CN108037534A - A kind of underwater sound array apparatus based on underwater movable platform - Google Patents
A kind of underwater sound array apparatus based on underwater movable platform Download PDFInfo
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Abstract
本发明公开一种基于水下移动平台的水声阵列装置，所述水声阵列装置与所述水下移动平台连接；所述水声阵列装置包括：外挂自容式采集舱、多通道水听器线列阵以及挂载机构；所述外挂自容式采集舱通过所述挂载机构外挂固定在所述水下移动平台上；所述外挂自容式采集舱与所述水下移动平台连接，所述外挂自容式采集舱还与所述多通道水听器线列阵连接。本发明所述装置在深海海域进行地震探测作业时，避免了大深度海水对声波的大幅度衰减，提高了地震探测分辨率，增加地层穿透深度。本发明所述装置应用于水声学调查时，方便的控制水下移动平台航行并移动到另外位置的海底再次静止，节省了水声阵列回收与再次布放的时间，提高了工作效率。
The invention discloses an underwater acoustic array device based on an underwater mobile platform, the underwater acoustic array device is connected to the underwater mobile platform; the underwater acoustic array device includes: an external self-contained collection cabin, a multi-channel hydrophone line array and a mounting mechanism; the external self-contained collection cabin is externally fixed on the underwater mobile platform through the mounting mechanism; the external self-contained collection cabin is connected to the underwater mobile platform , the external self-contained acquisition cabin is also connected to the multi-channel hydrophone line array. When the device of the present invention performs seismic detection operations in deep sea areas, it avoids large-scale attenuation of sound waves by deep sea water, improves seismic detection resolution, and increases formation penetration depth. When the device of the present invention is applied to underwater acoustic investigation, it can conveniently control the navigation of the underwater mobile platform and move to another location on the bottom of the sea to be stationary again, saving the time for recovering and re-deploying the underwater acoustic array, and improving work efficiency.
Description
技术领域technical field
本发明涉及地球物理勘探、水声学调查技术领域，特别是涉及一种基于水下移动平台的水声阵列装置。The invention relates to the technical fields of geophysical exploration and underwater acoustic survey, in particular to an underwater acoustic array device based on an underwater mobile platform.
背景技术Background technique
常规海洋地震探测通常是将水听器拖曳阵列拖曳于海面，接收经海底反射的地震波，进一步通过对所获取数据进行计算、成图来分析判断海底地质情况。这种常规地震探测方式在深海海域工作时，由于海水对声波(特别是高频声波)的大幅度衰减，常规地震设备对深海地层的探测分辨率和穿透深度降低。Conventional marine seismic exploration usually drags the towed array of hydrophones on the sea surface, receives the seismic waves reflected by the seabed, and further analyzes and judges the geological conditions of the seabed by calculating and drawing the acquired data. When this conventional seismic detection method works in deep-sea areas, due to the substantial attenuation of seawater to sound waves (especially high-frequency sound waves), the detection resolution and penetration depth of conventional seismic equipment for deep-sea formations are reduced.
常规的水声学调查通常是使用潜标方式在海底布放一个或多个水听器阵列，接收经过海底或海面散射并经水体传播的声学信号，进一步通过对所获取数据进行计算、成图来分析研究水声传播规律。这种常规水声学调查方式，需要在不同的地点多次布放、回收潜标，工作效率低。Conventional underwater acoustic surveys usually deploy one or more hydrophone arrays on the seabed by means of submerged buoys, receive acoustic signals scattered by the seabed or sea surface and propagate through water bodies, and further calculate and map the acquired data. Analyze and study the law of underwater sound propagation. This conventional hydroacoustic survey method needs to deploy and recover submerged buoys in different locations multiple times, and the work efficiency is low.
发明内容Contents of the invention
本发明的目的是提供一种基于水下移动平台的水声阵列装置，以提高探测分辨率、穿透深度和工作效率。The purpose of the present invention is to provide an underwater acoustic array device based on an underwater mobile platform to improve detection resolution, penetration depth and work efficiency.
为实现上述目的，本发明提供一种基于水下移动平台的水声阵列装置，所述水声阵列装置与所述水下移动平台连接；所述水声阵列装置包括：外挂自容式采集舱、多通道水听器线列阵以及挂载机构；所述外挂自容式采集舱通过所述挂载机构外挂固定在所述水下移动平台上；所述外挂自容式采集舱与所述水下移动平台连接，所述外挂自容式采集舱还与所述多通道水听器线列阵连接。In order to achieve the above object, the present invention provides an underwater acoustic array device based on an underwater mobile platform, the underwater acoustic array device is connected to the underwater mobile platform; the underwater acoustic array device includes: an external self-contained collection cabin , a multi-channel hydrophone line array and a mounting mechanism; the external self-contained acquisition cabin is externally fixed on the underwater mobile platform through the mounting mechanism; the external self-contained acquisition cabin is connected to the The underwater mobile platform is connected, and the external self-contained acquisition cabin is also connected with the multi-channel hydrophone line array.
可选的，所述水声阵列装置还包括：配件机构，与所述多通道水听器线列阵连接；所述配件机构包括阻力伞和浮力块；所述阻力伞用于使所述多通道水听器线列阵在水下航行作业时姿态稳定运行；所述浮力块用于使所述多通道水听器线列阵呈现微软的正浮力。Optionally, the underwater acoustic array device further includes: an accessory mechanism connected to the multi-channel hydrophone line array; the accessory mechanism includes a resistance parachute and a buoyancy block; the resistance parachute is used to make the multi-channel hydrophone line array The line array of channel hydrophones operates with a stable posture during underwater navigation operations; the buoyancy block is used to make the line array of multi-channel hydrophones exhibit a slightly positive buoyancy.
可选的，所述水声阵列装置还包括：尾部拖曳机构；所述尾部拖曳机构为Z型或L型的连接杆；所述连接杆一端与所述水下移动平台的尾部固定连接，所述连接杆的另一端与所述多通道水听器线列阵挂接；所述尾部拖曳机构用于承受航行过程中所述多通道水听器线列阵的拖曳拉力。Optionally, the underwater acoustic array device further includes: a tail dragging mechanism; the tail dragging mechanism is a Z-shaped or L-shaped connecting rod; one end of the connecting rod is fixedly connected to the tail of the underwater mobile platform, and the The other end of the connecting rod is hooked to the multi-channel hydrophone line array; the tail dragging mechanism is used to withstand the drag force of the multi-channel hydrophone line array during navigation.
可选的，所述多通道水听器线列阵包括：前导缆、前弹性机构、n个数据采集装置、n+1个数据传输装置、后弹性机构；Optionally, the multi-channel hydrophone line array includes: a front guide cable, a front elastic mechanism, n data acquisition devices, n+1 data transmission devices, and a rear elastic mechanism;
所述前导缆与所述前弹性机构连接，所述前弹性机构与第一个所述数据传输装置连接，n+1个所述数据传输装置与n个所述数字采集装置间隔串联设置，第n+1个所述数据传输装置与所述后弹性机构连接；其中n为大于等于1的整数。The front guide cable is connected to the front elastic mechanism, the front elastic mechanism is connected to the first data transmission device, n+1 data transmission devices and n digital acquisition devices are arranged in series at intervals, and the first n+1 data transmission devices are connected to the rear elastic mechanism; wherein n is an integer greater than or equal to 1.
可选的，所述数字采集装置包括：所述数字采集装置包括：多个数据采集处理机构、p个水听器道、q个水听器；p为大于等于1的整数，q为大于等于1的整数；Optionally, the digital acquisition device includes: the digital acquisition device includes: multiple data acquisition and processing mechanisms, p hydrophone channels, and q hydrophones; p is an integer greater than or equal to 1, and q is greater than or equal to an integer of 1;
各所述水听器用于将地震信号转换成地震模拟信号；each of said hydrophones for converting seismic signals into seismic analog signals;
各所述水听器道用于放置多个水听器，并接收各所述水听器发送的所述地震模拟信号；Each of the hydrophone channels is used to place a plurality of hydrophones and receive the earthquake simulation signal sent by each of the hydrophones;
各所述数据采集处理机构分别与多个所述水听器道相连，用于对各所述水听器道发送的多个所述地震模拟信号进行调理和转换，获得地震数据。Each of the data acquisition and processing mechanisms is respectively connected to a plurality of the hydrophone channels, and is used for conditioning and converting the plurality of seismic analog signals sent by each of the hydrophone channels to obtain seismic data.
可选的，n+1个所述数据传输装置通过电线依次串联连接，当前的数据传输装置用于将接收到的控制指令传送给下一个数据传输装置；当前的数据传输装置还用于接收下一个数据传输装置发送的地震数据、与当前的所述数据传输装置连接的多个数据采集处理机构采集的地震数据。Optionally, the n+1 data transmission devices are sequentially connected in series through wires, and the current data transmission device is used to transmit the received control command to the next data transmission device; the current data transmission device is also used to receive the next data transmission device. Seismic data sent by one data transmission device, and seismic data collected by multiple data acquisition and processing mechanisms connected to the current data transmission device.
可选的，所述外挂自容式采集舱为密封的壳体；所述外挂自容式采集舱包括：数据采集单元、电池组、数据存储阵列、平台接口；Optionally, the external self-contained collection cabin is a sealed shell; the external self-contained collection cabin includes: a data collection unit, a battery pack, a data storage array, and a platform interface;
所述数据采集单元与第一个所述数据传输装置连接，所述数据采集单元用于获取第一个所述数据传输装置发送的地震数据，并对所述地震数据进行解析处理；所述数据采集单元还用于向第一个所述数据传输装置发送控制指令；The data acquisition unit is connected to the first data transmission device, and the data acquisition unit is used to obtain the seismic data sent by the first data transmission device, and analyze and process the seismic data; the data The acquisition unit is also configured to send a control instruction to the first data transmission device;
所述数据存储阵列与所述数据采集单元连接，所述数据存储阵列用于存储数据采集单元采集解析处理后获得的数据；The data storage array is connected to the data acquisition unit, and the data storage array is used to store the data acquired by the data acquisition unit after analysis and processing;
所述电池组与所述数据采集单元连接，所述电池组用于给所述数据采集单元提供电能；The battery pack is connected to the data acquisition unit, and the battery pack is used to provide electric energy for the data acquisition unit;
所述平台接口用于连接所述水下移动平台与所述数据采集单元。The platform interface is used to connect the underwater mobile platform and the data acquisition unit.
可选的，所述数据采集单元包括：微处理器模块、逻辑控制模块、数据传输接口模块、随机存取存储器、机内自检模块、时钟管理模块、电源管理模块、以太网接口模块、存储管理模块；Optionally, the data acquisition unit includes: a microprocessor module, a logic control module, a data transmission interface module, a random access memory, a built-in self-test module, a clock management module, a power management module, an Ethernet interface module, a storage management module;
所述时钟管理模块用于确保时间准确；The clock management module is used to ensure accurate time;
所述机内自检模块用于对各系统进行实时监测和测试；The built-in self-check module is used for real-time monitoring and testing of each system;
所述数据传输接口模块用于连接第一个所述数据传输装置，实现数据传输；The data transmission interface module is used to connect the first data transmission device to realize data transmission;
所述以太网接口模块用于连接上一级的控制设备，实现数据传输；The Ethernet interface module is used to connect the upper level control equipment to realize data transmission;
所述电源管理模块与所述电池组相连，所述电源管理模块用于对所述电池组进行管理，避免所述电池组过充和过放，提高所述电池组的使用寿命；The power management module is connected to the battery pack, and the power management module is used to manage the battery pack, avoid overcharging and over-discharging of the battery pack, and increase the service life of the battery pack;
所述逻辑控制模块分别与所述时钟管理模块、所述机内自检模块、所述数据传输接口模块、所述以太网接口模块连接；所述逻辑控制模块用于对所述数据传输接口模块传送的地震数据进行解析处理；所述逻辑控制模块还用于将所述控制指令发送至下一个所述数据传输装置；The logic control module is respectively connected with the clock management module, the built-in self-check module, the data transmission interface module, and the Ethernet interface module; the logic control module is used to control the data transmission interface module The transmitted seismic data is analyzed and processed; the logic control module is also used to send the control instruction to the next data transmission device;
所述存储管理模块分别与所述逻辑控制模块、所述数据存储阵列连接，所述存储管理模块用于管理所述逻辑控制模块发送至所述数据存储阵列存储的解析处理后获得的数据；The storage management module is respectively connected to the logic control module and the data storage array, and the storage management module is used to manage the data obtained after analysis and processing sent by the logic control module to the data storage array for storage;
所述微处理器模块分别与所述逻辑控制模块、所述电源管理模块、所述水下移动平台连接；所述微处理器模块用于接收所述逻辑控制模块发送的解析处理后获得的数据，并将所述解析处理后获得的数据实时发送至所述水下移动平台；所述微处理器模块还用于将采用间隔、采样率、记录长度发送给逻辑控制模块；The microprocessor module is respectively connected with the logic control module, the power management module, and the underwater mobile platform; the microprocessor module is used to receive the data obtained after analysis and processing sent by the logic control module , and send the data obtained after the analysis and processing to the underwater mobile platform in real time; the microprocessor module is also used to send the adoption interval, sampling rate, and record length to the logic control module;
所述随机存取存储器与所述微处理器模块连接，所述随机存取存储器用于提升所述微处理器模块处理速度。The random access memory is connected to the microprocessor module, and the random access memory is used to increase the processing speed of the microprocessor module.
根据本发明提供的具体实施例，本发明公开了以下技术效果：According to the specific embodiments provided by the invention, the invention discloses the following technical effects:
本发明提供一种基于水下移动平台的水声阵列装置，所述水声阵列装置与所述水下移动平台连接；所述水声阵列装置包括：外挂自容式采集舱、多通道水听器线列阵以及挂载机构；所述外挂自容式采集舱通过所述挂载机构外挂固定在所述水下移动平台上；所述外挂自容式采集舱与所述水下移动平台连接，所述外挂自容式采集舱还与所述多通道水听器线列阵连接。与现有技术相比，本发明具有以下优点：(1)本发明所述装置可以方便的应用于水下移动平台；(2)本发明所述装置在深海海域进行地震探测作业时，由于水声接收阵列近海底拖曳，相比于海面接收，避免了大深度海水对声波(特别是高频声波)的大幅度衰减，提高了地震探测分辨率，增加地层穿透深度。(3)本发明所述装置应用于水声学调查时，水下移动平台可以在某处海底静止，当一个作业地点结束后，可以方便的控制水下移动平台航行并移动到另外位置的海底再次静止，节省了水声阵列回收与再次布放的时间，提高了工作效率。The present invention provides an underwater acoustic array device based on an underwater mobile platform, the underwater acoustic array device is connected to the underwater mobile platform; the underwater acoustic array device includes: an external self-contained acquisition cabin, a multi-channel hydrophone line array and a mounting mechanism; the external self-contained collection cabin is externally fixed on the underwater mobile platform through the mounting mechanism; the external self-contained collection cabin is connected to the underwater mobile platform , the external self-contained acquisition cabin is also connected to the multi-channel hydrophone line array. Compared with the prior art, the present invention has the following advantages: (1) the device of the present invention can be easily applied to underwater mobile platforms; The acoustic receiving array is towed near the seabed. Compared with sea surface reception, it avoids the large attenuation of sound waves (especially high-frequency sound waves) in deep sea water, improves the resolution of seismic detection, and increases the depth of formation penetration. (3) When the device of the present invention is applied to underwater acoustic investigation, the underwater mobile platform can be stationary on the bottom of a certain place. When a work site is over, the underwater mobile platform can be conveniently controlled to sail and move to another location on the bottom of the sea again. Static, saves the time of underwater acoustic array recovery and re-deployment, and improves work efficiency.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required in the embodiments. Obviously, the accompanying drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without paying creative labor.
图1为本发明实施例基于水下移动平台的水声阵列装置结构示意图；FIG. 1 is a schematic structural diagram of an underwater acoustic array device based on an underwater mobile platform according to an embodiment of the present invention;
图2为本发明实施例基于水下移动平台的水声阵列装置结构框图；Fig. 2 is a structural block diagram of an underwater acoustic array device based on an underwater mobile platform according to an embodiment of the present invention;
图3为本发明实施例数据采集单元结构框图；Fig. 3 is a structural block diagram of a data acquisition unit according to an embodiment of the present invention;
图4为本发明实施例多通道水听器线列阵结构示意图；Fig. 4 is a schematic structural diagram of a multi-channel hydrophone linear array according to an embodiment of the present invention;
图5为本发明实施例多通道水听器线列阵的数据传输拓扑结构图。Fig. 5 is a data transmission topology diagram of a multi-channel hydrophone linear array according to an embodiment of the present invention.
其中，1、水下移动平台，2、外挂自容式采集舱，201、数据采集单元，202、数据存储阵列，203、电池组，204、平台接口，3、挂载机构，4、多通道水听器线列阵，401、前导缆，402、前弹性机构，403、数据传输装置，404、数字采集装置，4041、数据采集处理机构，4042、水听器道，4043、水听器，405、后弹性机构，5、尾部拖曳机构，6、配件机构。Among them, 1. Underwater mobile platform, 2. External self-contained acquisition cabin, 201. Data acquisition unit, 202. Data storage array, 203. Battery pack, 204. Platform interface, 3. Mounting mechanism, 4. Multi-channel Hydrophone line array, 401, front guide cable, 402, front elastic mechanism, 403, data transmission device, 404, digital acquisition device, 4041, data acquisition and processing mechanism, 4042, hydrophone channel, 4043, hydrophone, 405, rear elastic mechanism, 5, tail dragging mechanism, 6, accessory mechanism.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
本发明的目的是提供一种基于水下移动平台的水声阵列装置，以提高探测分辨率、穿透深度和工作效率。The purpose of the present invention is to provide an underwater acoustic array device based on an underwater mobile platform to improve detection resolution, penetration depth and work efficiency.
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图和具体实施方式对本发明作进一步详细的说明。In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
图1为本发明实施例基于水下移动平台的水声阵列装置结构示意图；图1中(a)图为水声阵列装置在水下航行时的结构图，图1中(b)为水声阵列装置静止状态时的结构图；如图1所示，本发明提供一种基于水下移动平台的水声阵列装置，所述水声阵列装置与所述水下移动平台1连接；所述水声阵列装置包括：外挂自容式采集舱2、多通道水听器线列阵4以及挂载机构3；所述外挂自容式采集舱2通过所述挂载机构3外挂固定在所述水下移动平台1上；所述外挂自容式采集舱2与所述水下移动平台1的载荷接口连接，所述外挂自容式采集舱2还与所述多通道水听器线列阵4连接。Fig. 1 is a schematic structural diagram of an underwater acoustic array device based on an underwater mobile platform according to an embodiment of the present invention; (a) in Fig. 1 is a structural diagram of an underwater acoustic array device when navigating underwater, and (b) in Fig. Structural diagram of the array device in a static state; as shown in Figure 1, the present invention provides an underwater acoustic array device based on an underwater mobile platform, the underwater acoustic array device is connected to the underwater mobile platform 1; The acoustic array device includes: an external self-contained acquisition cabin 2, a multi-channel hydrophone line array 4, and a mounting mechanism 3; On the lower mobile platform 1; the external self-contained acquisition cabin 2 is connected to the load interface of the underwater mobile platform 1, and the external self-contained acquisition cabin 2 is also connected to the multi-channel hydrophone line array 4 connect.
本发明中的所述外挂自容式采集舱2与所述水下移动平台1的载荷接口之间通过水密接插件连接；所述外挂自容式采集舱2与所述多通道水听器线列阵4连接之间通过水密接插件连接，水密接插件可以承受不低于10mPa深水静压力。In the present invention, the external self-contained collection cabin 2 is connected to the load interface of the underwater mobile platform 1 through a watertight connector; the external self-contained collection cabin 2 is connected to the multi-channel hydrophone line The connections between the array 4 are connected by watertight connectors, which can withstand not less than 10mPa deep water static pressure.
本发明所述水声阵列装置还包括：配件机构6，与所述多通道水听器线列阵4连接；所述配件机构6包括阻力伞和浮力块；所述阻力伞用于使所述多通道水听器线列阵4在水下航行作业时姿态稳定运行；所述浮力块用于使所述多通道水听器线列阵4呈现微软的正浮力。The underwater acoustic array device of the present invention also includes: an accessory mechanism 6, connected to the multi-channel hydrophone line array 4; the accessory mechanism 6 includes a resistance parachute and a buoyancy block; the resistance parachute is used to make the The multi-channel hydrophone line array 4 operates with a stable attitude during underwater navigation operations; the buoyancy block is used to make the multi-channel hydrophone line array 4 exhibit a slightly positive buoyancy.
本发明当水下移动平台1在水下航行作业时，多通道水听器线列阵4被拖曳于水下移动平台1尾部，为了使多通道水听器线列阵4姿态稳定，在多通道水听器线列阵4尾部安装阻力伞，阻力伞与后弹性机构405相连接，具体详见图1中的(a)和图4中的(a)。In the present invention, when the underwater mobile platform 1 is operating underwater, the multi-channel hydrophone line array 4 is dragged to the tail of the underwater mobile platform 1. In order to stabilize the attitude of the multi-channel hydrophone line array 4, the A drag parachute is installed at the tail of the channel hydrophone line array 4, and the drag parachute is connected with the rear elastic mechanism 405, see (a) in FIG. 1 and (a) in FIG. 4 for details.
本发明当水下移动平台1可以在海底坐底静止，或者在某一水深位置悬停时，由于多通道水听器线列阵4总体呈现微软的正浮力，进而多通道水听器线列阵4呈现近垂直状态，具体详见图1中的(b)和图4中的(b)。In the present invention, when the underwater mobile platform 1 can sit still on the bottom of the seabed, or hover at a certain water depth, since the multi-channel hydrophone line array 4 generally presents a slight positive buoyancy, the multi-channel hydrophone line array The array 4 presents a nearly vertical state, see (b) in FIG. 1 and (b) in FIG. 4 for details.
本发明所述水声阵列装置还包括：尾部拖曳机构5；所述尾部拖曳机构5为Z型或L型的连接杆；所述连接杆一端与所述水下移动平台1的尾部固定连接，所述连接杆的另一端与所述多通道水听器线列阵4挂接；所述尾部拖曳机构5用于承受航行过程中所述多通道水听器线列阵4的拖曳拉力。The underwater acoustic array device of the present invention also includes: a tail dragging mechanism 5; the tail dragging mechanism 5 is a Z-shaped or L-shaped connecting rod; one end of the connecting rod is fixedly connected to the tail of the underwater mobile platform 1, The other end of the connecting rod is hooked to the multi-channel hydrophone line array 4; the tail dragging mechanism 5 is used to withstand the dragging force of the multi-channel hydrophone line array 4 during navigation.
本发明所述水下移动平台1包括多种类型的水下运载器，包括但不限于自主式水下潜器(AUV)，遥控无人潜水器(ROV)，水下滑翔机(Glider)。The underwater mobile platform 1 of the present invention includes various types of underwater vehicles, including but not limited to an autonomous underwater vehicle (AUV), a remotely operated unmanned vehicle (ROV), and an underwater glider (Glider).
本发明所述水下移动平台1内部还包括自主控制器、航行控制器、载荷控制器、载荷接口。自主控制器负责执行既定航行规划并感知环境参数，在环境不利时优化或重新进行航行规划；航行控制器负责控制航行器要素(能源、通信、推进、记录、导航)并监视航行器状态；载荷接口负责与载荷连接；载荷控制器执行载荷规划，控制载荷要素(传感器、记录、执行机构)并监视载荷状态。The underwater mobile platform 1 of the present invention also includes an autonomous controller, a navigation controller, a load controller, and a load interface. The autonomous controller is responsible for executing the established navigation plan and sensing the environmental parameters, and optimizes or re-executes the navigation planning when the environment is unfavorable; the navigation controller is responsible for controlling the aircraft elements (energy, communication, propulsion, recording, navigation) and monitoring the status of the aircraft; the load The interface is responsible for connecting with the load; the load controller performs the load planning, controls the load elements (sensors, records, actuators) and monitors the load status.
图4为本发明实施例多通道水听器线列阵结构示意图；其中图4中(a)为水平阵结构示意图，(b)为垂直阵结构示意图，图5为本发明实施例多通道水听器线列阵的数据传输拓扑结构图；如图4-图5所示，本发明所述多通道水听器线列阵4包括：前导缆401、前弹性机构402、n个数据采集装置404、n+1个数据传输装置403、后弹性机构405；所述前导缆401与所述前弹性机构402连接，所述前弹性机构402与第一个所述数据传输装置403连接，n+1个所述数据传输装置403与n个所述数字采集装置404间隔串联设置，第n+1个所述数据传输装置403与所述后弹性机构405连接；其中n为大于等于1的整数。Fig. 4 is the schematic structural representation of multi-channel hydrophone linear array of the embodiment of the present invention; Among them (a) is the schematic structural representation of horizontal array in Fig. 4, (b) is the schematic structural representation of vertical array, Fig. 5 is the multi-channel hydrophone of the embodiment of the present invention The data transmission topological structure diagram of line array of earphones; As shown in Fig. 4-Fig. 5, multi-channel hydrophone line array 4 of the present invention comprises: front guide cable 401, front elastic mechanism 402, n data acquisition devices 404, n+1 data transmission devices 403, rear elastic mechanism 405; the front guide cable 401 is connected to the front elastic mechanism 402, and the front elastic mechanism 402 is connected to the first data transmission device 403, n+ One data transmission device 403 is arranged in series with n digital acquisition devices 404 at intervals, and the n+1th data transmission device 403 is connected to the rear elastic mechanism 405; where n is an integer greater than or equal to 1.
本发明所述前导缆401起到牵引作用；所述前弹性机构402用于隔离水下移动平台1产生的机械振动；数据采集装置404用于获取地震数据；后弹性机构405用于隔离尾部噪声。The front guide cable 401 of the present invention plays a role of traction; the front elastic mechanism 402 is used to isolate the mechanical vibration generated by the underwater mobile platform 1; the data acquisition device 404 is used to obtain seismic data; the rear elastic mechanism 405 is used to isolate the tail noise .
本发明n+1个所述数据传输装置403通过电线依次串联连接，当前的数据传输装置403用于将接收到的控制指令传送给下一个数据传输装置403；当前的数据传输装置403还用于接收下一个数据传输装置403发送的地震数据、与当前的所述数据传输装置403连接的多个数据采集处理机构4041采集的地震数据。In the present invention, n+1 data transmission devices 403 are sequentially connected in series through wires, and the current data transmission device 403 is used to transmit the received control command to the next data transmission device 403; the current data transmission device 403 is also used for The seismic data sent by the next data transmission device 403 and the seismic data collected by multiple data acquisition and processing mechanisms 4041 connected to the current data transmission device 403 are received.
本发明所述数字采集装置404包括：所述数字采集装置404包括：多个数据采集处理机构4041、p个水听器道4042、q个水听器4043；p为大于等于1的整数，q为大于等于1的整数；各所述水听器4043用于将地震信号转换成地震模拟信号；各所述水听器道4042用于放置多个水听器4043，并接收各所述水听器4043发送的所述地震模拟信号；多个水听器4043并联或串联连接；各所述数据采集处理机构4041分别与多个所述水听器道4042相连，用于对各所述水听器道4042发送的多个所述地震模拟信号进行调理和转换，获得地震数据。The digital acquisition device 404 of the present invention includes: the digital acquisition device 404 includes: a plurality of data acquisition and processing mechanisms 4041, p hydrophone channels 4042, and q hydrophones 4043; p is an integer greater than or equal to 1, and q It is an integer greater than or equal to 1; each of the hydrophones 4043 is used to convert seismic signals into seismic analog signals; each of the hydrophone channels 4042 is used to place a plurality of hydrophones 4043, and receive each of the hydrophones The earthquake simulation signal sent by the device 4043; a plurality of hydrophones 4043 are connected in parallel or in series; The multiple seismic simulation signals sent by the channel 4042 are conditioned and converted to obtain seismic data.
本发明所述多通道水听器线列阵4内部充填浮力材料，浮力材料可以是液体、胶体、固体。The interior of the multi-channel hydrophone line array 4 of the present invention is filled with buoyancy material, and the buoyancy material can be liquid, colloid, or solid.
本发明所述外挂自容式采集舱2为密封的壳体；所述外挂自容式采集舱2包括：数据采集单元201、电池组203、数据存储阵列202、平台接口204；所述数据采集单元201与第一个所述数据传输装置403连接，所述数据采集单元201用于获取第一个所述数据传输装置403发送的地震数据，并对所述地震数据进行解析处理；所述数据采集单元201还用于向第一个所述数据传输装置403发送控制指令；所述数据存储阵列202与所述数据采集单元201连接，所述数据存储阵列202用于存储数据采集单元201采集解析处理后获得的数据；所述电池组203与所述数据采集单元201连接，所述电池组203用于给所述数据采集单元201提供电能；所述平台接口204用于连接所述水下移动平台1与所述数据采集单元201。The plug-in self-contained collection cabin 2 of the present invention is a sealed shell; the plug-in self-contained collection cabin 2 includes: a data collection unit 201, a battery pack 203, a data storage array 202, and a platform interface 204; the data collection The unit 201 is connected to the first said data transmission device 403, and said data acquisition unit 201 is used to obtain the seismic data sent by said first said data transmission device 403, and to analyze and process said seismic data; said data The collection unit 201 is also used to send a control instruction to the first data transmission device 403; the data storage array 202 is connected to the data collection unit 201, and the data storage array 202 is used to store the data collected and analyzed by the data collection unit 201. The data obtained after processing; the battery pack 203 is connected to the data acquisition unit 201, and the battery pack 203 is used to provide electric energy to the data acquisition unit 201; the platform interface 204 is used to connect the underwater mobile Platform 1 and the data collection unit 201 .
本发明所述数据存储阵列202，可以是SD卡、硬盘或其它器件。The data storage array 202 of the present invention may be an SD card, a hard disk or other devices.
图3为本发明实施例数据采集单元结构框图，如图3所示，本发明所述数据采集单元201包括：微处理器模块、逻辑控制模块、数据传输接口模块、随机存取存储器、机内自检模块、时钟管理模块、电源管理模块、以太网接口模块、存储管理模块。Fig. 3 is the structural block diagram of the data acquisition unit of the embodiment of the present invention, as shown in Fig. 3, the data acquisition unit 201 of the present invention comprises: microprocessor module, logical control module, data transmission interface module, random access memory, built-in Self-test module, clock management module, power management module, Ethernet interface module, storage management module.
本发明所述时钟管理模块用于确保时间准确；具体的，保证采集地震数据的时间准确；所述时钟管理模块为高精度晶振或者利用原子钟作为时钟源。The clock management module of the present invention is used to ensure accurate time; specifically, to ensure accurate time of seismic data collection; the clock management module is a high-precision crystal oscillator or uses an atomic clock as a clock source.
所述机内自检模块用于对各系统进行实时监测和测试；各系统包括电源系统、存储系统、通信系统、任务命令系统。The built-in self-checking module is used for real-time monitoring and testing of each system; each system includes a power supply system, a storage system, a communication system, and a task command system.
本发明所述数据传输接口模块连接第一个所述数据传输装置403，用于实现数据传输；所述所述数据传输接口模块内部嵌入与数据传输装置403相同的传输协议。The data transmission interface module of the present invention is connected to the first data transmission device 403 for data transmission; the data transmission interface module is embedded with the same transmission protocol as the data transmission device 403 .
本发明所述以太网接口模块用于连接上一级的控制设备，用于实现数据和控制命令的传输。The Ethernet interface module of the present invention is used to connect the control equipment of the upper level to realize the transmission of data and control commands.
本发明所述电源管理模块，对电池组203进行管理，避免电池组203过充和过放，提高电池组203使用寿命；同时对电池组203的电压进行隔离、变换，产生合适电压的低压直流电源供给数据采集单元201控制电路使用。The power management module of the present invention manages the battery pack 203, avoids overcharging and over-discharging of the battery pack 203, improves the service life of the battery pack 203; at the same time, isolates and transforms the voltage of the battery pack 203 to generate a low-voltage direct current of suitable voltage The power supply is used by the data acquisition unit 201 to control the circuit.
本发明所述逻辑控制模块分别与所述时钟管理模块、所述机内自检模块、所述数据传输接口模块、所述以太网接口模块、所述逻辑控制模块、所述储管理模块连接；所述逻辑控制模块接收所述数据传输接口模块传送的地震数据，并对所述地震数据进行解析处理，将解析处理后获得的数据实时发送给微处理器模块，还通过存储管理模块实时发送至数据存储阵列202存储。所述解析处理包括数据校验、重排、部分控制信息的识别处理工作；所述逻辑控制模块还用于将所述控制指令发送至下一个所述数据传输装置403。The logic control module of the present invention is respectively connected with the clock management module, the built-in self-check module, the data transmission interface module, the Ethernet interface module, the logic control module, and the storage management module; The logic control module receives the seismic data transmitted by the data transmission interface module, and analyzes and processes the seismic data, and sends the data obtained after the analysis and processing to the microprocessor module in real time, and also sends it to the microprocessor module in real time through the storage management module. The data storage array 202 stores. The parsing process includes data verification, rearrangement, identification and processing of part of the control information; the logic control module is also used to send the control instruction to the next data transmission device 403 .
本发明所述存储管理模块分别与所述逻辑控制模块、所述数据存储阵列202连接，所述存储管理模块用于管理所述逻辑控制模块发送至所述数据存储阵列202存储的解析处理后获得的数据；所述存储管理模块包括高速存储阵列及其阵列管理电路。The storage management module of the present invention is respectively connected with the logic control module and the data storage array 202, and the storage management module is used to manage the analytical processing sent by the logic control module to the data storage array 202 for storage and obtain data; the storage management module includes a high-speed storage array and its array management circuit.
本发明所述微处理器模块分别与所述逻辑控制模块、所述电源管理模块、水下运载器连接；所述微处理器模块用于接收所述逻辑控制模块发送的解析处理后获得的数据，并将解析处理后获得的数据实时发送至所述水下移动平台内的所述水下运载器；所述微处理器模块还用于将采用间隔、采样率、记录长度发送给逻辑控制模块；所述微处理器模块为数据采集单元201的控制核心。The microprocessor module of the present invention is respectively connected with the logic control module, the power management module, and the underwater vehicle; the microprocessor module is used to receive the data obtained after analysis and processing sent by the logic control module , and send the data obtained after analysis and processing to the underwater vehicle in the underwater mobile platform in real time; the microprocessor module is also used to send the interval, sampling rate, and record length to the logic control module ; The microprocessor module is the control core of the data acquisition unit 201.
所述随机存取存储器与所述微处理器模块连接，所述随机存取存储器用于提升所述微处理器模块处理速度；所述随机存取存储器为DDR双倍速率同步动态随机存储器。The random access memory is connected with the microprocessor module, and the random access memory is used to improve the processing speed of the microprocessor module; the random access memory is DDR double rate synchronous dynamic random access memory.
本发明所述数据采集单元201，可以工作于自动模式，也可以工作于受控模式；当工作于自动模式时，根据用户提前设置好的采样间隔、采样率、采样长度等参数，以设置的固定的采用间隔自动进行数据水声数据采集。当工作于受控模式时，水下移动平台1通过载荷接口对数据采集单元201进行设置和控制；具体的水下移动平台1可以设置数据采集单元201的采用间隔、采样率、采样长度等参数，水下移动平台1通过载荷控制器还可以控制数据采集单元201的启动和关闭。The data acquisition unit 201 of the present invention can work in the automatic mode or in the controlled mode; when working in the automatic mode, according to the parameters such as the sampling interval, sampling rate, and sampling length set by the user in advance, the set Automatic data collection of hydroacoustic data at fixed intervals. When working in the controlled mode, the underwater mobile platform 1 sets and controls the data acquisition unit 201 through the load interface; the specific underwater mobile platform 1 can set parameters such as the interval, sampling rate, and sampling length of the data acquisition unit 201 , the underwater mobile platform 1 can also control the startup and shutdown of the data acquisition unit 201 through the load controller.
实施例一：Embodiment one:
具体工作步骤如下：The specific working steps are as follows:
(1)调查船到达既定工作海域。(1) The survey ship arrives at the designated working sea area.
(2)用户通过网络接口(有线或者无线)设置数据采集单元201，设置采样间隔、采样率、采样长度等工作参数，将数据采集单元201设置工作于自动工作模式，测试设备处于正常工作状态。(2) The user sets the data acquisition unit 201 through the network interface (wired or wireless), sets the working parameters such as sampling interval, sampling rate, and sampling length, and sets the data acquisition unit 201 to work in the automatic working mode, and the test equipment is in normal working condition.
(3)将外挂式自容采集舱，通过挂载机构3挂载于自主式水下潜器(AUV)上。(3) Mount the external self-contained collection cabin on the autonomous underwater vehicle (AUV) through the mounting mechanism 3 .
(4)将多通道水听器线列阵4通过尾部拖曳机构5安装在AUV尾部，并于与外挂式自容采集舱相连接。将多通道水听器线列阵4尾部加装阻力伞。(4) The multi-channel hydrophone line array 4 is installed at the tail of the AUV through the tail dragging mechanism 5, and is connected with the external self-contained acquisition cabin. Add a drag parachute to the tail of the multi-channel hydrophone line array 4.
(5)设置AUV工作参数，布放AUV到海面，AUV按照既定工作参数、工作深度、工作航线航行。(5) Set the AUV working parameters, deploy the AUV to the sea surface, and the AUV will sail according to the established working parameters, working depth and working route.
(6)声源发射是人工源地震波，声源可以是拖曳于调查船船尾的声源，也可以是AUV自带的声源。(6) The sound source emission is an artificial source of seismic waves, and the sound source can be the sound source towed at the stern of the survey ship, or the sound source that comes with the AUV.
(7)多通道水听器线列阵4拖曳于AUV尾部呈仅水平状态。(7) The multi-channel hydrophone line array 4 is dragged at the tail of the AUV in a horizontal state.
(8)多通道水听器线列阵4数据采集装置水听器4043通道采集经过地层反射的地震波信号，将地震波信号由声信号转换为模拟电信号，再由数据传输装置403将模拟电信号转换为数字电信号，上传到数据采集单元201。数据采集单元201将多通道地震信号存储与数据存储阵列202。(8) Multi-channel hydrophone line array 4 data collection device Hydrophone 4043 channels collect the seismic wave signal reflected by the formation, convert the seismic wave signal from acoustic signal to analog electrical signal, and then the analog electrical signal is converted by data transmission device 403 converted into digital electrical signals and uploaded to the data acquisition unit 201. The data acquisition unit 201 stores the multi-channel seismic signals with the data storage array 202 .
(9)工作结束后命令AUV返回水面到达调查船附近。(9) After the work is over, order the AUV to return to the surface and reach the vicinity of the survey ship.
(10)回收AUV及其水声拖曳阵到调查船甲板。(10) Recover the AUV and its hydroacoustic towed array to the deck of the survey ship.
(11)将多通道地震数据转存备份。(11) Transfer the multi-channel seismic data for backup.
(12)为AUV和采集舱电池组203充电，准备下一阶段布放工作。(12) Charge the battery pack 203 of the AUV and the acquisition cabin, and prepare for the next stage of deployment.
本发明中实施例一用于海洋地震勘探，所使用的声源一般是气枪声源、电火花声源、换能器声源等。Embodiment 1 of the present invention is used for marine seismic exploration, and the sound source used is generally an air gun sound source, an electric spark sound source, a transducer sound source, and the like.
实施例二：Embodiment two:
具体工作步骤如下：The specific working steps are as follows:
(1)调查船到达既定工作海域。(1) The survey ship arrives at the designated working sea area.
(2)用户通过网络接口(有线或者无线)设置数据采集单元201，设置采样间隔、采样率、采样长度等工作参数，将数据采集单元201设置工作于自动工作模式，测试设备处于正常工作状态。(2) The user sets the data acquisition unit 201 through the network interface (wired or wireless), sets the working parameters such as sampling interval, sampling rate, and sampling length, and sets the data acquisition unit 201 to work in the automatic working mode, and the test equipment is in normal working condition.
(3)将外挂式自容采集舱，通过挂载机构3挂载于自主式水下潜器(AUV)上。(3) Mount the external self-contained collection cabin on the autonomous underwater vehicle (AUV) through the mounting mechanism 3 .
(4)将多通道水听器线列阵4通过尾部拖曳机构5安装在AUV尾部，并于与外挂式自容采集舱相连接。(4) The multi-channel hydrophone line array 4 is installed at the tail of the AUV through the tail dragging mechanism 5, and is connected with the external self-contained acquisition cabin.
(5)设置AUV工作参数，布放AUV到海面，AUV按照既定工作参数、航行，并到达指定位置海底，AUV停机静止于海底。(5) Set the AUV working parameters, deploy the AUV to the sea surface, the AUV will sail according to the established working parameters, and reach the designated location on the seabed, and the AUV will stop and rest on the seabed.
(6)声源可以是人工发射的声波，例如吊放或拖曳于调查船船尾的声源；也可以是噪声声源，例如附近舰船产生的噪声。(6) The sound source can be artificially emitted sound waves, such as the sound source hoisted or towed at the stern of the survey ship; it can also be a noise source, such as the noise generated by nearby ships.
(7)多通道水听器线列阵4在AUV尾部呈仅垂直状态。(7) The multi-channel hydrophone line array 4 is only in a vertical state at the tail of the AUV.
(8)多通道水听器线列阵4数据采集装置水听器4043通道采集经过水体传播的声信号，将声信号转换为模拟电信号，再由数据传输装置403将模拟电信号转换为数字电信号，上传到数据采集单元201。数据采集单元201将多通道水声信号存储与数据存储阵列202。(8) Multi-channel hydrophone line array 4 data acquisition device The hydrophone 4043 channel collects the acoustic signal transmitted through the water body, converts the acoustic signal into an analog electrical signal, and then converts the analog electrical signal into a digital signal by the data transmission device 403 The electrical signal is uploaded to the data acquisition unit 201. The data acquisition unit 201 stores the multi-channel underwater acoustic signal into the data storage array 202 .
(9)工作结束后命令AUV返回水面到达调查船附近。(9) After the work is over, order the AUV to return to the surface and reach the vicinity of the survey ship.
(10)回收AUV及其水声拖曳阵到调查船甲板。(10) Recover the AUV and its hydroacoustic towed array to the deck of the survey ship.
(11)将多通道水声数据转存备份。(11) Transfer and backup the multi-channel underwater acoustic data.
(12)为AUV和采集舱电池组203充电，准备下一阶段布放工作。(12) Charge the battery pack 203 of the AUV and the acquisition cabin, and prepare for the next stage of deployment.
本发明实施例二用于海洋声学调查，所使用的声源除了上述声源外，还包括周围潜艇等舰船所产生的噪声源，适合于监听、反潜等。Embodiment 2 of the present invention is used for marine acoustic investigation, and the sound sources used include noise sources generated by ships such as surrounding submarines in addition to the above-mentioned sound sources, which are suitable for monitoring, anti-submarine, and the like.
本发明具有以下优点：The present invention has the following advantages:
(1)本发明所述装置可以方便的应用于水下移动平台1。(1) The device of the present invention can be conveniently applied to the underwater mobile platform 1 .
(2)本发明所述装置在深海海域进行地震探测作业时，由于水声接收阵列近海底拖曳，相比于海面接收，避免了大深度海水对声波(特别是高频声波)的大幅度衰减，提高了地震探测分辨率，增加地层穿透深度。(2) When the device of the present invention performs seismic detection operations in deep sea areas, since the underwater acoustic receiving array is dragged near the seabed, compared with sea surface reception, it avoids the large-scale attenuation of sound waves (especially high-frequency sound waves) by large-depth seawater , improve the resolution of seismic detection and increase the depth of formation penetration.
(3)本发明所述装置应用于水声学调查时，水下移动平台1可以在某处海底静止，当一个作业地点结束后，可以方便的控制水下移动平台1航行并移动到另外位置的海底再次静止，节省了水声阵列回收与再次布放的时间，极大的提高了工作效率。(3) When the device of the present invention is applied to underwater acoustic investigation, the underwater mobile platform 1 can be stationary on the bottom of a certain place, and when a work site is over, the underwater mobile platform 1 can be easily controlled to sail and move to another location The seabed is still again, which saves the time of recovering and re-deploying the underwater acoustic array, and greatly improves work efficiency.
本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other.
本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处。综上所述，本说明书内容不应理解为对本发明的限制。In this paper, specific examples have been used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; meanwhile, for those of ordinary skill in the art, according to the present invention Thoughts, there will be changes in specific implementation methods and application ranges. In summary, the contents of this specification should not be construed as limiting the present invention.
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