CN110116785A - Floatable hydrospace detection device and its Detection location platform localization method can be positioned - Google Patents

Abstract

The present invention relates to one kind can position floatable hydrospace detection device and its Detection location platform localization method, it specifically includes and grabs bottom anchor, Detection location platform and floating upward quickly mechanism, the bottom anchor of grabbing is arranged in deep water, in described grab acoustic fix ranging beacon is installed on the anchor of bottom, described to grab bottom anchor and be connected by compound rope with Detection location platform, the floating upward quickly mechanism is connected by conducting wire composite rope with Detection location platform.It is of the present invention to position marine resources quick detection device, by laying several hydrophone units on Detection location platform, the upper and lower part of Detection location platform is separately connected floating upward quickly mechanism and grabs bottom anchor with acoustic fix ranging beacon, comprehensive accurate positioning is carried out to Detection location position of platform in the way of three kinds, and floating upward quickly mechanism energy floating upward quickly, origin-location is returned to after timely back information, is reused, it can timely, accurate, economy offer deep-sea detecting data.

Description

Positionable submersible marine detection device and positioning method of detection and positioning platform

technical field

The invention belongs to the technical field of marine detection, and in particular relates to a positionable ups and downs type marine detection device and a positioning method for a detection and positioning platform.

Background technique

my country is a big marine country, and strengthening the monitoring of marine environment and marine resource information is of great strategic significance for exploring the precious marine resources. At present, my country's research enthusiasm in deep-sea ocean exploration technology is not very significant, which greatly limits my country's comprehensive understanding of the marine field and the full use of marine resources.

At present, the detection platforms in the marine field mainly focus on various technologies such as buoys and underwater robots. Among the above-mentioned detection equipment, buoys are one of the important technical equipment for humans to obtain marine environmental information, especially in deep-sea ocean observation. China is playing an ever-increasing role. The characteristics of this type of buoy are: use its unique composition to detect and collect ocean information, and then read the information detected by the buoy through various means. It has the characteristics of concealment, strong resistance to man-made damage, flexible use and convenient operation. Deep-sea buoys provide important technical support for marine resources and environmental research.

At present, the main problems faced by the marine field are: (1) Most of the deep-sea measurement buoys are suspended in the sea and drift with the ocean currents. (2) Most ocean surveying buoys cannot obtain detection information until the buoy is retracted, or the floating speed of the buoy is very slow, generally around 0.1m/s, and it is difficult to return deep-sea detection information in time. For example, when detecting deep-sea fish, if the information cannot be sent back in time, the fishing opportunity will be lost.

SUMMARY OF THE INVENTION

In order to solve the above problems in the field of ocean exploration, the key point of the present invention is to provide a positionable ups and downs type ocean exploration device, the device can accurately locate the measurement point, and can quickly float up, return the information in time and return to the original position, and repeat. It can provide deep-sea exploration data timely, accurately and economically.

The technical scheme that the present invention solves the above-mentioned technical problems is as follows:

A positionable ups and downs type ocean detection device, which specifically includes a bottom grabbing anchor, a detection and positioning platform and a fast surfacing mechanism, the bottom grabbing anchor is arranged in deep water, an acoustic positioning letter is installed on the bottom grabbing anchor, and the bottom grabbing anchor is installed. The anchor is connected with the detection and positioning platform through a composite cable, and the fast-floating mechanism is connected with the detection and positioning platform through a wire composite cable.

As a preferred embodiment of the present invention, a first buoyancy cabin is fixedly connected to the detection and positioning platform, a winch is installed in the first buoyancy cabin, and the winch is connected to the wire composite cable. An electromagnetic sensor, a flow velocity sensor and a flow direction sensor are installed on the positioning platform.

As a preferred embodiment of the present invention, an anchor cable cabin is provided at the middle position of the bottom of the detection and positioning platform, and the bottom of the anchor cable cabin is fixedly connected with the composite cable.

As a preferred embodiment of the present invention, several hydrophone units are arranged at the lower part of the detection and positioning platform, and several of the hydrophone units are evenly distributed on both sides of the anchor cable cabin. The bottom of the cabin is also provided with a hydrophone unit.

As a preferred embodiment of the present invention, the rapid buoyancy mechanism includes a casing, a second buoyancy cabin is arranged in the casing, and a communication antenna and a power thruster are respectively arranged at the top and bottom of the casing.

As a preferred embodiment of the present invention, a control module, a data storage module, and a power supply module are further provided in the housing, and the second buoyancy cabin is isolated from the control module, the data storage module, and the power supply module.

As a preferred embodiment of the present invention, a water pressure sensor and a flow rate measuring instrument are provided on the inner wall of the second buoyancy cabin.

As a preferred embodiment of the present invention, stabilizing plates are respectively installed on both sides of the bottom of the casing, and the stabilizing plates are respectively placed on both sides of the power propeller.

The embodiment of the present invention also provides a precise positioning method for the detection and positioning platform, which specifically includes the following steps:

(1) The acoustic locating beacon sends out an acoustic signal, and after the marine survey ship receives the acoustic signal, the position of the bottom anchor is determined;

(2) Take the bottom anchor as the coordinate origin to establish a coordinate system;

(3) The acoustic positioning beacon emits sound, and the hydrophone unit at the lower part of the detection and positioning platform receives it, and calculates the position (x ₁ , y ₁ , z ₁ ) of the detection and positioning platform relative to the bottom grabbing anchor;

According to the measurement data of the flow velocity sensor and the flow direction sensor, the position (x ₂ , y ₂ , z ₂ ) of the detection and positioning platform relative to the bottom grabbing anchor is calculated;

According to the positioning information of the quick-floating mechanism (3) after the water emerges and the flow velocity data measured during the floating process, the starting point of floating is obtained, that is, the position (x ₃ , y ₃ , z ₃ ) of the detection and positioning platform relative to the bottom grabbing anchor;

(4) Use the following formulas to obtain the position coordinates (x, y, z) of the detection and positioning platform relative to the bottom grabbing anchor by using the above three sets of data

That is, the precise position of the detection and positioning platform in the ocean is obtained.

The present invention has the following beneficial effects:

1. The locatable marine resource rapid detection device of the present invention, by arranging several hydrophone units on the detection and positioning platform, the upper part and the lower part of the detection and positioning platform are respectively connected with a fast surfacing mechanism and a bottom grabbing anchor with an acoustic positioning beacon , using three methods to comprehensively and accurately locate the position of the detection and positioning platform, and the fast-floating mechanism can quickly float up, return information in time, and return to the original position. Repeated use can provide deep-sea detection data in a timely, accurate and economical manner.

2. The fast uplifting mechanism of the present invention can realize fast uplifting with low noise, so that the large depth detection parameters can be returned in time, which improves the timeliness and ensures the concealment; the fast uplifting device can be returned and reused, which improves the economic benefit.

Description of drawings

FIG. 1 is a schematic structural diagram of a positionable submersible marine detection device of the present invention.

FIG. 2 is a schematic structural diagram of the fast-floating mechanism according to the present invention.

Fig. 3 is the schematic diagram of the present invention's positionable sinking and floating type ocean detection device floating to the sea surface;

FIG. 4 is a schematic diagram of the positionable sinking and floating marine detection device of the present invention being pulled and returned.

In the accompanying drawings, the list of components represented by each number is as follows:

1- Bottom grabbing anchor; 2- Detection and positioning platform; 3- Fast surfacing mechanism; 4- Acoustic positioning beacon; 5- Composite cable 6- Conductor composite cable; 7- First buoyancy cabin; 8- Stranding machine; 9- Electromagnetic sensor; 10-flow velocity sensor 11-flow direction sensor; 12-anchor cable compartment; 13-hydrophone unit; 14-shell; 15-second buoyancy cabin; 16-communication antenna; module; 19-data storage module; 20-power module; 21-water pressure sensor; 22-flow meter; 23-stabilization plate.

Detailed ways

The principles and features of the present invention will be described below with reference to the accompanying drawings. The examples are only used to explain the present invention, but not to limit the scope of the present invention.

Referring to FIGS. 1 to 3 , an embodiment of the present invention provides a positionable ups and downs type ocean exploration device, which specifically includes a bottom grabbing anchor 1 , a detection and positioning platform 2 and a fast surfacing mechanism 3 , wherein the bottom grabbing anchor 1 is arranged in deep water , an acoustic positioning beacon 4 is installed on the bottom grabbing anchor 1 , and the bottom grabbing anchor 1 is connected with the detection and positioning platform 2 through a composite cable 5 . By mooring the bottom anchor 1 and the composite cable 5 in the water, the composite cable 5 can not only realize the mooring function, but also realize the transmission of signals. In this example. The sonolocation beacon 4 is installed on the bottom grabbing anchor 1. After placing it in deep water, the acoustic localization beacon 4 sends out an acoustic signal. After the acoustic signal is received by the marine survey ship, the position of the bottom grabbing anchor 1 can be determined, and then the acoustic positioning is performed. Beacon 4 stops sounding. Among them, the quick-floating mechanism 3 is connected with the detection and positioning platform 2 through the wire composite cable 6 . Through the rapid ascent mechanism 3, the large-depth detection parameters can be returned in time, the timeliness is improved, and the concealment is ensured.

Referring to FIG. 1 , in this embodiment, the detection and positioning platform 2 stays in the water as the mother dock of the quick-floating mechanism 3 and the bottom grabbing anchor 1 . A first buoyancy cabin 7 is fixedly connected in the detection and positioning platform 2 , and the position of the detection and positioning platform 2 in the water is adjusted through the first buoyancy cabin 7 . A winch 8 is installed in the first buoyancy cabin 7 , and the winch 8 is connected with the wire composite cable 6 . Among them, the wire composite cable 6 can not only realize the mooring effect of the fast-floating mechanism 3 on the detection and positioning platform, but also realize the transmission of signals. The release and recovery of the quick-floating mechanism 3 can be realized by the winch 8 . Referring to Figures 3 to 4, after the detection and positioning platform 2 has completed the measurement, the winch 8 is started to release the fast-floating mechanism 3, and the fast-floating mechanism 3 quickly floats to the sea surface. After receiving the information, under the traction of the winch 8, the The floating mechanism 3 returns to the mother dock (ie, the detection and positioning platform 2 ), and enters the next measurement state.

Referring to FIG. 1 , in this embodiment, an electromagnetic sensor 9 , a flow velocity sensor 10 and a flow direction sensor 11 are installed on the detection and positioning platform 2 . An anchor cable cabin 12 is provided in the middle position of the bottom of the detection and positioning platform 2 , and the bottom of the anchor cable cabin 12 is fixedly connected with the composite cable 5 . A plurality of hydrophone units 13 are arranged at the lower part of the detection and positioning platform 2 , and the plurality of hydrophone units 13 are evenly distributed on both sides of the cable anchorage compartment 12 , and are also arranged at the bottom of the cable anchorage compartment 12 . There is a hydrophone unit 13 . In this embodiment, by installing the hydrophone unit 13 on both the detection and positioning platform 2 and the anchor cable compartment 12, the sound of the acoustic positioning beacon 4 can be received through the hydrophone unit 13, and the calculation results of the detection and positioning platform 2 relative to Grab the position of bottom anchor 1. There is a buoyancy cabin on the detection and positioning platform, which has positive buoyancy. It is used to detect marine resources through sensing devices such as electromagnetic sensor 9 and hydrophone unit 13. The measurement data is stored in the data storage module, and the flow rate sensor 10 and the flow direction sensor 11 are used for Measure the flow velocity and flow direction at the location where the detection and positioning platform 2 is located.

1 to 2, in this embodiment, the rapid buoyancy mechanism 1 includes a casing 14, and a second buoyancy chamber 15 is arranged in the casing 14, at the top and bottom of the casing 14 (understood as the head A communication antenna 16 and a power thruster 17 are provided respectively. In this embodiment, the outer shape of the shell 14 of the rapid buoyancy mechanism 1 is streamlined, and under the combined action of the power propeller 17 at the tail and the buoyancy of the second buoyancy chamber 15, the rapid buoyancy of the rapid buoyancy mechanism 1 is realized, wherein , the shell 14 is made of sound-absorbing and drag-reducing composite material, which can reduce the resistance and noise of the floating process. Inside the shell 14, there are also a control module 18, a data storage module 19, and a power module 20. Among them, the second buoyancy The cabin 15 is isolated from the control module 18 , the data storage module 19 , and the power module 20 . The power module 20 provides power for the entire rapid buoyancy mechanism 1 , the data storage module 19 stores various types of parameters measured in the ocean, and the control module 18 is used to perform and parameterize the size of the second buoyancy cabin 15 and the power thruster 17 Real-time monitoring and control. A water pressure sensor 21 and a flow velocity measuring instrument 22 are provided on the inner wall of the second buoyancy chamber 15 . Stabilizing plates 23 are respectively installed on both sides of the bottom of the casing 14 , and the stabilizing plates 23 are respectively placed on both sides of the power propeller 17 . In this embodiment, two stabilizing plates 23 are symmetrically arranged on both sides of the power thruster 17 to increase the floating stability, so that the floating speed of the fast floating mechanism 1 can reach more than 1 m/s, and the radiation noise during the floating process is less than 95 decibel.

Of course, in the above-mentioned embodiment, the shape and other forms of the above-mentioned detection and positioning platform 2 are not specifically limited. Specifically, it can be a cylindrical barrel type or various shapes, but as long as there are devices implemented according to the above-mentioned technical solutions That is to say, and the installation position of each component is not specifically limited, and the installation position of each part only needs to satisfy the above-mentioned functions. In terms of specific settings, there are related implementations in the art. The types of sensors installed on the detection and positioning platform can be of multiple types, and the types can be different in combination with the types of detection parameters. The specific sensor types include temperature, salinity and depth. Sensors, water pressure sensors, underwater carbon dioxide sensors and other sensor types, the above types of sensors are relatively common sensors in the existing deep-sea detection field, and their settings can be in the detection and positioning platform cabin, or according to the requirements of sensor detection The above sensors are arranged on the outside of the detection and positioning platform to be fully in contact with the marine environment, and the sensors are installed in a fixed manner.

Based on the structure of the locatable submersible marine detection device described above, the present invention also provides a precise positioning method for the detection and positioning platform as follows:

After the bottom grabbing anchor 1 is placed in the water, the sonolocation beacon 4 emits an acoustic signal, and the position of the bottom grabbing anchor 1 can be determined after receiving the acoustic signal by the marine survey vessel, and then the sonolocation beacon 4 stops sounding.

Take the bottom anchor 1 as the coordinate origin to establish the coordinate system. The lower part of the detection and positioning platform is equipped with 5 hydrophone units. When necessary, under the action of the control mechanism, the sound positioning beacon will sound. The position of the anchor (x ₁ , y ₁ , z ₁ ); according to the measurement data of the flow velocity and flow direction sensors, the position of the detection and positioning platform relative to the bottom grabbing anchor (x ₂ , y ₂ , z ₂ ) is calculated; according to the fast-floating device The positioning information after water exit and the flow velocity data measured during the floating process can be used to obtain the starting point of floating, that is, the position (x ₃ , y ₃ , z ₃ ) of the detection and positioning platform relative to the bottom grabbing anchor; finally, combined with the above three sets of data, use the According to the above formula, the position coordinates (x, y, z) of the detection and positioning platform relative to the bottom grabbing anchor are obtained.

Since the position of the bottom grabbing anchor has been determined, the position of the detection and positioning platform in the ocean can be precisely determined. The quick detection device for locatable marine resources according to the present invention, by arranging several hydrophone units on the detection and positioning platform, the upper part and the lower part of the detection and positioning platform are respectively connected with a rapid surfacing mechanism and a bottom grabbing anchor with an acoustic positioning beacon, using There are three ways to comprehensively and accurately locate the position of the detection and positioning platform, and the fast-floating mechanism can quickly ascend, return the information in time, and return to the original position for repeated use, which can provide deep-sea detection data in a timely, accurate and economical manner.

The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

Claims (9)

1. one kind can position floatable hydrospace detection device, it is characterised in that: including grab bottom anchor (1), Detection location platform (2) and Floating upward quickly mechanism (3), the bottom anchor (1) of grabbing are arranged in deep water, are equipped with acoustic fix ranging beacon on bottom anchor (1) in described grab (4), described grab bottom anchor (1) is connected by compound rope (5) with Detection location platform (2), and the floating upward quickly mechanism (3) passes through Conducting wire composite rope (6) is connected with Detection location platform (2).

2. one kind can position floatable hydrospace detection device according to claim 1, it is characterised in that: the Detection location is flat The first buoyancy compartment (7) are fixedly connected in platform (2), are equipped with winch (8) in first buoyancy compartment (7), the winch (8) It is connected with conducting wire composite rope (6), electromagnetic sensor (9), flow sensor is installed on the Detection location platform (2) (10) and flow direction sensor (11).

3. one kind can position floatable hydrospace detection device according to claim 1, it is characterised in that: in the Detection location The bottom middle position of platform (2) is equipped with anchor cable cabin (12), and the bottom of the anchor cable cabin (12) is fixedly connected with compound rope (5).

4. one kind can position floatable hydrospace detection device according to claim 3, it is characterised in that: in the Detection location The lower part of platform (2) is equipped with several hydrophone units (13), several described hydrophone units (13) are in the anchor cable cabin (12) two sides are uniformly distributed, and also are provided with hydrophone unit (13) in the bottom of the anchor cable cabin (12).

5. one kind can position floatable hydrospace detection device according to claim 1, it is characterised in that: the floating upward quickly machine Structure (1) includes shell (14), the second buoyancy compartment (15) is equipped in the shell (14), at the top and bottom of the shell (14) Portion is respectively arranged with communication antenna (16) and power propeller (17).

6. one kind can position floatable hydrospace detection device according to claim 5, it is characterised in that: in the shell (14) Inside it is additionally provided with control module (18), data memory module (19), power module (20), second buoyancy compartment (15) and control mould Block (18), data memory module (19), power module (20) are isolated.

7. one kind can position floatable hydrospace detection device according to claim 1, it is characterised in that: in second buoyancy The inner wall in cabin (15) is equipped with hydraulic pressure sensor (21) and flow meters (22).

8. one kind can position floatable hydrospace detection device according to claim 1, it is characterised in that: in the shell (14) Two sides of the bottom be separately installed with steadying plate (23), the steadying plate (23) is respectively placed in the two sides of power propeller (17).

9. the accurate positioning method of a kind of pair of Detection location platform, which is characterized in that specifically includes the following steps:

(1) acoustic fix ranging beacon issues acoustical signal, after receiving acoustical signal by sea survey ship, determines the position for grabbing bottom anchor；

(2) to grab bottom anchor as coordinate origin, coordinate system is established；

(3) the hydrophone unit of acoustic fix ranging beacon sounding, Detection location platform lower receives, and Detection location platform phase is calculated For grabbing the position (x of bottom anchor₁, y₁, z₁)；

According to the measurement data of flow sensor and flow direction sensor, Detection location platform is calculated relative to the position for grabbing bottom anchor Set (x₂, y₂, z₂)；

According to the flow speed data of location information and floating-upward process measurement after floating upward quickly mechanism (3) water outlet, starting of floating is obtained Point, i.e. Detection location platform are relative to the position (x for grabbing bottom anchor₃, y₃, z₃)；

(4) by above-mentioned three groups of data, using following formula, obtain Detection location platform relative to grab bottom anchor position coordinates (x, Y, z)

Obtain exact position of the Detection location platform in ocean.