CN109990913A - A tail adjustable seabed sediment temperature detection device - Google Patents

Abstract

The invention discloses a tail adjustable seabed sediment temperature detection device, comprising a tail section, a control section and a probe section; the tail section includes an upper end cover, a tail located outside the upper end cover, and a tail motor located inside the upper end cover to control the movement of the tail and the upper communication cable protruding from the top of the upper end cover; the control section includes a sealed cabin and a floating body outside the sealed cabin, and the inside of the sealed cabin is provided with a control main board, a motor drive board, a communication main board and a battery pack; the probe section includes a lower end cover, a protruding body The probe of the lower end cover, and the lower communication cable located inside the probe; the upper and lower ends of the sealing chamber are respectively connected to the upper end cover and the lower end cover, and the temperature detection device disclosed in the present invention can effectively correct the sinking of the probe by controlling the tail wing. At the same time, the position of the inertial entry point and the motion parameters of the entire injection process can be calculated, and the deeper geothermal temperature gradient of the seabed can be measured more effectively.

Description

A tail adjustable seabed sediment temperature detection device

technical field

The invention relates to the technical field of deep-sea detection, in particular to a tail-adjustable seabed sediment temperature detection device.

Background technique

The investigation of seabed heat flow is the preliminary work of the investigation of seabed natural gas hydrate resources. The seabed heat flow survey technology is usually used to measure the seabed temperature and calculate the geothermal gradient, so as to analyze the accumulation conditions of natural gas hydrate and invert the depth of the bottom boundary of the stable layer of natural gas hydrate. buried. Modern seabed temperature gradient and heat flow detection usually use probe technology. This method has high precision and is easy to operate and use, which is unmatched by other detection technologies.

At present, there are mainly three kinds of widely used temperature gradient and heat flow probe technologies, and they are also three stage products under development, namely Bullard type, Ewing type and Lister type. The location of the entry point is unknown, etc. With the development of technology, the submarine geothermal temperature probe is developing in the direction of miniaturization, high efficiency and precision, which requires the posture of the probe to have good anti-interference and self-correction capabilities. The current probe has insufficient anti-interference ability, cannot realize automatic attitude correction, and the measurement data is inaccurate.

SUMMARY OF THE INVENTION

In order to solve the above technical problems, the present invention provides a tail adjustable seabed sediment temperature detection device, so as to effectively correct the sinking attitude of the probe, and at the same time, it can calculate the position of the inertial entry point and the movement of the whole pouring process. parameters, the purpose of measuring the deeper geothermal temperature gradient of the seabed can be more effective.

For achieving the above object, technical scheme of the present invention is as follows:

A tail adjustable type seabed sediment temperature detection device, comprising a tail section, a control section and a probe section; the tail section includes an upper end cover, a tail located outside the upper end cover, and a tail motor located inside the upper end cover to control the movement of the tail and a protruding section. The upper communication cable on the top of the upper end cover; the control section includes a sealed cabin and a floating body outside the sealed cabin, and the inside of the sealed cabin is provided with a control main board, a motor drive board, a communication main board and a battery pack; the probe section includes a lower end a cover, a probe extending out of the lower end cover, and a lower communication cable located inside the probe; the upper and lower ends of the sealed compartment are respectively connected to the upper end cover and the lower end cover, the control main board is connected to the tail motor through the motor drive board, and the The upper communication cable and the lower communication cable are respectively connected to the communication main board, and the communication main board is signally connected to the control main board.

In the above solution, the sealed cabin includes a sealed bulkhead, an upper sealing cover and a lower sealing cover, and the sealed bulkhead, the upper sealing cover and the lower sealing cover are connected by bolts and sealed by a sealing ring, and the floating body is The boss between the upper sealing cover and the lower sealing cover is fixed.

In the above solution, the upper end cover is fixed on the upper sealing cover by bolts, a fixing bracket is arranged in the upper end cover, and four tail motor motors are installed on the fixing bracket, and the four tail motor motors are respectively connected to the four tail motor through couplings. tail connection.

In the above solution, the lower end cover is fixed on the lower sealing cover by bolts, and the lower end cover is provided with a counterweight.

In the above solution, a temperature sensor is arranged on the outer wall of the probe, the temperature sensor leads the signal line into the down communication cable through the through hole on the probe, and a heat insulation layer is provided between the temperature sensor and the probe.

In the above solution, the control board is provided with an attitude sensor and an acceleration sensor.

In the above solution, a support column and a support plate are arranged in the sealed cabin, and the control main board, the motor drive board, the communication main board and the battery pack are respectively located on the support plate.

In the above solution, two temperature sensors are distributed on the probe at the same height position, and the temperature sensors are fixed on the probe through the fixing plate and the fixing screws at equal intervals, and the temperature sensor is located between the fixing plate and the heat insulation layer.

Through the above technical solutions, the tail adjustable seabed sediment temperature detection device provided by the present invention can be put into the water by manpower by means of an upstream communication cable (which can withstand tensile force), so that it can freely sink. During the sinking process, the probe detects the attitude of the probe through the attitude sensor on the control board. When the attitude of the probe is skewed, the control board sends an adjustment signal to the tail motor after accurate calculation. The tail motor is in the motor drive board. Under the drive, adjust the deflection angle of the tail, and the tail and the water flow generate an interaction force, which generates corresponding correction torque to the probe in three directions, and then corrects the attitude of the probe, so that the probe always maintains a vertical orientation during the sinking process. Down and non-spinning state, so that the probe can be smoothly inserted into the seabed sediment during the process of contacting the seabed. At the same time, the control board is also equipped with an acceleration sensor, which integrates the speed and position of the probe. Through the calculation, the habitual point, time point and depth value of the probe inserted into the seabed sediment can be inferred, and sent to the ground control center. the corresponding node signal. After the probe is inserted into the seabed sediment, the temperature sensor array in the probe collects the temperature of the sediment at the corresponding depth, and transmits it to the control module to save the data. After the data is stable and collected for enough time, the detection task is completed. At the same time, the node signal of the cable receiving is sent to the ground control center.

Compared with the prior art, the beneficial effects of the present invention are:

(1) The device has a four-tail control structure, which can effectively adjust the attitude of the probe during the sinking process of the probe to ensure that the probe is used to the seabed in a vertical and non-spin state, especially suitable for deep seas. Geothermal detection.

(2) The control board is equipped with an attitude sensor and an acceleration sensor. The position of the probe's inertial entry point can be calculated through integral operation. At the same time, the detailed process of temperature detection and sampling can be calculated according to the movement of the inertial process, so that the probe The whole detection process becomes transparent and controllable, which provides a strong guarantee for the authenticity and validity of the experimental data.

(3) The device is not only compact and lightweight, but also has a streamlined structure with low fluid resistance, which is suitable for deep-sea exploration.

Description of drawings

In order to illustrate the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that are required in the description of the embodiments or the prior art.

1 is a schematic diagram of the overall structure of a tail adjustable type seabed sediment temperature detection device disclosed in an embodiment of the present invention;

2 is a schematic structural diagram of the tail section after removing the upper end cover disclosed in the embodiment of the present invention;

3 is a schematic diagram of the internal structure of the sealed cabin disclosed in the embodiment of the present invention;

Fig. 4 is the internal schematic diagram of the lower end cover disclosed in the embodiment of the present invention;

FIG. 5 is an enlarged schematic diagram of a part of the temperature sensor.

In the figure, 1, the upper end cover; 2, the tail; 3, the tail motor; 4, the upper communication cable; 5, the upper sealing cover; 6, the fixed bracket; 7, the coupling; 8, the floating body; 9, the sealing bulkhead; 10. Lower sealing cover; 11. Control main board; 12. Motor drive board; 13. Communication main board; 14. Battery pack; 15. Support column; 16. Support plate; 17. Temperature sensor; 18. Cable watertight interface; 19 20, the probe; 21, the lower communication cable; 22, the counterweight; 23, the fixing block; 24, the fixing screw; 25, the heat insulation layer; 26, the signal line.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

The present invention provides a tail-adjustable seabed sediment temperature detection device, as shown in FIG. 1 , the device can effectively correct the sinking attitude of the probe, and at the same time can calculate the position of the inertial entry point and the movement of the whole pouring process parameters, the geothermal temperature gradient in the deeper layers of the seafloor can be measured more effectively.

As shown in Figure 1, a tail adjustable seabed sediment temperature detection device includes a tail section, a control section and a probe section. As shown in FIG. 2 , the tail section includes an upper end cap 1 , a tail wing 2 located outside the upper end cap 1 , a tail motor 3 located inside the upper end cap 1 to control the movement of the tail wing 2 , and an upper communication cable 4 extending from the top of the upper end cap 1 . The upper end cover 1 is fixed on the upper sealing cover 5 by bolts, the upper end cover 1 is provided with a fixing bracket 6, and four tail motor 3 are installed on the fixing bracket 6. Tail 2 is connected. The rotation of the tail motor 3 can control the deflection angle of the tail 2. The deflection angle of the tail 2 can change the direction of the water resistance during the sinking process, and then the corresponding torque can be obtained to adjust the attitude of the probe system.

The control section includes a sealed cabin and a floating body 8 located outside the sealed cabin. As shown in Figure 3, the sealed cabin includes a sealed bulkhead 9, an upper sealing cover 5 and a lower sealing cover 10, the sealing bulkhead 9 and the upper sealing cover 5 and the lower sealing The covers 10 are connected by bolts and sealed by a sealing ring, and the floating body 8 is fixed by the bosses between the upper sealing cover 5 and the lower sealing cover 10 . Inside the sealed compartment are a control main board 11 , a motor drive board 12 , a communication main board 13 and a battery pack 14 ; A support column 15 and a support plate 16 are arranged in the sealed compartment. The control main board 11 , the motor drive board 12 , the communication main board 13 and the battery pack 14 are respectively located on the support plate 15 . The control motherboard 11 is provided with an attitude sensor and an acceleration sensor, which can detect the attitude of the probe in real time and calculate its motion parameters (including position and speed parameters) by integrating it, and at the same time send a control signal to the motor drive board 12 according to the detected attitude, and then Control the rotation of the tail motor 3 to adjust the deflection angle of the tail 2 to correct the attitude of the probe to ensure that the sinking process is always in a vertical and non-spin state; the control board 11 calculates the probe system by detecting the motion parameters of the probe The process of sinking, habituation, static and recovery, and calculates the node signal at each stage, and transmits the node signal to the water surface control center through the communication main board 13 and the upper communication cable 4; the communication main board 13 is responsible for the data acquisition and sampling of the temperature sensor 17. And transmit the temperature data to the control board 11, at the same time, it can receive the node signal of the control board 11 and communicate with the surface control center to provide the node signal for the surface control center; the power line and signal line inside the sealed cabin are connected with the tail through the cable watertight interface 18 The motor 3, the temperature sensor 17 and the water surface control center are connected. The control board 11 is connected to the tail motor 3 through the motor drive board 12 .

The probe segment includes a lower end cap 19, a probe 20 extending out of the lower end cap 19, and a lower communication cable 21 located inside the probe 20; as shown in FIG. 4, the lower end cap 19 is fixed on the lower sealing cap 10 by bolts, and the lower end cap is A counterweight 22 is provided inside 19 . As shown in FIG. 5 , as shown in the schematic diagram of the split structure, the temperature sensor 17 is fixed on the outer wall of the probe 20 by a fixing block 23 and two fixing screws 24, and a heat insulating layer 25 is added between the two. The temperature sensor 17 is located on the fixing block 23. and the thermal insulation layer 25 to reduce the influence of the heat transfer of the probe 20 on the temperature sensor (PT1000) 17; 21 transmits the measured temperature signal to the communication mainboard 13, the communication mainboard 13 is signally connected to the control mainboard 11, and the collected temperature data is transmitted to the control mainboard 11 and saved.

The above description of the disclosed embodiments enables any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (8)

1. a kind of adjustable tail fins bottom sediment temperature detection device, which is characterized in that including empennage section, control section and probe Section；The empennage section includes upper end cover, the empennage outside upper end cover, positioned at the empennage of upper end cover internal control empennage movement Upper communication cable at the top of motor and stretching upper end cover；The control section includes sealed compartment and the floating body outside sealed compartment, institute It states and is equipped with control mainboard, motor driving plate, communication mainboard and battery pack inside sealed compartment；The probe segment includes lower cover, stretches The probe of lower cover out, and the lower communication cable positioned at probe interior；The upper and lower ends of the sealed compartment are separately connected upper end cover And lower cover, the control mainboard connect empennage motor by motor driving plate, the upper communication cable and lower communication cable connect respectively Communication mainboard is connect, the communication mainboard is connect with control mainboard signal.

2. a kind of adjustable tail fins bottom sediment temperature detection device according to claim 1, which is characterized in that described Sealed compartment includes sealing bulkhead, top cover labyrinth and lower sealing cover, between sealing bulkhead and top cover labyrinth and the lower sealing cover It is bolted, and is sealed by sealing ring, the floating body is carried out by the boss between top cover labyrinth and lower sealing cover It is fixed.

3. a kind of adjustable tail fins bottom sediment temperature detection device according to claim 2, which is characterized in that described Upper end cover is bolted on top cover labyrinth, and fixed bracket is equipped in the upper end cover, is equipped on the fixed bracket Four empennage motors, four empennage motors pass through shaft coupling respectively and connect with four empennages.

4. a kind of adjustable tail fins bottom sediment temperature detection device according to claim 1, which is characterized in that described Lower cover is bolted in lower sealing cover, and clump weight is equipped in the lower cover.

5. a kind of adjustable tail fins bottom sediment temperature detection device according to claim 1, which is characterized in that described Probe outer wall is arranged with temperature sensor, and signal wire is introduced lower communication cable by the through-hole on probe by the temperature sensor, Thermal insulation layer is equipped between the temperature sensor and probe.

6. a kind of adjustable tail fins bottom sediment temperature detection device according to claim 1, which is characterized in that described Control mainboard is equipped with attitude transducer and acceleration transducer.

7. a kind of adjustable tail fins bottom sediment temperature detection device according to claim 1, which is characterized in that described Support column and support plate are equipped in sealed compartment, the control mainboard, motor driving plate, communication mainboard and battery pack are located at branch On fagging.

8. a kind of adjustable tail fins bottom sediment temperature detection device according to claim 5, which is characterized in that described Two temperature sensors of cloth are punished in sustained height position on probe, and temperature sensor is equidistant by fixed plate and fixed screw It is fixed on probe, temperature sensor is between fixed plate and thermal insulation layer.