CN110539864A - A kind of anti-soil adsorption submarine flight node aircraft and working method - Google Patents

Abstract

The invention belongs to the technical field of marine exploration, in particular to a submarine flight node vehicle. A submarine flight node aircraft resistant to soil adsorption, comprising: a shell, a seismic detection module, an underactuated propulsion module, and an anti-adsorption frame; Due to the limitations of its own lack of power capability and low deployment and recovery efficiency, two horizontal thrusters and vertical thrusters can be used to adjust the position of the aircraft so that it can move according to the set route; the anti-adsorption frame provided by the present invention, When the aircraft sits on the bottom, it can prevent the devices installed on the bottom of the shell from contacting the seabed sediments, and reduce the adsorption force of the seabed sediments on the aircraft; the toothed structure at the bottom of the anti-adsorption frame can effectively increase the friction to prevent the aircraft from Displacement caused by the impact of ocean currents affects the accuracy of seismic detection. At the same time, the invention also discloses a working method of an anti-soil adsorption submarine flight node aircraft.

Description

A kind of anti-soil adsorption submarine flight node aircraft and working method

technical field

The invention belongs to the technical field of marine exploration, in particular to a submarine flight node vehicle.

Background technique

The rapid development of society has led to an increasing demand for oil resources, and the oceans covering 70% of the earth's surface store rich oil resources. Among the many offshore oil exploration methods, the seabed node seismic data acquisition technology can independently collect and record seismic signals because the seismic detection sensors are placed on the seabed separately, and has the advantages of accurate positioning, flexible deployment, high quality signal acquisition, and detection of deeper strata. And other advantages, has become the leading direction of seabed seismic exploration research. However, the existing seabed node seismic data acquisition products have no movement ability, and they are mainly floated by throwing gravity blocks (or decoupling of the sinking frame) or using remote-controlled underwater robots to deploy and recover one by one, so the efficiency of deployment and recovery is low and difficult. Meet the large-scale network deployment needs of actual seismic exploration applications.

Contents of the invention

The object of the present invention is to solve the above problems and provide a soil adsorption-resistant submarine flight node aircraft, which can be deployed autonomously, carry out seismic detection operations and recover autonomously with the assistance of surface support ships.

A technical solution of the present invention is: an anti-soil adsorption submarine flight node aircraft, which includes: a shell, a seismic detection module, an underactuated propulsion module and an anti-adsorption frame;

The seismic detection module is installed at the stern end of the bottom of the shell, and is used to monitor and record the seismic waves reflected from the seabed rock formation;

The under-actuated propulsion module includes: 2 horizontal thrusters and 1 vertical thruster; the horizontal thrusters are symmetrically arranged on both sides of the bottom of the shell, which can provide forward and reverse thrusts in the horizontal direction, and the 2 horizontal thrusters simultaneously Work, control the two degrees of freedom of the aircraft's surge and shake; the vertical thruster is arranged at the bottom of the hull, which can provide vertical thrust, and control the two degrees of freedom of the aircraft's heave and pitch; two horizontal thrusters The vehicle cooperates with a vertical propeller to move the aircraft to the set position;

The anti-adsorption frame is installed at the bottom of the shell. When the aircraft sits on the bottom, it contacts the seabed sediments through the anti-adsorption frame to prevent the devices installed at the bottom of the shell from contacting the seabed sediments, thereby reducing the adsorption of seabed sediments to the aircraft. force; the bottom of the anti-adsorption frame is equipped with a toothed structure, which can effectively increase the friction force to prevent the aircraft from being displaced by the impact of the ocean current and affect the seismic detection accuracy.

On the basis of the above scheme, further, the aircraft also includes: an integrated communication module, a control and navigation module, and an energy module;

The energy module is connected with the control and navigation module, and the energy module provides energy supply to other modules through the control and navigation module; the control and navigation module establishes signal connections with the integrated communication module, seismic detection module, and underactuated propulsion module; the control and navigation module Communicate information with the integrated communication module, seismic detection module, and underactuated propulsion module. The control and navigation module can receive information from the seismic detection module and integrated communication module, send drive instructions to the underactuated propulsion module, and can send the received information to the underactuated propulsion module. The information is sent to the surface support vessel through the integrated communication module.

In the above scheme, specifically, the control and navigation module includes: a computer, an attitude sensor, an inertial navigation device, a depth gauge, an altimeter, and a magnetic compass; wherein, the attitude sensor is used to provide the deflection angle of the 3-axis of the aircraft; the inertial navigation device is used for Provide the acceleration information of the aircraft when navigating underwater or on the water surface; the depth gauge and the altimeter are used to provide the depth information of the aircraft's position and the height information from the seabed respectively; the magnetic compass is used to provide the heading angle information of the aircraft;

The attitude sensor, inertial navigation device, depth gauge, altimeter and magnetic compass are all connected to the computer by signal; used to send the collected information to the computer;

The computer establishes a signal connection with the horizontal thruster and the vertical thruster; it is used to send control commands to the horizontal thruster and the vertical thruster to control the magnitude and direction of thrust of the horizontal thruster and the vertical thruster.

In the above scheme, specifically, the seismic detection module includes: three-component detection sensors, hydrophones, seismic signal acquisition boards, and atomic clocks; the three-component detection sensors and hydrophones are all connected to the seismic signal acquisition board; The component detection sensor is used to monitor the seismic wave acceleration in two mutually perpendicular directions on the seabed horizontal plane, and the seismic wave acceleration of the seabed perpendicular to the horizontal plane. The three-component detection sensor converts the real-time monitored three-component acceleration information through the built-in piezoelectric ceramics The electrical signal is transmitted to the seismic signal acquisition board; the hydrophone is used to receive the acoustic signal of the aircraft when it is on the seabed, and at the same time convert the acoustic signal into an electrical signal and transmit it to the seismic signal acquisition board; The device provides time information;

Both the seismic signal acquisition board and the atomic clock establish a signal connection with the computer for sending the three-component acceleration information, sound wave signal, and precise time to the computer.

In the above scheme, specifically, the integrated communication module includes: underwater acoustic transducer, iridium satellite communication, GPS positioning system and radio module; among them, the underwater acoustic transducer is used for information transmission with surface support ships; Long-distance communication with the surface support ship after the aircraft surfaced; the radio module is used for short-distance communication with the surface support ship after the aircraft surfaced; GPS positioning system is used for the surface support ship after the aircraft surfaced After determining its own location information;

The underwater acoustic transducer, Iridium satellite communication, GPS positioning system and radio module all establish signal connections with the computer, and the computer realizes its own positioning through the GPS positioning system, and realizes it through the underwater acoustic transducer, Iridium satellite communication, and no radio module. Communications with surface support vessels.

In the above solution, specifically, the energy module includes: a battery; the battery is provided with a battery charging and discharging plug; the battery is connected to the computer through the battery power switch, and provides the aircraft with energy required for safe navigation and operation.

On the basis of the above scheme, further, the aircraft further includes: a deep-water pressure chamber and a solid buoyancy material; the deep-water pressure chamber is arranged at the bottom of the shell, and the solid buoyancy material is arranged in the shell. This arrangement makes the aircraft buoyant The center is on the top and the center of gravity is on the bottom, which can generate restoring torque to assist the aircraft to sail stably.

On the basis of the above scheme, further, the aircraft also includes: an emergency dumping module; the emergency dumping module is installed at the bottom of the shell, including: a de-energized electromagnet and a release mechanism; the release mechanism establishes a signal connection with the computer; Water leakage sensor and circuit detection program, if an abnormality is detected, the computer will send a release command to the release mechanism, and the release mechanism will throw the de-energized electromagnet out of the aircraft, and the buoyancy of the aircraft is greater than its own gravity and then automatically float to the sea surface, waiting for the water surface Support ship recovery.

Another technical scheme of the present invention is: a kind of working method of the submarine flight node aircraft of anti-soil adsorption, comprises the following steps:

A. Launch the aircraft into the water;

B. By adjusting the 2 horizontal propellers and 1 vertical propeller carried by the aircraft, the aircraft can sail according to the planned dive path;

C. After the aircraft arrives at the designated position, the aircraft uses the anti-adsorption frame at the bottom to contact the seabed sediments; the aircraft turns off the horizontal thrusters and vertical thrusters, and enters the low-power silent hold mode; the surface support ship is activated by an air gun Artificial seismic source, the seismic detection module in the aircraft monitors and records the seismic waves reflected from the seabed rock formation, and the aircraft records the time and its own attitude information; the tooth-shaped structure at the bottom of the anti-adsorption frame increases the friction between the aircraft and the seabed sediments ;

D. After the monitoring is completed, the surface support ship sends a wake-up signal to the aircraft; the aircraft controls the vertical thrusters to generate upward thrust, and controls the two horizontal thrusters to provide reverse thrust, so that the aircraft leaves the seabed and follows the original planned route rise to the surface of the sea;

E. The vehicle communicates with the surface support vessel, awaiting recovery.

Further, during the submersion process of the aircraft in step B, the aircraft adjusts two horizontal propellers and vertical propellers according to the real-time collected heading angle, acceleration, depth and height information from the seabed; at the same time, the aircraft receives water surface The position feedback information provided by the underwater acoustic beacon baseline array carried by the positioning buoy corrects its own position information.

Beneficial effects: the present invention overcomes the limitations of the existing seabed node vehicle with no power capability and low deployment and recovery efficiency by setting an under-actuated propulsion module. Two horizontal propellers cooperate with vertical propellers, which can Adjust the position of the aircraft to make it move according to the set route; the anti-adsorption frame provided by the invention can prevent the devices installed at the bottom of the shell from contacting the seabed sediments when the aircraft sits on the bottom, thereby reducing the impact of seabed sediments on The adsorption force of the aircraft; the tooth-shaped structure set at the bottom of the anti-adsorption frame can effectively increase the friction force to prevent the aircraft from being displaced by the impact of the ocean current and affect the accuracy of seismic detection. The invention has the characteristics of high deployment and recovery efficiency, strong terrain adaptability, high maneuverability, dense deployment and the like, and is suitable for seabed long-term seismic data acquisition.

Description of drawings

Fig. 1 is the structural composition block diagram of embodiment 1 of the present invention;

Figure 2 is a schematic structural view of the anti-adsorption frame in Example 1 of the present invention;

Fig. 3 is a structural composition block diagram in Embodiment 2 of the present invention;

Fig. 4 is a structural composition block diagram in Embodiment 3 of the present invention;

FIG. 5 is a schematic structural view of Embodiment 3 of the present invention;

In the figure: 1-shell, 2-seismic detection module, 21-three-component detection sensor, 22-hydrophone, 23-seismic signal acquisition board, 24-atomic clock, 3-underactuated propulsion module, 31-horizontal propulsion 32-Vertical thruster, 4-Comprehensive communication module, 41-Underwater acoustic transducer, 42-Iridium communication, 43-GPS positioning system, 44-Radio module, 5-Control and navigation module, 51- Computer, 52-attitude sensor, 53-inertial navigation device, 54-depth gauge, 55-altimeter, 56-magnetic compass, 6-emergency dump module, 61-power-off electromagnet, 62-release mechanism, 7-anti-adsorption Frame, 71-tooth structure, 8-energy module, 81-battery, 82-battery power switch, 83-battery charging and discharging plug.

Detailed ways

Embodiment 1, see accompanying drawing 1, a kind of anti-soil adsorption submarine flight node vehicle, it comprises: shell body 1, seismograph module 2, underactuated propulsion module 3 and anti-adsorption frame 7.

The seismic detection module 2 is installed at the stern end of the bottom of the shell 1, and is used for monitoring and recording seismic waves reflected from the seabed rock formation.

The underactuated propulsion module 3 includes: two horizontal propellers 31 and one vertical propeller 32; the horizontal propellers 31 are symmetrically arranged on both sides of the bottom of the casing 1, and can provide forward and reverse bidirectional thrust in the horizontal direction. Two horizontal propellers 31 work at the same time to control the two degrees of freedom of the aircraft's surge and bow; the vertical propeller 32 is arranged at the bow end of the bottom of the shell 1, which can provide vertical thrust and control the two degrees of freedom of the aircraft's heave and pitch. degrees of freedom; two horizontal propellers 31 and one vertical propeller 32 cooperate with each other to make the aircraft move to the set position.

Referring to accompanying drawing 2, the anti-adsorption frame 7 is installed on the bottom of the shell 1 in a ring shape. When the aircraft sits on the bottom, the anti-adsorption frame 7 is in contact with the seabed sediments, so as to avoid the contact between the devices installed at the bottom of the shell 1 and the seabed sediments. The bottom of the anti-adsorption frame 7 is provided with a toothed structure 71, which can effectively increase the friction to prevent the aircraft from being displaced by the impact of the ocean current and affect the accuracy of seismic detection.

Embodiment 2, referring to FIG. 3 , on the basis of Embodiment 1, further, the aircraft further includes: an integrated communication module 4 , a control and navigation module 5 and an energy module 8 .

The energy module 8 is connected with the control and navigation module 5, and the energy module 8 provides energy supply to other modules through the control and navigation module 5; the control and navigation module 5 is connected with the integrated communication module 4, the seismic detection module 2, and the underactuated propulsion module 3 Establish a signal connection; the control and navigation module 5 communicates with the integrated communication module 4, the seismic detection module 2, and the underactuated propulsion module 3, and the control and navigation module 5 can receive information from the seismic detection module 2 and the integrated communication module 4. Send driving commands to the underactuated propulsion module 3, and send the received information to the surface support ship through the integrated communication module 4.

Specifically, the control and navigation module 5 includes: a computer 51, an attitude sensor 52, an inertial navigation device 53, a depth gauge 54, an altimeter 55, and a magnetic compass 56; The navigation device 53 is used to provide the acceleration information of the aircraft when navigating underwater or on the water surface; the depth gauge 54 and the altimeter 55 are respectively used to provide the depth information of the aircraft's position and its height information from the bottom of the sea; the magnetic compass 56 is used to provide The course angle information of aircraft; Attitude sensor 52, inertial navigation device 53, depth gauge 54, altimeter 55 and magnetic compass 56 all establish signal connection with computer 51; Be used for sending the collected information to computer 51; 31, vertical thruster 32 establish signal connection; Used to send control commands to horizontal thruster 31, vertical thruster 32, control the thrust magnitude and direction of horizontal thruster 31 and vertical thruster 32.

Seismic detection module 2 comprises: three-component detection sensor 21, hydrophone 22, seismic signal acquisition board 23 and atomic clock 24; three-component detection sensor 21, hydrophone 22 all establish signal connection with seismic signal acquisition board 23; Wherein, The three-component detection sensor 21 is used to monitor the seismic wave acceleration in two mutually perpendicular directions on the seabed horizontal plane, and the seismic wave acceleration of the seabed perpendicular to the horizontal plane direction. The three-component detection sensor 21 will monitor the three-component real-time monitoring through the built-in piezoelectric ceramics. The acceleration information is converted into an electrical signal and transmitted to the seismic signal acquisition board 23; the hydrophone 22 is used to receive the acoustic signal of the aircraft on the seabed, and simultaneously converts the acoustic signal into an electrical signal and transmits it to the seismic signal acquisition board 23; the atomic clock 24 is used to To accurately record the time and provide time information for the aircraft; both the seismic signal acquisition board 23 and the atomic clock 24 establish a signal connection with the computer 51 for sending the three-component acceleration information, sound wave signal, and precise time to the computer 51.

The integrated communication module 4 includes: an underwater acoustic transducer 41, an iridium star communication 42, a GPS positioning system 43 and a radio module 44; wherein, the underwater acoustic transducer 41 is used for information transmission with a surface support ship; the iridium star communication 42 It is used for long-distance communication with the surface support ship after the aircraft surfaced; the radio module 44 is used for short-distance communication with the surface support ship after the aircraft surfaced; the GPS positioning system 43 is used for Determine self position information after surfacing; Underwater acoustic transducer 41, iridium star communication 42, GPS positioning system 43 and radio module 44 all establish signal connection with computer 51, and computer 51 realizes self-positioning by GPS positioning system 43, and The communication with the surface support ship is realized through the underwater acoustic transducer 41, the Iridium star communication 42, and the radioless module 44.

The energy module 8 includes: a battery 81; the battery 81 is provided with a battery charging and discharging plug 83; the battery 81 is connected to the computer 51 through a battery power-on switch 82 to provide the aircraft with energy required for safe navigation and operation.

Embodiment 3, see accompanying drawings 4 and 5, on the basis of embodiment 2, further, in order to enhance operational safety, the aircraft also includes: an emergency dump module 6; the emergency dump module 6 is installed at the bottom of the shell 1 , comprising: a de-energized electromagnet 61 and a release mechanism 62; the release mechanism 62 establishes a signal connection with the computer 51; the computer 51 has a built-in water leakage sensor and a circuit detection program, if an abnormality is detected, the computer 51 sends a release command to the release mechanism 62, The release mechanism 62 throws the de-energized electromagnet 61 out of the aircraft, and the buoyancy of the aircraft is greater than its own gravity and then automatically floats to the sea surface, waiting for recovery by the surface support ship.

Embodiment 4, on the basis of Embodiment 1, 2 or 3, further, the aircraft further includes: deep water pressure chamber and solid buoyancy material; shell 1 is streamlined design, which can reduce fluid resistance; arrangement of deep water pressure chamber At the bottom of the hull 1, the solid buoyancy material 8 is arranged in the hull 1. This arrangement makes the center of buoyancy of the aircraft on the top and the center of gravity on the bottom, thereby generating a restoring moment to assist the aircraft to sail stably.

Embodiment 5, a kind of working method of the seabed flying node craft of anti-soil adsorption, comprises the following steps:

A. Before starting the seabed seismic survey data collection, ensure that the various modules of the aircraft can operate normally, and the power of the energy module 8 is sufficient to cover the data collection work; the surface support ship will transport all the anti-navigation vehicles participating in the Haiti seismic survey data collection After reaching the top of the surveyed sea area, all aircraft will be dropped into the water by the hoisting gallows after the initialization process such as position correction and target setting;

B. The aircraft autonomously plans the dive path according to the initial launch position and the target deployment position; the magnetic compass 56, the inertial navigation device 53 and the depth gauge 55 are used to record the heading angle, acceleration and depth information of the aircraft respectively and transmit them to the computer in real time 51, the computer 51 outputs control commands to the two horizontal propellers 31 and one vertical propeller 32, so that the aircraft can track the planned dive path; at the same time, the altimeter 55 collects the distance between the aircraft and the seabed in real time. Height information to avoid collision between the aircraft and the seabed and its attachments during navigation; further, the aircraft receives position feedback information provided by the baseline array of underwater acoustic beacons carried by surface positioning buoys, and corrects its own position information;

In this example, the specific method for the aircraft to correct its own position information is as follows:

In the baseline array of underwater acoustic beacons, each underwater acoustic beacon broadcasts its own GPS position and the launch time of the underwater acoustic signal, and the underwater acoustic communication machine on board the aircraft can detect the arrival time of the underwater acoustic signal and decode it to obtain the current position of the underwater acoustic beacon , according to the underwater acoustic time delay and sound velocity to obtain the geographic slant distance between the node and the acoustic beacon, when the underwater acoustic time delay information of more than three different beacons is obtained, the long baseline positioning principle is used to calculate the absolute underwater position of the node;

C. After the aircraft arrives at the designated position, the aircraft uses the anti-adsorption frame 7 at the bottom to contact the seabed sediments. The anti-adsorption frame 7 keeps the bottom of the aircraft and the devices installed on the bottom of the marketer at a certain distance from the seabed sediments , thereby reducing the adsorption force of seabed sediments to the aircraft; the aircraft turns off the horizontal propeller 31 and the vertical propeller 32, and enters the low-power consumption mute mode; Module 2 monitors and records the seismic waves reflected from the seabed rock formation, and the aircraft records the time and its own attitude information; the tooth-shaped structure at the bottom of the anti-adsorption frame increases the friction between the aircraft and the seabed sediments, and avoids the displacement of the aircraft by the impact of ocean currents , affecting the accuracy of seismic detection;

D. After the monitoring is completed, the surface support ship sends a wake-up signal to the aircraft; the aircraft controls the vertical thruster 32 to generate upward thrust, and controls two horizontal thrusters 31 to provide reverse thrust, and the aircraft generates steering torque to overcome seabed adsorption Force and then break away from the seabed, and float to the sea surface according to the original planned route;

E. The aircraft uploads the GPS position; communicates with the surface support ship through Iridium communication, and finally all the aircraft are recovered by the surface support ship.

Although the present invention has been described in detail with general descriptions and specific examples above, it is obvious to those skilled in the art that some modifications or improvements can be made on the basis of the present invention. Therefore, the modifications or improvements made on the basis of not departing from the spirit of the present invention all belong to the protection scope of the present invention.

Claims (10)

1. an anti-soil adsorption seabed flight node aircraft, it comprises: a housing (1) and a seismograph module (2) installed at the bottom stern of the housing (1), it is characterized in that the aircraft Also includes: an underactuated propulsion module (3) and an anti-adsorption frame (7); The under-actuated propulsion module (3) includes: 2 horizontal propellers (31) and 1 vertical propeller (32); the horizontal propellers (31) are symmetrically arranged on the casing (1) On both sides of the bottom, the vertical propeller (32) is arranged at the bottom bow of the casing (1); The anti-adsorption frame (7) is installed on the bottom of the housing (1) to prevent the devices installed on the bottom of the housing (1) from contacting the seabed sediments; the anti-adsorption frame (7) The bottom is provided with a toothed structure (71). 2. a kind of anti-soil adsorption seabed flight node vehicle as claimed in claim 1, is characterized in that: described vehicle also comprises: integrated communication module (4), control and navigation module (5) and energy module ( 8); The energy module (8) is connected to the control and navigation module (5), and the control and navigation module (5) is connected to the integrated communication module (4), the seismic detection module (2), the ower The driven propulsion module (3) establishes a signal connection. 3. a kind of anti-soil adsorption seabed flight node vehicle as claimed in claim 2, is characterized in that: described control and navigation module (5) comprises: computer (51), attitude sensor (52), inertial navigation device (53), depth gauge (54), altimeter (55) and magnetic compass (56); The attitude sensor (52), the inertial navigation device (53), the depth gauge (54), the altimeter (55) and the magnetic compass (56) all establish signal connections with the computer (51) ; The computer (51) establishes signal connections with the horizontal thruster (31) and the vertical thruster (32). 4. a kind of anti-soil adsorption seabed flight node vehicle as claimed in claim 3, is characterized in that: described seismic detection module (2) comprises: three-component detection sensor (21), hydrophone (22) , a seismic signal acquisition board (23) and an atomic clock (24); wherein: the three-component detection sensor (21), the hydrophone (22) all establish a signal connection with the seismic signal acquisition board (23); Both the seismic signal acquisition board (23) and the atomic clock (24) establish a signal connection with the computer (51). 5. a kind of anti-soil adsorption seabed flight node vehicle as claimed in claim 4, is characterized in that: described integrated communication module (4) comprises: underwater acoustic transducer (41), iridium star communication (42) , GPS positioning system (43) and radio module (44); The underwater acoustic transducer (41), the iridium communication (42), the GPS positioning system (43) and the radio module (44) all establish a signal connection with the computer (51). 6. a kind of anti-soil adsorption seabed flight node vehicle as claimed in claim 5, is characterized in that: described energy module (8) comprises: battery (81); Described battery (81) is provided with battery charging and discharging A plug (83); the battery (81) is connected to the computer (51) through a battery power switch (82). 7. A kind of anti-soil adsorption submarine flight node aircraft as claimed in any one of claims 2-6, characterized in that: said aircraft also includes: deep water pressure-resistant cabin and solid buoyancy material; said deep water resistant A ballast chamber is arranged at the bottom of the shell (1), and the solid buoyancy material (8) is arranged inside the shell (1). 8. A kind of anti-soil adsorption submarine flight node aircraft as claimed in any one of claims 3-6, characterized in that: said aircraft also includes: an emergency dump module (6); said emergency dump The module (6) is installed at the bottom of the casing (1), and includes: a de-energized electromagnet (61) and a release mechanism (62); the release mechanism (62) establishes a signal connection with the computer (51). 9. A working method of an anti-soil adsorption submarine flight node vehicle, characterized in that: comprising the following steps: A. Launch the aircraft into the water; B. By adjusting the two horizontal propellers (31) and one vertical propeller (32) carried by the aircraft, the aircraft can sail according to the planned submerged path; C. After the aircraft arrives at the designated position, the aircraft utilizes the anti-adsorption frame (7) at its bottom to contact the seabed sediments; the aircraft closes the horizontal propeller (31) and the vertical propulsion The device (32) enters the low power consumption mute hold mode; the surface support ship excites the artificial seismic source through the air gun, and the aircraft monitors and records the seismic wave reflected from the seabed rock formation, and records the time and its own attitude information; the anti-adsorption frame (7) The toothed structure at the bottom increases the friction between the vehicle and the seabed sediment; D. After the monitoring is completed, the surface support ship sends a wake-up signal to the aircraft; the aircraft controls the vertical thruster (32) to generate upward thrust, and controls the two horizontal thrusters (31 ) provides reverse thrust to cause the craft to break away from the seabed and float to the surface of the sea along its original planned route; E. The vehicle is in communication with the surface support vessel, awaiting recovery. 10. the working method of a kind of anti-soil adsorption seabed flight node aircraft as claimed in claim 9, is characterized in that: in the process that described step B aircraft dives, described aircraft according to the heading of real-time collection Angle, acceleration, depth and height information from the bottom of the sea adjust the two horizontal propellers (31) and the vertical propellers (32); meanwhile, the aircraft receives the baseline of the hydroacoustic beacon carried by the surface positioning buoy The position feedback information provided by the array is used to correct its own position information.