over-compaction, subsidence, and platform instability problems commonly seen on soft, heterogeneous seabeds.

[0054] Through the coordinated work of its modules, the entire system can automatically adjust the level of the exploration platform under complex seabed topography and maintain its horizontal attitude stably for a long time.

[0055] The platform aims to achieve a balanced pressure distribution across all 10 airbags. Once this is achieved, the platform can maintain its posture autonomously for an extended period without external force, significantly improving its stability.

[0056] The self-leveling system 1 operates only briefly during leveling, and then enters an ultra-low-power sleep mode that monitors only the attitude after leveling is complete. This energy-saving strategy makes the platform more suitable for unattended seabed monitoring missions that can last for months or even years.

[0057] In one specific embodiment, the platform further includes a tray 3, which is disposed between the platform body 2 and the self-leveling system 1. Specifically, the tray 3 is disposed in the center of the airbag 10 and is used to place other instruments or equipment in the self-leveling system 1 besides the airbag 10.

[0058] Example 2

[0059] This embodiment provides a method for using a self-leveling detection platform for seabed monitoring instruments, including the following steps:

[0060] During the deployment and sinking process of the platform, such as Figure 5 As shown, the sonar 8 system is activated to scan the preset landing area directly below. The landing area data acquired by the sonar 8 is transmitted to the signal processor 7. The signal processor 7 calculates the slope of the seabed and then compares the calculated slope with a preset angle self-adjustment threshold of 20°. If the slope is outside the threshold, a signal is sent to the vessel requesting recovery; if the slope is within the threshold, it is determined that the operation can continue and the platform continues to land.

[0061] This invention involves two key angle parameters. One is the angle self-adjustment threshold, which is set to 20°, as the basis for judging the terrain slope during the platform deployment and initial leveling stages.

[0062] After the platform lands in a safe area, the self-leveling system 1 achieves horizontal alignment of the platform body 2 through two leveling operations. For example... Figure 6The image shows the initial state of the airbags 10 during platform landing. During the first leveling process, the signal processor 7 receives real-time data from the pressure sensors 9 on the top of each airbag 10, identifying the point of maximum pressure (corresponding to the lowest point of the airbag 10, such as...). Figure 6 (As shown in midpoint 2) and the point symmetrical to it in diameter where the pressure is minimum (corresponding to the highest point of airbag 10, such as...) Figure 6 The airbag 10 (as shown in point 1) is then activated. Subsequently, the signal processor 7 sequentially controls the opening of the one-way valve 51 and the pressure reducing valve 52 in the regulating valve assembly 5 to reduce the high-pressure gas in the compressed gas cylinder 4 to the working gas pressure. Next, the signal processor 7 drives the solenoid valve 53 in the regulating valve assembly 5 corresponding to the airbag 10 with the highest pressure to open, allowing gas to be injected into the airbag 10 through the inflation port, and continuously monitors the feedback value detected by its pressure sensor 9. When the pressure on the airbag 10 is consistent with the pressure of the symmetrical airbag 10, the corresponding solenoid valve 53 is immediately closed. At this time, the two airbags 10 are at the same height, completing the first stage of tilt correction.

[0063] After the first adjustment, the posture of airbag 10 changed, so that the height of the two previously adjusted airbags 10 was located in the exact middle of the inclined platform, and the numbering of the highest and lowest airbags 10 changed (e.g., Figure 7 Midpoints 3 and 4). At the start of the second adjustment, the signal processor 7 re-acquires data from the pressure sensors 9 of all airbags 10, selects the new maximum pressure value and its symmetrical airbags 10 as the adjustment targets, and uses the same pneumatic control process to achieve pressure balance in this group of airbags 10 (see...). Figure 8 This completes the overall horizontal status of the platform.

[0064] Finally, the system inflates the remaining four airbags 10 evenly, making the load-bearing pressure of the eight airbags 10 more uniform, thereby further enhancing the stability of the platform on the horizontal reference. A comparison of the platform attitude before and after leveling can be found in [reference needed]. Figure 9 .

[0065] Based on the summary of the first and second adjustments mentioned above, after the platform lands, it immediately activates its unique two-stage leveling algorithm to achieve rapid and accurate horizontal correction:

[0066] Level 1 (Main Tilt Correction): The system reads data from the pressure sensors of each airbag 10 and identifies a set of symmetrical airbags with the maximum pressure (corresponding to the lowest point of the platform) and the minimum pressure (corresponding to the highest point of the platform). By precisely inflating the low-pressure airbags 10, the pressure of this set of airbags 10 is balanced, thereby correcting the main tilt of the platform.

[0067] Second stage (fine balance correction): After completing the first stage of adjustment, the platform's attitude has changed. The system re-acquires pressure data for all airbags 10, identifies new pressure extreme points, and performs the same balance adjustment on this group of airbags 10. Through these two stages of adjustment, the platform as a whole is ensured to reach a level state.

[0068] After completing the leveling adjustment, the self-leveling system 1 will automatically switch to a low-power monitoring mode to reduce system power consumption. At this time, only the level detector 6 and the signal processor 7 are maintained to monitor the platform posture for a long time with extremely low power consumption.

[0069] During long-term operation, the platform may deviate from its horizontal state due to factors such as slow leakage of the airbag 10, changes in the seabed topography, or impacts from external water currents. At this time, the leveling detector 6, which is in an active state, will continuously monitor the levelness of the platform body 2. When the detected tilt angle exceeds the re-leveling trigger threshold (the platform tilt angle exceeds 0.5° and lasts for 60 seconds), the signal processor 7 will wake up the other devices in standby state (including the power source module, pressure sensor 9, etc.) to prepare for a new round of automatic leveling operations. This ensures that the exploration platform can autonomously maintain a stable working attitude during long-term deployment, achieving long-term, unattended, and adaptive stable operation.

[0070] The second of the two key angle parameters involved in this invention is the releveling trigger threshold, set at 0.5°, which serves as the accuracy standard monitored by the leveling instrument 6 during the platform's stable operation phase. This threshold represents the maximum allowable tilt angle deviation when the platform completes leveling and enters a stable monitoring state. If the platform's attitude deviates beyond this threshold, the system will automatically trigger a releveling operation.

[0071] Application Example 1

[0072] During the platform deployment phase, a research vessel equipped with a crane was used as the deployment vehicle. The platform was connected to the hull via cables, which contained built-in power supply and data communication lines.

[0073] Before deployment, the system's initial setup and functional testing were completed on the deck: the compressed gas cylinder 4 was inflated to a pressure of 20 MPa; the output pressure of the pressure reducing valve 52 was preset to 0.8 MPa; the leveling instrument 6 was zero-point calibrated; the sonar 8 was set to scan a 30° sector area; and the leveling control algorithm was loaded into the signal processor 7, with the self-leveling angle threshold set to 20°. To ensure that the leveling system has sufficient height adjustment and responsiveness after the platform lands, each airbag 10 was pre-inflated with an appropriate amount of gas before deployment, maintaining an initial pressure of approximately 0.05 MPa inside.

[0074] After the preparations were completed, the platform was slowly lowered into the water by a crane, and then sank at a constant speed of about 0.5 m / s.

[0075] During the descent, the sonar 8 system on the bottom of the platform is activated to scan the terrain of the pre-designated landing area, which is approximately 10 meters in diameter. Sonar 8 collects seabed elevation data every 2 seconds and uploads it in real time to the shipboard control unit via cable. Simultaneously, the platform's built-in signal processor 7 calculates the seabed slope. If the slope is greater than 20°, it is determined to be an unworkable area, and signal processor 7 sends a recovery command to the research vessel via cable communication; if the slope is within 20°, it is determined to be a safe landing area, and the platform continues to descend until it lands.

[0076] After the platform lands, the self-leveling system 1 first collects initial load data through the pressure sensors 9 on the top of each airbag 10. This data reflects the vertical pressure exerted on each airbag 10 by the platform body 2. The signal processor 7 identifies the point of maximum pressure (corresponding to the lowest airbag 10) and the point of minimum pressure that is diametrically symmetrical to it (corresponding to the highest airbag 10). Subsequently, the control module sequentially opens the one-way valve 51 and the pressure reducing valve 52 in the air circuit to reduce the high-pressure gas in the compressed gas cylinder 4 to a working pressure of 0.8 MPa. Next, the signal processor 7 drives the solenoid valve 53 corresponding to the lowest airbag 10 to open, inflating the airbag 10 and monitoring the pressure value fed back by its pressure sensor 9 in real time. When the pressure on the airbag 10 is consistent with the pressure on the symmetrical airbags 10, the solenoid valve 53 is immediately closed, completing the first tilt correction.

[0077] After the first adjustment, the platform's attitude changes. The signal processor 7 re-acquires pressure data from all eight airbags 10, identifying the new pressure maxima and their symmetrical points. The pneumatic control process is repeated, precisely inflating the airbags 10 to achieve consistent pressure, completing the second leveling. Finally, the system evenly inflates the remaining four airbags 10 until the pressure values ​​from all pressure sensors 9 converge, further enhancing the platform's overall stability.

[0078] After leveling is completed, the system automatically switches to low-power monitoring mode, maintaining only the basic operation of the leveling instrument 6 and the signal processor 7. During long-term monitoring, if the leveling instrument 6 detects a platform tilt angle exceeding 0.5° for 60 seconds, the system will wake up all modules and initiate a new round of leveling operations to ensure the platform maintains a level attitude during long-term deployment. The entire leveling process can be completed within 10 minutes, with a leveling accuracy of 0.2°, meeting the precision detection requirements of seabed monitoring instruments.

[0079] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, alterations, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A self-leveling detection platform for seabed monitoring instruments, characterized in that, It includes a platform body and a self-leveling system disposed below the platform body, the self-leveling system including: The sensing module is used to pre-scan the seabed topography, monitor the load-bearing status of the airbags during the leveling process, monitor the attitude of the platform after leveling, and transmit the acquired data in real time. The control module includes a signal processor for processing sensed data and generating control commands; The power source module, including a compressed air cylinder and a regulating valve assembly, is used to provide a stable airflow to the airbag; The execution module includes multiple independent airbags, and the power source module is connected to the airbags to realize the inflation operation of the airbags.

2. The self-leveling detection platform for seabed monitoring instruments according to claim 1, characterized in that, The sensing module includes a sonar, a pressure sensor, and a level detector, all of which are connected to a signal processor. The sonar is used to scan the preset landing area and transmit the acquired landing area data to the signal processor. The pressure sensor is used to receive the pressure data of each airbag and transmit it to the signal processor. The level detector continuously monitors the levelness of the platform body and transmits the detection data to the signal processor.

3. The self-leveling detection platform for seabed monitoring instruments according to claim 1, characterized in that, The input port of the signal processor is connected to the sensing module, and its output port is connected to the regulating valve assembly. The regulating valve assembly includes a check valve, a pressure reducing valve, and a solenoid valve. The signal processor controls the opening and closing of the check valve, the pressure reducing valve, and the solenoid valve based on real-time data fed back by the sensing module.

4. The self-leveling detection platform for seabed monitoring instruments according to claim 3, characterized in that, The compressed gas cylinder is connected in sequence to a one-way valve and a pressure reducing valve. The high-pressure gas in the compressed gas cylinder passes through the one-way valve and the pressure reducing valve in sequence. After being reduced to a stable airflow, it is transported to the inlet of the solenoid valve through the pipeline. The solenoid valve is connected to the inflation port of the air bag.

5. The self-leveling detection platform for seabed monitoring instruments according to claim 2, characterized in that, The pressure sensor is located on the top of the airbag and is used to receive the pressure on the top of the airbag. Each airbag is equipped with a corresponding pressure sensor, and adjacent airbags are separated by a partition.

6. The self-leveling detection platform for seabed monitoring instruments according to claim 1, characterized in that, The airbags are arranged symmetrically in pairs, and the number of them is even; the number of airbags is 4-16.

7. The method of using the self-leveling detection platform for seabed monitoring instruments according to any one of claims 1-6, characterized in that, include: (1) During the platform sinking process, the sonar is activated to scan the terrain of the preset landing area and calculate the slope of the seabed. The calculated slope is compared with the set angle self-adjustment threshold. If the slope is outside the threshold, the platform is recovered. If the slope is within the threshold, the platform continues to land. (2) After the platform lands, the signal processor receives real-time data from each pressure sensor, identifies the airbag with the greatest pressure and the corresponding airbag, then controls the opening of the one-way valve and the pressure reducing valve, and drives the opening of the solenoid valve connected to the airbag with the greatest pressure, so that gas is filled into the airbag. When the pressure of the airbag is consistent with the pressure of the symmetrical airbag, the solenoid valve is closed to complete the first stage of leveling. (3) At this time, the airbag posture changes. The signal processor re-collects the pressure data of all airbags, selects the airbag with the greatest pressure and the airbag with the opposite pressure, and repeats the leveling operation in step (2) to make the group of airbags reach pressure balance. (4) Inflate the remaining uninflated airbags evenly so that the bearing pressure of all airbags tends to be consistent, thereby stabilizing the platform.

8. The method of use according to claim 7, characterized in that, Once the platform achieves horizontal stability, only the level detector and signal processor maintain normal operation. When the platform deviates from the horizontal state, the level detector detects that the tilt angle exceeds the re-leveling trigger threshold and sends it to the signal processor to control the self-leveling system to perform a re-leveling operation.

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