CN108037534B - Underwater sound array device based on underwater mobile platform - Google Patents
Underwater sound array device based on underwater mobile platform Download PDFInfo
- Publication number
- CN108037534B CN108037534B CN201711445422.XA CN201711445422A CN108037534B CN 108037534 B CN108037534 B CN 108037534B CN 201711445422 A CN201711445422 A CN 201711445422A CN 108037534 B CN108037534 B CN 108037534B
- Authority
- CN
- China
- Prior art keywords
- underwater
- data
- data transmission
- module
- array
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 63
- 230000005540 biological transmission Effects 0.000 claims description 71
- 238000007726 management method Methods 0.000 claims description 29
- 238000012545 processing Methods 0.000 claims description 28
- 238000013500 data storage Methods 0.000 claims description 18
- 238000004458 analytical method Methods 0.000 claims description 15
- 238000005070 sampling Methods 0.000 claims description 14
- 238000012544 monitoring process Methods 0.000 claims description 5
- 238000012360 testing method Methods 0.000 claims description 5
- 230000003750 conditioning effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 230000002035 prolonged effect Effects 0.000 claims description 2
- 238000011835 investigation Methods 0.000 abstract description 7
- 230000035515 penetration Effects 0.000 abstract description 6
- 239000013535 sea water Substances 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 11
- 108010066114 cabin-2 Proteins 0.000 description 8
- 238000001514 detection method Methods 0.000 description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 230000003068 static effect Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 239000000084 colloidal system Substances 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 238000013524 data verification Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000010892 electric spark Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000002706 hydrostatic effect Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000000644 propagated effect Effects 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/38—Seismology; Seismic or acoustic prospecting or detecting specially adapted for water-covered areas
- G01V1/3843—Deployment of seismic devices, e.g. of streamers
- G01V1/3852—Deployment of seismic devices, e.g. of streamers to the seabed
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/38—Seismology; Seismic or acoustic prospecting or detecting specially adapted for water-covered areas
- G01V1/3817—Positioning of seismic devices
- G01V1/3835—Positioning of seismic devices measuring position, e.g. by GPS or acoustically
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Environmental & Geological Engineering (AREA)
- Acoustics & Sound (AREA)
- Oceanography (AREA)
- General Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- Geophysics (AREA)
- Radar, Positioning & Navigation (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The invention discloses an underwater sound array device based on an underwater moving platform, which is connected with the underwater moving platform; the underwater sound array device includes: the device comprises an externally hung self-contained acquisition cabin, a multi-channel hydrophone linear array and a mounting mechanism; the externally hung self-contained acquisition cabin is externally hung and fixed on the underwater mobile platform through the mounting mechanism; the externally hung self-contained acquisition cabin is connected with the underwater mobile platform, and the externally hung self-contained acquisition cabin is also connected with the multi-channel hydrophone linear array. When the device disclosed by the invention is used for carrying out seismic exploration operation in deep sea areas, the great attenuation of large-depth seawater to sound waves is avoided, the seismic exploration resolution is improved, and the stratum penetration depth is increased. When the underwater acoustic investigation device is applied to underwater acoustic investigation, the underwater moving platform is conveniently controlled to navigate and move to the seabed at another position to be stationary again, so that the time for recovering and redisplaying the underwater acoustic array is saved, and the working efficiency is improved.
Description
Technical Field
The invention relates to the technical field of geophysical exploration and underwater acoustic investigation, in particular to an underwater acoustic array device based on an underwater mobile platform.
Background
Conventional marine seismic exploration typically tows a towed array of hydrophones at the sea surface, receives seismic waves reflected off the sea floor, and further analyzes and determines the geological condition of the sea floor by computing and mapping the acquired data. When the conventional seismic detection mode works in a deep sea area, due to the fact that sea water attenuates sound waves (particularly high-frequency sound waves) greatly, the detection resolution and penetration depth of conventional seismic equipment on deep sea stratum are reduced.
Conventional underwater acoustic surveys typically employ submerged markers to deploy one or more hydrophone arrays on the ocean floor, receive acoustic signals scattered off the ocean floor or sea surface and propagated through the body of water, and further analyze and study the underwater acoustic propagation law by computing and mapping the acquired data. The conventional underwater acoustic investigation mode needs to distribute and recycle the submerged buoy for multiple times at different places, and has low working efficiency.
Disclosure of Invention
The invention aims to provide an underwater sound array device based on an underwater moving platform, so as to improve detection resolution, penetration depth and working efficiency.
In order to achieve the above object, the present invention provides an underwater sound array device based on an underwater moving platform, the underwater sound array device being connected to the underwater moving platform; the underwater sound array device includes: the device comprises an externally hung self-contained acquisition cabin, a multi-channel hydrophone linear array and a mounting mechanism; the externally hung self-contained acquisition cabin is externally hung and fixed on the underwater mobile platform through the mounting mechanism; the externally hung self-contained acquisition cabin is connected with the underwater mobile platform, and the externally hung self-contained acquisition cabin is also connected with the multi-channel hydrophone linear array.
Optionally, the underwater sound array device further includes: the accessory mechanism is connected with the multi-channel hydrophone linear array; the accessory mechanism comprises a drag parachute and a buoyancy block; the drag parachute is used for enabling the multi-channel hydrophone linear array to stably operate in the posture during underwater navigation operation; the buoyancy block is used for enabling the multi-channel hydrophone linear array to present positive buoyancy of Microsoft.
Optionally, the underwater sound 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 with the tail part of the underwater mobile platform, and the other end of the connecting rod is connected with the multi-channel hydrophone linear array in a hanging mode; the tail towing mechanism is used for bearing towing pulling force of the multi-channel hydrophone linear array in the navigation process.
Optionally, the multi-channel hydrophone linear array includes: the device comprises a front guide cable, a front elastic mechanism, n data acquisition devices, n+1 data transmission devices and a rear elastic mechanism;
The front cable is connected with the front elastic mechanism, the front elastic mechanism is connected with the first data transmission device, n+1 data transmission devices are arranged in series with n digital acquisition devices at intervals, and the n+1 data transmission devices are connected with the rear elastic mechanism; wherein n is an integer of 1 or more.
Optionally, the digital acquisition device includes: the digital acquisition device comprises: the system comprises a plurality of data acquisition and processing mechanisms, p hydrophones and q hydrophones; p is an integer of 1 or more, q is an integer of 1 or more;
each hydrophone is used for converting the seismic signals into seismic analog signals;
Each hydrophone channel is used for placing a plurality of hydrophones and receiving the seismic analog signals sent by each hydrophone;
Each data acquisition processing mechanism is respectively connected with a plurality of hydrophone channels and is used for conditioning and converting a plurality of seismic analog signals sent by each hydrophone channel to obtain seismic data.
Optionally, n+1 data transmission devices are sequentially connected in series through wires, and the current data transmission device is used for transmitting the received control instruction to the next data transmission device; the current data transmission device is also used for receiving the seismic data sent by the next data transmission device and the seismic data acquired by a plurality of data acquisition processing mechanisms connected with the current data transmission device.
Optionally, the externally hung self-contained collection cabin is a sealed shell; the externally hung self-contained acquisition cabin comprises: the system comprises a data acquisition unit, a battery pack, a data storage array and a platform interface;
the data acquisition unit is connected with the first data transmission device and is used for acquiring the seismic data sent by the first data transmission device and analyzing the seismic data; the data acquisition unit is also used for sending a control instruction to the first data transmission device;
the data storage array is connected with the data acquisition unit and is used for storing data acquired by the data acquisition unit after acquisition and analysis;
the battery pack is connected with the data acquisition unit and is used for providing electric energy for the data acquisition unit;
The platform interface is used for connecting the underwater mobile platform with the data acquisition unit.
Optionally, the data acquisition unit includes: the system comprises a microprocessor module, a logic control module, a data transmission interface module, a random access memory, an in-machine self-checking module, a clock management module, a power management module, an Ethernet interface module and a storage management module;
the clock management module is used for ensuring accurate time;
The built-in self-checking module is used for monitoring and testing each system in real time;
the data transmission interface module is used for connecting a first data transmission device to realize data transmission;
the Ethernet interface module is used for connecting with a control device of a previous stage to realize data transmission;
the power management module is connected with the battery pack and is used for managing the battery pack, so that overcharge and overdischarge of the battery pack are avoided, and the service life of the battery pack is prolonged;
the logic control module is respectively connected with the clock management module, the built-in self-checking module, the data transmission interface module and the Ethernet interface module; the logic control module is used for analyzing and processing the seismic data transmitted by the data transmission interface module; the logic control module is also used for sending the control instruction to the next data transmission device;
the storage management module is respectively connected with the logic control module and the data storage array, and is used for managing data obtained after analysis processing, which is sent to the data storage array by the logic control module;
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 for receiving the data obtained after the analysis processing sent by the logic control module and sending the data obtained after the analysis processing to the underwater mobile platform in real time; the microprocessor module is also used for sending the adoption interval, the sampling rate and the record length to the logic control module;
The random access memory is connected with the microprocessor module and is used for improving the processing speed of the microprocessor module.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
The invention provides an underwater sound array device based on an underwater moving platform, which is connected with the underwater moving platform; the underwater sound array device includes: the device comprises an externally hung self-contained acquisition cabin, a multi-channel hydrophone linear array and a mounting mechanism; the externally hung self-contained acquisition cabin is externally hung and fixed on the underwater mobile platform through the mounting mechanism; the externally hung self-contained acquisition cabin is connected with the underwater mobile platform, and the externally hung self-contained acquisition cabin is also connected with the multi-channel hydrophone linear array. Compared with the prior art, the invention has the following advantages: (1) The device can be conveniently applied to an underwater mobile platform; (2) When the device disclosed by the invention is used for carrying out earthquake detection operation in a deep sea area, as the underwater sound receiving array is towed near the sea bottom, compared with sea surface receiving, the device avoids the great attenuation of sound waves (particularly high-frequency sound waves) by the sea water with great depth, improves the earthquake detection resolution and increases the stratum penetration depth. (3) When the underwater moving platform is applied to underwater acoustic investigation, the underwater moving platform can be static on the sea floor at a certain position, and after one operation place is finished, the underwater moving platform can be conveniently controlled to navigate and move to the sea floor at another position to be static again, so that the time for recovering and redisplaying the underwater acoustic array is saved, and the working efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an underwater acoustic array device based on an underwater mobile platform according to an embodiment of the present invention;
FIG. 2 is a block diagram of an underwater acoustic array device based on an underwater mobile platform according to an embodiment of the present invention;
FIG. 3 is a block diagram of a data acquisition unit according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a multi-channel hydrophone linear array configuration in accordance with an embodiment of the invention;
fig. 5 is a diagram of the data transmission topology of a multi-channel hydrophone linear array in accordance with an embodiment of the invention.
Wherein, 1, an underwater mobile platform, 2, an externally hung self-contained acquisition cabin, 201, a data acquisition unit, 202, a data storage array, 203, a battery pack, 204, a platform interface, 3, a mounting mechanism, 4, a multi-channel hydrophone linear array, 401 and a front cable, 402, front elastic mechanism, 403, data transmission device, 404, digital acquisition device, 4041, data acquisition processing mechanism, 4042, hydrophone channel, 4043, hydrophone, 405, rear elastic mechanism, 5, tail towing mechanism, 6, fitting mechanism.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide an underwater sound array device based on an underwater moving platform, so as to improve detection resolution, penetration depth and working efficiency.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
FIG. 1 is a schematic diagram of an underwater acoustic array device based on an underwater mobile platform according to an embodiment of the present invention; fig. 1 (a) is a view showing a structure of the underwater acoustic array device when the underwater navigation is performed, and fig. 1 (b) is a view showing a structure of the underwater acoustic array device when the underwater acoustic array device is in a stationary state; as shown in fig. 1, the invention provides an underwater sound array device based on an underwater moving platform, wherein the underwater sound array device is connected with the underwater moving platform 1; the underwater sound array device includes: the device comprises an externally hung self-contained acquisition cabin 2, a multi-channel hydrophone linear array 4 and a mounting mechanism 3; the externally hung self-contained acquisition cabin 2 is externally hung and fixed on the underwater mobile platform 1 through the mounting mechanism 3; the externally hung self-contained acquisition cabin 2 is connected with a load interface of the underwater mobile platform 1, and the externally hung self-contained acquisition cabin 2 is also connected with the multi-channel hydrophone linear array 4.
The externally hung self-contained acquisition cabin 2 is connected with a load interface of the underwater mobile platform 1 through a water-tight connector; the externally hung self-contained acquisition cabin 2 is connected with the multi-channel hydrophone linear array 4 through a watertight connector, and the watertight connector can bear the deep hydrostatic pressure of not less than 10 mPa.
The underwater sound array device of the present invention further comprises: the fitting mechanism 6 is connected with the multi-channel hydrophone linear array 4; the accessory mechanism 6 comprises a drag parachute and a buoyancy block; the drag parachute is used for enabling the multi-channel hydrophone linear array 4 to stably operate in the posture during underwater navigation operation; the buoyancy block is used for enabling the multi-channel hydrophone linear array 4 to present positive buoyancy of Microsoft.
In the invention, when the underwater moving platform 1 operates underwater, the multi-channel hydrophone linear array 4 is towed at the tail of the underwater moving platform 1, and in order to stabilize the posture of the multi-channel hydrophone linear array 4, a drag parachute is arranged at the tail of the multi-channel hydrophone linear array 4 and is connected with a rear elastic mechanism 405, and the detail is shown in (a) in fig. 1 and (a) in fig. 4.
When the underwater mobile platform 1 can be stationary at the seabed or hovered at a certain water depth position, the multi-channel hydrophone linear array 4 is in a nearly vertical state due to the fact that the multi-channel hydrophone linear array 4 generally presents positive buoyancy of Microsoft, and particularly, the multi-channel hydrophone linear array 4 is shown in (b) in fig. 1 and (b) in fig. 4.
The underwater sound array device of the present invention further comprises: 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 with the tail part of the underwater mobile platform 1, and the other end of the connecting rod is hung on the multi-channel hydrophone linear array 4; the tail towing mechanism 5 is used for bearing towing pulling force of the multi-channel hydrophone linear array 4 during navigation.
The underwater mobile platform 1 of the present invention comprises various types of underwater vehicles including, but not limited to, autonomous Underwater Vehicles (AUV), remotely controlled unmanned vehicles (ROV), underwater gliders (Glider).
The underwater mobile platform 1 also comprises an autonomous controller, a navigation controller, a load controller and a load interface. The autonomous controller is responsible for executing the given voyage planning and perceiving the environmental parameters, and optimizing or re-carrying out the voyage planning when the environment is unfavorable; the navigational controller is responsible for controlling the aircraft elements (energy, communication, propulsion, recording, navigation) and monitoring the aircraft status; the load interface is responsible for connecting with a load; the load controller performs load planning, controls load elements (sensors, recording, actuators) and monitors load conditions.
FIG. 4 is a schematic diagram of a multi-channel hydrophone linear array configuration in accordance with an embodiment of the invention; wherein (a) in fig. 4 is a schematic diagram of a horizontal array structure, (b) is a schematic diagram of a vertical array structure, and fig. 5 is a data transmission topology structure diagram of a multi-channel hydrophone linear array according to an embodiment of the present invention; as shown in fig. 4-5, the multi-channel hydrophone linear array 4 of the present invention includes: a front cable 401, a front elastic mechanism 402, n data acquisition devices 404, n+1 data transmission devices 403, a rear elastic mechanism 405; the front cable 401 is connected with the front elastic mechanism 402, the front elastic mechanism 402 is connected with the first data transmission device 403, n+1th data transmission devices 403 are arranged in series with n digital acquisition devices 404 at intervals, and the n+1th data transmission devices 403 are connected with the rear elastic mechanism 405; wherein n is an integer of 1 or more.
The leading cable 401 plays a role in traction; the front elastic mechanism 402 is used for isolating mechanical vibration generated by the underwater moving platform 1; the data acquisition device 404 is used for acquiring seismic data; the rear spring 405 serves to isolate tail noise.
In the invention, n+1 data transmission devices 403 are sequentially connected in series through wires, and the current data transmission device 403 is used for transmitting the received control instruction to the next data transmission device 403; the current data transmission device 403 is further configured to receive the seismic data sent by the next data transmission device 403 and the seismic data acquired by the plurality of data acquisition processing mechanisms 4041 connected to the current data transmission device 403.
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 hydrophones 4042 and q hydrophones 4043; p is an integer of 1 or more, q is an integer of 1 or more; each hydrophone 4043 is configured to convert seismic signals into seismic analog signals; each hydrophone channel 4042 is used for placing a plurality of hydrophones 4043 and receiving the seismic analog signals sent by each hydrophone 4043; a plurality of hydrophones 4043 connected in parallel or in series; each data acquisition processing mechanism 4041 is respectively connected with a plurality of hydrophone channels 4042, and is used for conditioning and converting a plurality of seismic analog signals sent by each hydrophone channel 4042 to obtain seismic data.
The inside of the multi-channel hydrophone linear array 4 is filled with buoyancy materials which can be liquid, colloid or solid.
The externally hung self-contained collection cabin 2 is a sealed shell; the externally hung self-contained acquisition cabin 2 comprises: a data acquisition unit 201, a battery pack 203, a data storage array 202, and a platform interface 204; the data acquisition unit 201 is connected to the first data transmission device 403, and the data acquisition unit 201 is configured to acquire the seismic data sent by the first data transmission device 403, and perform analysis processing on the seismic data; the data acquisition unit 201 is further configured to send a control instruction to the first data transmission device 403; the data storage array 202 is connected with the data acquisition unit 201, and the data storage array 202 is used for storing data acquired by the data acquisition unit 201 after analysis processing; the battery set 203 is connected with the data acquisition unit 201, and the battery set 203 is used for providing electric energy for the data acquisition unit 201; the platform interface 204 is used for connecting the underwater mobile platform 1 and the data acquisition unit 201.
The data storage array 202 of the present invention may be an SD card, hard disk, or other device.
Fig. 3 is a block diagram of a data acquisition unit according to an embodiment of the present invention, and as shown in fig. 3, a data acquisition unit 201 according to the present invention includes: the system comprises a microprocessor module, a logic control module, a data transmission interface module, a random access memory, an in-machine self-checking module, a clock management module, a power management module, an Ethernet interface module and a storage management module.
The clock management module is used for ensuring accurate time; specifically, the time for acquiring the seismic data is ensured to be accurate; the clock management module is a high-precision crystal oscillator or takes an atomic clock as a clock source.
The built-in self-checking module is used for monitoring and testing each system in real time; each system comprises a power supply system, a storage system, a communication system and a task command system.
The data transmission interface module of the present invention is connected to a first data transmission device 403, and is used for realizing data transmission; the data transmission interface module is internally embedded with the same transmission protocol as the data transmission device 403.
The Ethernet interface module is used for being connected with the control equipment of the previous stage and is used for realizing the transmission of data and control commands.
The power management module manages the battery pack 203, avoids overcharging and overdischarging of the battery pack 203, and prolongs the service life of the battery pack 203; at the same time, the voltage of the battery 203 is isolated and transformed, and the low-voltage direct-current power supply generating proper voltage is supplied to the control circuit of the data acquisition unit 201.
The logic control module is respectively connected with the clock management module, the built-in self-checking 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, analyzes the seismic data, sends the data obtained after analysis to the microprocessor module in real time, and sends the data to the data storage array 202 for storage in real time through the storage management module. The analysis processing comprises the recognition processing work of data verification, rearrangement and partial control information; the logic control module is further configured to send the control instruction to the next data transmission device 403.
The storage management module is respectively connected with the logic control module and the data storage array 202, and is used for managing data obtained after analysis processing, which is sent to the data storage array 202 by the logic control module; the memory management module comprises a high-speed memory array and an array management circuit thereof.
The microprocessor module is respectively connected with the logic control module, the power management module and the underwater vehicle; the microprocessor module is used for receiving the data obtained after the analysis processing sent by the logic control module and sending the data obtained after the analysis processing to the underwater vehicle in the underwater mobile platform in real time; the microprocessor module is also used for sending the adoption interval, the sampling rate and the record length to the logic control module; the microprocessor module is the control core of the data acquisition unit 201.
The random access memory is connected with the microprocessor module and used for improving the processing speed of the microprocessor module; the random access memory is a DDR double rate synchronous dynamic random access memory.
The data acquisition unit 201 of the present invention may operate in an automatic mode or in a controlled mode; when the device works in an automatic mode, data underwater sound data acquisition is automatically carried out at a set fixed adoption interval according to parameters such as a sampling interval, a sampling rate, a sampling length and the like which are set by a user in advance. 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 an adoption interval, a sampling rate, a sampling length and the like of the data acquisition unit 201, and the underwater mobile platform 1 can also control the starting and closing of the data acquisition unit 201 through a load controller.
Embodiment one:
the specific working steps are as follows:
(1) The survey vessel arrives at the given working sea area.
(2) The user sets the data acquisition unit 201 through the network interface (wired or wireless), sets working parameters such as sampling interval, sampling rate, sampling length and the like, sets the data acquisition unit 201 to work in an automatic working mode, and the test equipment is in a normal working state.
(3) The externally hung self-contained collection cabin is hung on an Autonomous Underwater Vehicle (AUV) through a mounting mechanism 3.
(4) The multi-channel hydrophone linear array 4 is arranged at the tail of the AUV through a tail dragging mechanism 5 and is connected with the externally hung self-contained acquisition cabin. And a drag parachute is additionally arranged at the tail part of the multi-channel hydrophone linear array 4.
(5) Setting AUV working parameters, and laying the AUV to the sea surface, wherein the AUV sails according to the set working parameters, working depth and working route.
(6) The sound source emission is artificial source seismic waves, and the sound source can be a sound source towed at the stern of a survey vessel or an AUV self-contained sound source.
(7) The multi-channel hydrophone linear array 4 is towed at the tail of the AUV in a horizontal state only.
(8) The multi-channel hydrophone linear array 4 data acquisition device hydrophone 4043 acquires the seismic wave signals reflected by the stratum, converts the seismic wave signals from acoustic signals into analog electrical signals, converts the analog electrical signals into digital electrical signals by the data transmission device 403, and uploads the digital electrical signals to the data acquisition unit 201. The data acquisition unit 201 stores the multi-channel seismic signals with the data storage array 202.
(9) Command AUV return after work is finished the water surface reaches the vicinity of the survey vessel.
(10) The AUV and its underwater acoustic towing matrix are recovered to the survey vessel deck.
(11) And (5) the multichannel seismic data are restored and backed up.
(12) The AUV and collection cabin battery 203 is charged in preparation for the next stage deployment.
In the embodiment of the invention, the sound source used in marine seismic exploration is generally an air gun sound source, an electric spark sound source, a transducer sound source and the like.
Embodiment two:
the specific working steps are as follows:
(1) The survey vessel arrives at the given working sea area.
(2) The user sets the data acquisition unit 201 through the network interface (wired or wireless), sets working parameters such as sampling interval, sampling rate, sampling length and the like, sets the data acquisition unit 201 to work in an automatic working mode, and the test equipment is in a normal working state.
(3) The externally hung self-contained collection cabin is hung on an Autonomous Underwater Vehicle (AUV) through a mounting mechanism 3.
(4) The multi-channel hydrophone linear array 4 is arranged at the tail of the AUV through a tail dragging mechanism 5 and is connected with the externally hung self-contained acquisition cabin.
(5) Setting AUV working parameters, laying the AUV to the sea surface, sailing the AUV according to the set working parameters, reaching the seabed at the designated position, and stopping the AUV to rest on the seabed.
(6) The sound source may be a manually emitted sound wave, such as a sound source that is suspended or towed at the stern of a survey vessel; but also noise sources such as noise generated by nearby ships.
(7) The multi-channel hydrophone linear array 4 is only vertical at the tail of the AUV.
(8) The multi-channel hydrophone linear array 4 data acquisition device hydrophone 4043 acquires acoustic signals transmitted through a water body, converts the acoustic signals into analog electrical signals, converts the analog electrical signals into digital electrical signals by the data transmission device 403, and uploads the digital electrical signals to the data acquisition unit 201. The data acquisition unit 201 stores the multichannel underwater acoustic signal with the data storage array 202.
(9) Command AUV return after work is finished the water surface reaches the vicinity of the survey vessel.
(10) The AUV and its underwater acoustic towing matrix are recovered to the survey vessel deck.
(11) And (5) the multichannel underwater sound data are restored and backed up.
(12) The AUV and collection cabin battery 203 is charged in preparation for the next stage deployment.
The second embodiment of the invention is used for marine acoustic investigation, and the used sound source comprises noise sources generated by ships such as surrounding submarines and the like besides the sound source, and is suitable for monitoring, anti-diving and the like.
The invention has the following advantages:
(1) The device of the invention can be conveniently applied to the underwater mobile platform 1.
(2) When the device disclosed by the invention is used for carrying out earthquake detection operation in a deep sea area, as the underwater sound receiving array is towed near the sea bottom, compared with sea surface receiving, the device avoids the great attenuation of sound waves (particularly high-frequency sound waves) by the sea water with great depth, improves the earthquake detection resolution and increases the stratum penetration depth.
(3) When the underwater moving platform 1 is applied to underwater acoustic investigation, the underwater moving platform 1 can be static on the sea floor at a certain position, and after one operation place is finished, the underwater moving platform 1 can be conveniently controlled to navigate and move to the sea floor at another position to be static again, so that the time for recovering and redisplaying the underwater acoustic array is saved, and the working efficiency is greatly improved.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (6)
1. An underwater sound array device based on an underwater moving platform is characterized in that the underwater sound array device is connected with the underwater moving platform; the underwater sound array device includes: the device comprises an externally hung self-contained acquisition cabin, a multi-channel hydrophone linear array, a mounting mechanism and an accessory mechanism; the externally hung self-contained acquisition cabin is externally hung and fixed on the underwater mobile platform through the mounting mechanism; the externally hung self-contained acquisition cabin is connected with the underwater mobile platform and is also connected with the multi-channel hydrophone linear array;
The underwater sound array device further includes: the device comprises a tail towing mechanism, a front guide cable, a front elastic mechanism, n data acquisition devices, n+1 data transmission devices and a rear elastic mechanism; the tail dragging mechanism is a Z-shaped or L-shaped connecting rod; one end of the connecting rod is fixedly connected with the tail part of the underwater mobile platform, and the other end of the connecting rod is connected with the multi-channel hydrophone linear array in a hanging mode; the tail towing mechanism is used for bearing towing tension of the multi-channel hydrophone linear array in the navigation process;
The accessory mechanism is connected with the multi-channel hydrophone linear array; the accessory mechanism comprises a drag parachute and a buoyancy block; the drag parachute is used for enabling the multi-channel hydrophone linear array to stably operate in the posture during underwater navigation operation; the buoyancy block is used for enabling the multi-channel hydrophone linear array to present positive buoyancy of Microsoft;
The drag parachute is arranged at the tail part of the multi-channel hydrophone linear array and is connected with the rear elastic mechanism.
2. The underwater acoustic array device of claim 1, wherein the front cable is connected to the front elastic mechanism, the front elastic mechanism is connected to a first one of the data transmission devices, n+1 of the data transmission devices are arranged in series with n of the data acquisition devices at intervals, and n+1 of the data transmission devices are connected to the rear elastic mechanism; wherein n is an integer of 1 or more.
3. The hydroacoustic array device of claim 2, wherein the digital acquisition device comprises: the digital acquisition device comprises: the system comprises a plurality of data acquisition and processing mechanisms, p hydrophones and q hydrophones; p is an integer of 1 or more, q is an integer of 1 or more;
each hydrophone is used for converting the seismic signals into seismic analog signals;
Each hydrophone channel is used for placing a plurality of hydrophones and receiving the seismic analog signals sent by each hydrophone;
Each data acquisition processing mechanism is respectively connected with a plurality of hydrophone channels and is used for conditioning and converting a plurality of seismic analog signals sent by each hydrophone channel to obtain seismic data.
4. A hydroacoustic array device according to claim 3, wherein n+1 of the data transmission devices are connected in series in sequence by wires, the current data transmission device being adapted to transmit the received control command to the next data transmission device; the current data transmission device is also used for receiving the seismic data sent by the next data transmission device and the seismic data acquired by a plurality of data acquisition processing mechanisms connected with the current data transmission device.
5. The hydroacoustic array device of claim 2, wherein the externally hung self-contained collection pod is a sealed housing; the externally hung self-contained acquisition cabin comprises: the system comprises a data acquisition unit, a battery pack, a data storage array and a platform interface;
the data acquisition unit is connected with the first data transmission device and is used for acquiring the seismic data sent by the first data transmission device and analyzing the seismic data; the data acquisition unit is also used for sending a control instruction to the first data transmission device;
the data storage array is connected with the data acquisition unit and is used for storing data acquired by the data acquisition unit after acquisition and analysis;
the battery pack is connected with the data acquisition unit and is used for providing electric energy for the data acquisition unit;
The platform interface is used for connecting the underwater mobile platform with the data acquisition unit.
6. The hydroacoustic array device of claim 5, wherein the data acquisition unit comprises: the system comprises a microprocessor module, a logic control module, a data transmission interface module, a random access memory, an in-machine self-checking module, a clock management module, a power management module, an Ethernet interface module and a storage management module;
the clock management module is used for ensuring accurate time;
The built-in self-checking module is used for monitoring and testing each system in real time;
the data transmission interface module is used for connecting a first data transmission device to realize data transmission;
the Ethernet interface module is used for connecting with a control device of a previous stage to realize data transmission;
the power management module is connected with the battery pack and is used for managing the battery pack, so that overcharge and overdischarge of the battery pack are avoided, and the service life of the battery pack is prolonged;
the logic control module is respectively connected with the clock management module, the built-in self-checking module, the data transmission interface module and the Ethernet interface module; the logic control module is used for analyzing and processing the seismic data transmitted by the data transmission interface module; the logic control module is also used for sending the control instruction to the next data transmission device;
the storage management module is respectively connected with the logic control module and the data storage array, and is used for managing data obtained after analysis processing, which is sent to the data storage array by the logic control module;
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 for receiving the data obtained after the analysis processing sent by the logic control module and sending the data obtained after the analysis processing to the underwater mobile platform in real time; the microprocessor module is also used for sending the adoption interval, the sampling rate and the record length to the logic control module;
The random access memory is connected with the microprocessor module and is used for improving the processing speed of the microprocessor module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711445422.XA CN108037534B (en) | 2017-12-27 | 2017-12-27 | Underwater sound array device based on underwater mobile platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711445422.XA CN108037534B (en) | 2017-12-27 | 2017-12-27 | Underwater sound array device based on underwater mobile platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108037534A CN108037534A (en) | 2018-05-15 |
| CN108037534B true CN108037534B (en) | 2024-08-27 |
Family
ID=62098059
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711445422.XA Active CN108037534B (en) | 2017-12-27 | 2017-12-27 | Underwater sound array device based on underwater mobile platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108037534B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108490385B (en) * | 2018-06-13 | 2023-10-17 | 杭州仁牧科技有限公司 | Multi-channel marine underwater sound collector |
| CN108519620B (en) * | 2018-07-11 | 2020-06-05 | 哈尔滨工程大学 | Submarine seismic detection aircraft capable of being automatically distributed and recovered |
| CN108762289B (en) * | 2018-07-11 | 2020-12-22 | 哈尔滨工程大学 | Attitude control method for underwater seismic wave detection flight node |
| CN108519621B (en) * | 2018-07-11 | 2019-12-27 | 哈尔滨工程大学 | Submarine seismic detection flight node arrangement method |
| US10921475B2 (en) * | 2018-10-05 | 2021-02-16 | Magseis Ff Llc | Systems and methods of coupling underwater vehicle with underwater sensor storage container |
| CN110244350B (en) * | 2019-08-02 | 2020-11-13 | 南昌航空大学 | Three-dimensional hydrophone array system |
| CN112987102A (en) * | 2019-12-13 | 2021-06-18 | 中国科学院深圳先进技术研究院 | In-situ monitoring system for geological conditions of natural gas hydrate storage layer |
| CN111174904B (en) * | 2020-01-13 | 2021-10-29 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Acoustic holographic test conformal array for underwater noise source separation |
| CN113721195B (en) * | 2020-05-26 | 2024-03-22 | 中国科学院声学研究所 | Four-channel hydrophone array based on deepwater underwater glider and operation method |
| CN111693130A (en) * | 2020-06-20 | 2020-09-22 | 王茂法 | Marine environment noise measurement system |
| CN112379432A (en) * | 2020-10-09 | 2021-02-19 | 天津大学 | Small channel number portable hydrophone array acquisition system |
| CN112903089B (en) * | 2021-01-20 | 2023-04-25 | 中科长城海洋信息系统有限公司 | Underwater space three-dimensional sound field detection system and method |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207867045U (en) * | 2017-12-27 | 2018-09-14 | 国家深海基地管理中心 | A kind of underwater sound array apparatus based on underwater movable platform |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8624666D0 (en) * | 1986-10-15 | 1997-09-17 | Dowty Electronics Ltd | Sonar suspension apparatus |
| AU2005244529B2 (en) * | 2000-05-03 | 2007-10-18 | Westerngeco Seismic Holdings Limited | Marine seismic surveying |
| FR2833359B1 (en) * | 2001-12-10 | 2004-04-23 | Inst Francais Du Petrole | SEISMIC DATA ACQUISITION SYSTEM USING SEA-BASED ACQUISITION STATIONS |
| CN101369016B (en) * | 2008-09-27 | 2011-06-15 | 哈尔滨工程大学 | Vector hydrophone towing line array narrowing or widening apparatus |
| CN101702028B (en) * | 2009-10-30 | 2011-11-09 | 中国科学院声学研究所 | Single fin arrayed sonar equipment |
| US9969470B2 (en) * | 2011-09-30 | 2018-05-15 | Cgg Services Sas | Deployment and recovery of autonomous underwater vehicles for seismic survey |
| CN102901981B (en) * | 2012-10-22 | 2016-01-27 | 中国船舶重工集团公司第七一五研究所 | A kind of high hydrostatic pressure-resistant small piezoelectric hydrophone and preparation method thereof |
| CN104407340A (en) * | 2014-12-02 | 2015-03-11 | 河海大学常州校区 | Device and method for calibrating lineup of dragging linear array |
| CN105005018B (en) * | 2015-06-12 | 2017-12-08 | 中国人民解放军海军潜艇学院 | A kind of towing line array device based on attitude real time determination vector hydrophone |
| CN205113671U (en) * | 2015-10-27 | 2016-03-30 | 苏州桑泰海洋仪器研发有限责任公司 | A cabin of permeating water in middle of system of gliding under water for installing vector hydrophone |
| CN107356233B (en) * | 2017-06-14 | 2020-04-14 | 中国科学院声学研究所 | Vertical array system suitable for acoustic hydrological measurement in high-latitude extremely cold sea area |
-
2017
- 2017-12-27 CN CN201711445422.XA patent/CN108037534B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207867045U (en) * | 2017-12-27 | 2018-09-14 | 国家深海基地管理中心 | A kind of underwater sound array apparatus based on underwater movable platform |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108037534A (en) | 2018-05-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108037534B (en) | Underwater sound array device based on underwater mobile platform | |
| CN108107483B (en) | Seismic prospecting system based on underwater mobile platform | |
| US8758072B2 (en) | Marine device | |
| US20150316675A1 (en) | Offshore seismic monitoring system and method | |
| CN106990431B (en) | Offshore bottom hydrate detection system | |
| US9081119B2 (en) | Underseas seismic acquisition | |
| US6474254B1 (en) | Submarine deployed ocean bottom seismic system | |
| CN109143325B (en) | Submarine four-component node seismic instrument system and submarine seismic data acquisition method | |
| RU2696373C2 (en) | Sea bottom system | |
| US20150003194A1 (en) | Directional self-burying sensor system and method | |
| US10578761B2 (en) | System and method for operating a subsea sensor field | |
| CN111551986B (en) | Seismic source system and operation method thereof | |
| CN207867045U (en) | A kind of underwater sound array apparatus based on underwater movable platform | |
| US10209382B2 (en) | System and method for deployment and retrieval of seismic nodes along a carrier rope | |
| CN107966735B (en) | Sound source device based on underwater mobile platform | |
| CN111521972A (en) | Wave glider-based depth-fixed marine acoustic information acquisition system | |
| CN113267807B (en) | Seabed seismic source and seabed detection system | |
| CN207636780U (en) | A kind of sonic source device based on underwater movable platform | |
| CN212181045U (en) | Seismic source system | |
| CN207096467U (en) | A kind of near Sea Bottom hydrate detection system | |
| US20150346366A1 (en) | Seismic acquisition system comprising at least one connecting module to which is connected an auxiliary equipment, corresponding connecting module and data management system | |
| NO20180048A1 (en) | Node Hub – a seismic reservoir monitoring system for deployment on the seafloor in marine seismic surveys, and a method for deployment of seismic sensor nodes on the seafloor and collecting the seismic sensor nodes. | |
| Patterson et al. | Evaluation of underwater noise from vessels and marine activities | |
| JP2003021684A (en) | Submarine prospecting device | |
| Cheyne et al. | Developing a portable and persistent autonomous real-time marine mammal acoustic monitor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |