An OBN launch and recovery device and underwater vehicle

Abstract

The utility model discloses an OBN take -off and landing device and underwater vehicle thereof belong to underwater equipment technical field. The device includes OBN node placing box, OBN node supplementary box, supplementary push -off part, recycling push -off part and snatch unit. OBN node placing box has multiple open -upwards placing grooves, is equipped with turnover drive part, can convert between horizontal and vertical state, OBN node supplementary box vertical setting, its placing groove and vertical state under placing box slot mouth one -to -one correspondence, supplementary push -off part is used for pushing the OBN node in supplementary box into placing box, recycling push -off part is used for pushing the OBN node in placing box back to supplementary box. Snatch unit includes horizontal plane movement module and vertical movement module, and the claw is installed to vertical movement module, is used for grabbing and releasing OBN node.

Description

Technical Field

[0001] This utility model belongs to the field of underwater equipment technology, and in particular relates to an OBN deployment and retrieval device and its underwater vehicle. 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. Utility Model Content

[0005] In view of the problems of low ROV deployment efficiency, heavy burden of ship follow-up operations and limited deployment quantity per batch due to basket capacity limitations in the existing technology, this utility model provides an OBN deployment and retrieval device and its underwater vehicle.

[0006] This utility model is implemented as follows: an OBN (On-Board Number) 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 openings of the slots 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, and the vertical moving module is 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 claws, can precisely grip 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] The second objective of this utility model is to provide an underwater vehicle, which includes a pressure-resistant hull, an attitude adjustment unit, a buoyancy adjustment unit, and a propulsion system, characterized in that: the underwater vehicle is equipped with the aforementioned OBN deployment and retrieval device.

[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 utility model; 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 utility model; Figure 4 This is a schematic diagram of the structure of the underwater vehicle of this utility model; Figure 5 This is a schematic diagram of the OBN deployment and retrieval device in an underwater vehicle according to this utility model. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this utility model clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this utility model.

[0019] To address the problems of low ROV deployment efficiency, heavy vessel following workload, and limited deployment capacity due to basket limitations in existing technologies, this utility model provides an OBN deployment and retrieval device and its underwater vehicle. To further illustrate the structure of this utility model, 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 utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An OBN take-up and take-down device, characterized in that: Includes OBN node placement box, OBN node replenishment box, replenishment pusher component, recovery pusher component and gripping unit; The OBN node placement box is constructed with N upward-facing OBN node placement slots and a flip drive component is installed on the side. The flip drive component drives the OBN node placement box to switch between horizontal and vertical states. The OBN node replenishment box is constructed to have N OBN node placement slots and is vertically arranged. The openings of the OBN node placement slots in the OBN node replenishment box are one-to-one with the openings of the OBN node placement slots in the vertical OBN node placement box. The supplementary jacking component is installed in the OBN node replenishment box and is used to push the OBN node in the OBN node replenishment box into the OBN node placement box in a vertical state. The recovery jacking component is installed in the OBN node placement box and is used to push the OBN nodes in the vertical OBN node placement box into the OBN node replenishment box; 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. The vertical moving module is equipped with grippers for gripping OBN nodes in the OBN node placement box.

2. The OBN take-up and take-down device according to claim 1, characterized in that: The system includes a bridge-type housing, which comprises a top plate and side supports on both sides. OBN node replenishment boxes are respectively installed on the two side supports of the bridge-type housing. Two OBN node placement boxes are disposed below the top plate of the bridge-type housing. The two OBN node placement boxes are respectively mounted on flip-drive components located on both sides, and the two OBN node placement boxes are flipped towards the side supports by the flip-drive components. A horizontal plane moving module is installed on the top plate of the bridge-type housing.

3. The OBN take-up and take-down device according to claim 1, characterized in that: 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.

4. The OBN take-up and take-down device according to claim 2, characterized in that: 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 housing via 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.

5. The OBN take-up and take-down device according to claim 4, characterized in that: 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.

6. The OBN take-up and take-down device according to claim 1, characterized in that: The vertical moving module is a lifting lock motor, and the gripper is mounted on the lifting lock 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 equipped with the OBN deployment and retrieval device as described in any one of claims 1-6.

8. The underwater vehicle according to claim 7, characterized in that: The pressure-resistant housing has a recess with a lower opening, and the OBN take-up and take-down device is fitted into the recess of the pressure-resistant housing.

9. The underwater vehicle according to claim 8, characterized in that: The underwater vehicle is equipped with a sonar positioning system.

10. The underwater vehicle according to claim 9, characterized in that: The pressure hull of the underwater vehicle is equipped with telescopic outriggers that extend downwards to provide support.

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