Autonomous floating, excavation and observation device using expanding solid reactants

Abstract

We provide an exploration device that can autonomously drill and observe in the deep sea without requiring a power source or external commands, and then surface and be recovered. [Solution] The present invention relates to a seafloor exploration device equipped with a mechanism for generating volumetric expansion or expansion pressure through a reaction between an expansive solid reactant and water. The device includes a buoyancy generating means for autonomously floating up by generating buoyancy through the expansion pressure, and an excavation mechanism for operating an excavation member using the expansion pressure as a driving force. The device may further include an observation function unit for acquiring video information or physicochemical environmental data related to the seafloor environment. The excavation member may be configured as a pair of members that move relative to each other to clamp or crush material on the seafloor.

Description

[Technical Field]

[0001] The present invention relates to an autonomous floating device and drilling / observation device suitable for deep-sea exploration, and in particular to a seabed exploration device that does not require a power source, has a mechanism for floating from the seabed using the expansion pressure caused by the reaction of an expansive solid reactant, and has both drilling and observation functions. [Background technology]

[0002] Conventionally, manned or unmanned deep-sea exploration vessels and ROVs (remotely operated vehicles) such as those described in Patent Document 1 have been used for seafloor exploration and sample collection. These require a power source, control cables, and a power source, and have the problem of being expensive and having a complex structure. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 09-329668 Summary of the Invention [Problem to be solved by the invention]

[0004] The object of the present invention is to provide an extremely simple exploration device that does not require a power source or external control and can perform drilling, observation, and surfacing in the deep sea in an integrated manner. [Means for solving the problem]

[0005] The autonomous surface-surface, drilling, and observation device for seafloor exploration according to the present invention comprises the following components.

[0006] (1) Buoyancy generating unit: This unit contains an expansive solid reactant such as calcium oxide and water in an isolated or mixed state, and chemically reacts with it at a certain depth or over time. This chemical reaction causes volume expansion through crystallization, and the buoyancy generating unit provides buoyancy to the device body according to Archimedes' principle. The expansive solid reactant can be a substance commonly used as a static crushing agent, ensuring a strong expansion force even under high water pressure.

[0007] (2) Excavation and landing unit: The bottom of the device is provided with a pair of shovel members that provide stable support when placed on the seabed and move relative to each other using the expansion pressure of the expansive solid reactant as a power source, and the closing movement of these members clamps or crushes the material on the seabed surface to collect samples. The excavation members are structured to operate on the principle of a lever, with the connecting part in the center of the bottom as a fulcrum, and although simple, this mechanism allows for the generation of even greater force at the tip of the shovel using the principle of a lever.

[0008] (3) Observation function unit: Equipped with an observation function unit that includes at least one or more of a camera, temperature sensor, pressure sensor, pH sensor, conductivity sensor, turbidity sensor, current meter, magnetic sensor, acceleration sensor, inclinometer, spectroscopic sensor, methane sensor, hydrogen sulfide sensor, LiDAR sensor, etc., and capable of acquiring seafloor environmental information or image information.

[0009] Furthermore, the present invention has advantages over the "weight detachment method," a commonly known flotation method. Weight detachment methods tend to complicate the detachment mechanism, require mechanical ingenuity to ensure reliability, and there is also the concern that the detached weight may remain on the seabed and have a negative impact on the marine environment. In contrast, the present invention uses internal expansion due to a reaction as the flotation method, resulting in a simpler structure and a lower environmental impact. [Effects of the Invention]

[0010] According to this invention, since the robot can excavate, observe, and rise completely autonomously after being dropped without requiring a power supply or wired control, it is possible to operate multiple robots simultaneously and reduce costs. In addition, by using the shovel part as a landing gear, the number of parts is reduced and the structure is highly reliable.

[0011] Furthermore, in consideration of the possibility that the device may become unrecoverable in the worst case scenario, environmentally friendly biodegradable materials and resins that are harmless in the sea can be selected for the outer shell and components of the device, thereby taking into consideration the protection of the marine environment.

[0012] Furthermore, this invention can be applied in the military and defense fields, for example, to autonomous sensor data acquisition in enemy waters, or to disposable surveillance devices that take advantage of the difficulty of recovering classified information. Its ability to operate without a power source or communication makes it suitable for operational environments that require electromagnetic secrecy.

[0013] In addition, this device is extremely useful in areas such as locating explosives, chemical weapons, or radioactive waste abandoned on the seabed during wartime or after accidents, observing corrosion conditions, and assessing environmental impacts, as it can be conducted safely and without contact.It can also be applied in disaster response areas, such as monitoring changes in seabed topography after tsunamis or earthquakes, minute movements in seafloor faults, and the areas around port facilities and undersea cables.

[0014] Furthermore, the use of the force exerted by the expansive solid reactant is not limited to floating or excavation, but can also be applied to heavy machinery elements on land that use hydraulic cylinders as a power source, such as temporarily holding heavy structures afloat during undersea work, inserting them into gaps to expand them, or applying pressure to internal spaces to activate mechanisms.

[0015] Furthermore, to prevent accidental ingestion or interference by seafloor organisms, the exterior of the device can be coated with paint containing ingredients that emit tastes or odors that fish and marine organisms dislike, or with fine protrusions or repellent colors such as silicone that will discourage organisms from touching it, thereby reducing the risk of damage to the device and data loss.

[0016] In addition, the device has a heat-resistant structure that can withstand the heat generated by the expanding solid reactant, making it suitable for exploration in high-temperature environments such as undersea hydrothermal vents and areas of volcanic activity. The device of the present invention can be configured to maintain its performance even in high-temperature areas where conventional exploration devices have difficulty functioning. [Brief explanation of the drawings]

[0017] [Figure 1] 1 is an overall schematic diagram of the present invention; [Figure 2] FIG. 2 is an operation flow diagram of the present invention. [Figure 3] FIG. 2 is a cross-sectional view of a buoyancy generating portion of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0018] The device of the present invention comprises a spherical or nearly spherical expandable container, inside which a buoyancy generating section is formed, containing an expansive solid reactant (preferably calcium oxide). The buoyancy generating section is provided with a thin film partition, seal, or soluble membrane for controlling contact with water, and is configured to allow water to flow in depending on depth or the passage of time.

[0019] The bottom of the device is formed with a bifurcated shovel-shaped excavation element that opens, and acts as legs to stably support the entire device when it lands. The expansion pressure generated by the buoyancy generating part is transmitted to the shovel element via the arm element, and when it closes, it can extract surface mud and minerals.

[0020] The excavation member is made up of a pair of components that move relative to each other, and they are connected at a fulcrum by a connecting part located at the center of the lower part. The connecting part plays a role in transmitting rotational motion to the left and right shovel members based on the principle of leverage, and forms a fulcrum structure that realizes a clamping action from the left and right due to expansion pressure.

[0021] The observation function unit is located at the top of the device, and uses cameras and multiple sensors to record information about the seafloor and the surrounding environment while the device is on the surface and at the bottom. The acquired images and data are stored on an internal storage device and analyzed after recovery.

[0022] In the present invention, the buoyancy generating unit is composed of a spherical or approximately spherical expandable container, and a structure that causes volume expansion through a chemical reaction is formed inside the container. Specifically, a water layer is disposed in the center of the sphere, and this water layer is sealed with a water-soluble membrane such as gelatin. The water-soluble membrane gradually dissolves in seawater over time, or is torn by pressure due to the depth of the seabed or the impact of landing on the seabed, allowing water to come into contact with the expansive solid at a predetermined timing.

[0023] A calcium oxide layer is provided around the outer periphery of the water-soluble membrane as an expansive solid reactant, and after the water-soluble membrane dissolves, it comes into contact with water, causing a chemical reaction that produces calcium hydroxide, which expands in volume. To ensure reaction efficiency and stable expansion pressure, the volume ratio of water to calcium oxide is designed to be approximately 1:3, and the container is designed so that the entire container can expand evenly outward during the reaction.

[0024] Since it is desirable for the device of the present invention to be recovered quickly and reliably after surfacing, it may be configured to include a recovery assistance means. Specifically, the device body or the buoyancy generating unit is equipped with a GPS module, which is configured to acquire and store or transmit its own position after surfacing. The position information obtained by the GPS module can be confirmed by a recovery ship or a ground station, thereby making the search for the device more efficient.

[0025] In addition to GPS, the addition of a VHF or UHF radio beacon, an AIS signal transmitter, or a low-power LoRa module will enable remote transmission of location information and direction detection. This will enable effective use in environments where satellite communications are unavailable or where direct communication with a ship or base station is required. It may also be possible to include a device that transmits data acquired on the seabed via wireless communication after the device surfaces.

[0026] Furthermore, by attaching a tag with Bluetooth communication capabilities (e.g., a commercially available Bluetooth tracker), it can be configured to connect to a smartphone or tablet device and provide short-range search support after surfacing. In particular, in coastal areas or environments with many moving objects, linking with a cloud-based location tracking service can speed up recovery and reduce labor.

[0027] In addition, to facilitate visual detection when the device surfaces, the top of the device or the buoyancy generating part may be equipped with a highly visible colored material, reflective material, or a flashing LED. This makes it easier to find, even at night or in bad weather, and further improves the reliability of recovery operations.

[0028] The device of the present invention can omit components as appropriate depending on the application. For example, in an application specialized in drilling the seabed, the observation function unit can be omitted. Also, in a configuration where the only purpose is to observe the seabed environment, the drilling unit can be omitted. In this way, the present invention has a flexible structure that can be applied to multiple derivative models. [Example]

[0029] After being dropped into the ocean at a depth of 6,000 meters, the device is designed to be slightly heavier than seawater, allowing it to dive at a speed of 3 km / h in about two hours before landing on the seabed, after which a reaction between calcium oxide and water will begin several tens of minutes later. The reaction causes the internal buoyancy chamber to expand, and at the same time the shovel section closes to grab a sample of mud from the surface of the seabed. Once sufficient buoyancy is achieved, the entire device will rise and reach the sea surface. The observation section will capture and record footage of the landing, as well as data such as temperature, turbidity, and pH.

[0030] Furthermore, because this device has a simple structure and low cost, it can be designed so that multiple units can be deployed simultaneously, each operating autonomously and rising sequentially based on set timing or depth conditions. This will enable swarm operation that can efficiently survey and sample a wide range of seafloor areas, further increasing its suitability for large-scale survey missions.

[0031] They can also be deployed in large numbers from aerial platforms such as aircraft or unmanned aerial vehicles. For example, by deploying a large number of devices in a short time over a wide ocean area, it would be possible to quickly grasp the situation on the seabed immediately after a disaster or to immediately deploy military and environmental monitoring bases. [Industrial Applicability]

[0032] This invention can be used for surveying and drilling for seafloor mineral resources, monitoring the marine environment, studying the ecology of deep-sea organisms, discovering new species of microorganisms in seafloor mud, surveying topography after disasters, maintaining and evaluating artificial structures, conducting covert observation for military and defense purposes, searching for sunken ships due to accidents, and even as a disposable seafloor beacon for communication and observation. This low-cost, autonomous device offers a scalable exploration solution that can be deployed in large numbers simultaneously, making it highly practical in the fields of research, industry, and security. [Explanation of symbols]

[0033] 1. Buoyancy generating section (expandable solid reactant contained in a spherical container) 2. Excavation and landing section (openable shovel structure) 3. Observation function section (superstructure equipped with cameras and sensors) 4. Arm member (connection mechanism that transmits buoyancy pressure to the excavation part) 5. Connection and lever fulcrum of a pair of shovels 6 Shovel teeth (sharp edge for digging) 7 Buoyancy generating section and observation function section connection section 8 water layer 9 Gelatin membrane separating the water layer and calcium layer 10 Calcium oxide layer 11. Elastic containers A: Slightly heavier than water, causing gradual flooding B. The shovel scrapes away the surface of the seabed due to the expansive solid reactant. C Floats up due to buoyancy of the buoyancy generating part X sea level Y Underwater Z submarine

Claims

1. A method for floating a submersible object, characterized by providing a buoyancy generating means that causes volume expansion through a chemical reaction between calcium oxide and water, and generating buoyancy through said volume expansion, thereby causing the submersible object to float autonomously.

2. A seabed drilling method, characterized by using the expansion pressure generated by the chemical reaction between calcium oxide and water as a driving force to operate a drilling member on the seabed to remove or collect material from the surface of the seabed.

3. An autonomous drilling device for seabed exploration, characterized by having a buoyancy generating mechanism that generates buoyancy through a chemical reaction between calcium oxide and water, and a drilling mechanism that uses the expansion pressure.

4. A seabed drilling method as described in claim 2 or a seabed drilling method carried out by the device as described in claim 3, characterized in that the drilling member is composed of a pair of members that move relative to each other, and that the seabed material is clamped or crushed by this relative movement.

5. 2. The submersible according to claim 1, further comprising an observation function unit for acquiring image information or environmental information on the seabed.

6. 6. The underwater exploration vehicle according to claim 5, wherein the observation function unit includes at least one of a camera, a temperature sensor, a pressure sensor, a turbidity sensor, a pH sensor, a dissolved oxygen sensor, a conductivity sensor, a current meter, a magnetic sensor, an acceleration sensor, an inclinometer, a spectroscopic sensor, a methane sensor, a hydrogen sulfide sensor, and a LiDAR sensor.

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