CN-121977136-A - Self-leveling detection platform for submarine monitoring instrument and use method thereof

CN121977136ACN 121977136 ACN121977136 ACN 121977136ACN-121977136-A

Abstract

The invention belongs to the technical field of ocean geology detection, and relates to a self-leveling detection platform for a submarine monitoring instrument and a use method thereof, wherein the self-leveling detection platform comprises a platform main body and a self-leveling system, and the self-leveling system comprises a sensing module which is used for pre-scanning submarine topography, monitoring the bearing state of an air bag in the leveling process, monitoring the posture of the platform after leveling and transmitting obtained data in real time; the control module comprises a signal processor for processing the sensing data and generating a control instruction, the power source module comprises a compressed gas cylinder and a regulating valve assembly for providing stable air flow for the air bag, the execution module comprises a plurality of independent air bags, and the power source module is connected with the air bags to realize the inflation operation of the air bags. The invention can perform terrain pre-judgment, ensure that the platform lands in the allowable gradient range, dynamically adjust the posture of the platform through the air bags, accurately adjust the posture of the platform from an inclined state to a horizontal state, and can be leveled again in the running process of the platform, thereby ensuring the stable running of the platform in a complex seabed environment.

Inventors

ZHANG HONG
HAN SHIHAO
FAN ZHIHAN
GUO XINGSEN
LIU HAO
LU XINGYUAN
LIU MIN

Assignees

中国海洋大学

Dates

Publication Date: 20260505
Application Date: 20260204

Claims (8)

1. A self-leveling detection platform for a subsea monitoring instrument, comprising a platform body and a self-leveling system disposed below the platform body, the self-leveling system comprising: the sensing module is used for pre-scanning the submarine topography, monitoring the bearing state of the air bag and the posture of the monitoring platform after leveling in the leveling process, and transmitting the obtained data in real time; the control module comprises a signal processor and is used for processing the perception data and generating a control instruction; The power source module comprises a compressed gas cylinder and a regulating valve assembly and is used for providing stable air flow for the air bag; The execution module comprises a plurality of independent air bags, and the power source module is connected with the air bags to realize the inflation operation of the air bags.
2. The self-leveling detection platform for a subsea monitor of claim 1, wherein the sensing module comprises a sonar, a pressure sensor, and a level detector, each connected to a signal processor; the sonar is used for scanning a preset landing zone and transmitting acquired landing zone data to the signal processor, the pressure sensor is used for receiving pressure data of each air bag and transmitting the pressure data to the signal processor, and the level detector is used for continuously monitoring the levelness of the platform main body and transmitting detection data to the signal processor.
3. The self-leveling detection platform for a subsea monitoring instrument of claim 1, wherein the input port of the signal processor is connected to the sensing module and the output port is connected to the regulator valve assembly; the regulating valve assembly comprises a one-way valve, a pressure reducing valve and an electromagnetic valve, and the signal processor controls the opening and closing of the one-way valve, the pressure reducing valve and the electromagnetic valve according to real-time data fed back by the sensing module.
4. The self-leveling detection platform for a seabed monitoring instrument according to claim 3, wherein the compressed gas cylinder is sequentially connected with a one-way valve and a pressure reducing valve, high-pressure gas in the compressed gas cylinder sequentially passes through the one-way valve and the pressure reducing valve, is depressurized to stable air flow and then is conveyed to an inlet of an electromagnetic valve through a pipeline, and the electromagnetic valve is communicated with an inflation inlet of the air bag.
5. A self-levelling detection platform for a seabed monitoring instrument according to claim 2, wherein the pressure sensors are arranged on top of the air bags and are arranged to receive air bag top pressure, one pressure sensor being arranged for each air bag, adjacent air bags being separated by a spacer.
6. The self-leveling detection platform for a submarine monitoring instrument according to claim 1, wherein the air bags are symmetrically arranged in pairs, the number of the air bags is even, and the number of the air bags is 4-16.
7. A method of using a self-leveling detection platform for a subsea monitoring instrument in accordance with any of claims 1-6, comprising: (1) In the sinking process of the platform, starting sonar to perform terrain scanning on a preset landing area, calculating the slope of the submarine gradient, comparing the calculated slope with a set angle self-adjustment threshold value, recovering if the slope is out of the threshold value, and continuing landing if the slope is in the threshold value; (2) After landing, the signal processor receives real-time data of each pressure sensor, identifies the air bag with the highest pressure currently and the air bag symmetrical to the air bag, then controls and opens the one-way valve and the pressure reducing valve, drives and opens the electromagnetic valve connected with the air bag with the highest pressure, so that gas is filled into the air bag, and when the pressure of the air bag is consistent with the pressure of the symmetrical air bag, the electromagnetic valve is closed, and the leveling of the first stage is completed; (3) At this time, the posture of the air bags is changed, the signal processor re-collects the pressure data of all the air bags, selects the air bag with the highest pressure currently and the air bag symmetrical to the air bag, and repeats the leveling operation of the step (2) to ensure that the group of air bags reach pressure balance; (4) And the rest uninflated air bags are inflated in an equalizing way, so that the bearing pressures of all the air bags tend to be consistent, and the platform stability is realized.
8. The method of claim 7, wherein the platform is stabilized horizontally, and the level detector and the signal processor are maintained in normal operation only, and when the platform deviates from the horizontal state, the level detector detects that the inclination angle exceeds the re-leveling trigger threshold and sends the inclination angle to the signal processor to control the self-leveling system to re-level.

Description

Self-leveling detection platform for submarine monitoring instrument and use method thereof Technical Field The invention belongs to the technical field of ocean geology detection, and particularly relates to a self-leveling detection platform for a submarine monitoring instrument and a use method thereof. Background Marine observation instruments are basic tools for observing and measuring marine phenomena, and observation objects of the marine observation instruments range from marine organisms such as plankton and benthos to phenomena such as sound, light, temperature and power in the ocean, and correspondingly have different observation instruments, wherein the observation instruments comprise instruments which need to be distributed on the ocean floor and used for ocean floor monitoring. The seabed monitoring instrument needs to be put into a seabed bed, but most of the existing observation instrument platforms cannot accurately predict the landform of landing sites when being put, so that the platforms can be directly dropped on an excessively steep slope to cause integral overturning, instrument damage or failure of detection tasks. In addition, the existing submarine monitoring and throwing device mostly depends on a rigid supporting leg platform or a supporting plate, the leveling range of the device is limited, active compensation cannot be conducted, the platform cannot be horizontally stable, the rigid supporting legs and the hydraulic pressure are in point contact, the pressure intensity is concentrated, the device is prone to settling at a soft bottom, and the platform cannot be maintained to be horizontally stable for a long time. The non-level of the platform can directly lead to serious deviation of the acquired data of the attitude-sensitive detection instruments (such as a submarine seismograph, a flow velocity meter and the like) carried on the platform. In addition, mechanical structures such as rigid support legs and the like are easy to wear and rust and the like to reduce precision and high in maintenance cost when used in a marine erosion environment for a long time. Based on the method, the novel self-leveling detection platform is developed, has the capability of pre-judging the submarine topography, mainly depends on the flexible air bags or the rubber air bags for leveling, can better adapt to the underwater environment, provides a stable horizontal reference, and fundamentally ensures the accuracy and the reliability of various detection data. Disclosure of Invention The invention aims to solve the problems that a submarine detection platform is difficult to realize stable and accurate placement on complex rugged submarine topography and the like in the prior art, and provides a self-leveling detection platform for a submarine monitoring instrument and a use method thereof, which can conduct topography prejudgment and decision before landing to ensure landing of the platform within an allowable gradient range, and can adjust the posture of the platform from an inclined state to an absolute horizontal state rapidly and accurately by adopting a plurality of independently controlled air bags to charge and discharge air so as to dynamically adjust the posture of the platform, thereby avoiding leveling failure caused by local sinking, and simultaneously can execute re-leveling according to actual condition change in the operation process of the platform, realize autonomous maintenance and energy consumption optimization of the posture in long-term deployment, and ensure quick response and stable operation of the platform in a complex submarine environment. The platform is round as a whole, the bottom bed is uniformly stressed and is more suitable for the seabed foundation with uneven hardness, and by utilizing an independently controlled multi-air-chamber structure, local inflation and deflation adjustment can be carried out on complex terrains, and even if a single air chamber fails, the rest air chambers can still maintain the stability of the platform. And moreover, the design of the surrounding distribution and the independent control of a plurality of air bags can be more suitable for complex submarine environments with uneven heights and uneven hardness. The technical scheme of the invention is as follows: the invention provides a self-leveling detection platform for a submarine monitoring instrument, which comprises a platform main body and a self-leveling system arranged below the platform main body, wherein the self-leveling system comprises: the sensing module is used for pre-scanning the submarine topography, monitoring the bearing state of the air bag and the posture of the monitoring platform after leveling in the leveling process, and transmitting the obtained data in real time; the control module comprises a signal processor and is used for processing the perception data and generating a control instruction; The power source module comprises a compressed gas cylinder