CN109083608A - A kind of ice shelf bottom uphole coring system and method based on underwater robot - Google Patents
A kind of ice shelf bottom uphole coring system and method based on underwater robot Download PDFInfo
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- CN109083608A CN109083608A CN201811294768.9A CN201811294768A CN109083608A CN 109083608 A CN109083608 A CN 109083608A CN 201811294768 A CN201811294768 A CN 201811294768A CN 109083608 A CN109083608 A CN 109083608A
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- boiler
- underwater robot
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- control system
- water tank
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- 238000000034 method Methods 0.000 title claims abstract description 18
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 87
- 238000005553 drilling Methods 0.000 claims abstract description 31
- 238000002955 isolation Methods 0.000 claims description 26
- 239000007788 liquid Substances 0.000 claims description 23
- 238000012545 processing Methods 0.000 claims description 12
- 239000013535 sea water Substances 0.000 claims description 10
- 238000010438 heat treatment Methods 0.000 claims description 3
- 238000005507 spraying Methods 0.000 claims 1
- 238000011160 research Methods 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000013461 design Methods 0.000 abstract description 2
- 239000000463 material Substances 0.000 abstract description 2
- 239000002699 waste material Substances 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 5
- 238000001914 filtration Methods 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 230000003993 interaction Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000010257 thawing Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B25/00—Apparatus for obtaining or removing undisturbed cores, e.g. core barrels or core extractors
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/008—Drilling ice or a formation covered by ice
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/14—Drilling by use of heat, e.g. flame drilling
- E21B7/143—Drilling by use of heat, e.g. flame drilling underwater
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Manipulator (AREA)
Abstract
本发明公开了一种基于水下机器人的冰架底部仰孔取芯系统和方法，取芯系统包括有水下机器人、取芯钻具、水箱、锅炉和控制系统，其中取芯钻具装配在水下机器人上部的壳体上，水箱、锅炉和控制系统均设在水下机器人的内腔中，水箱与锅炉之间由输水管连通，锅炉用水由水箱进行输入，取芯方法为：步骤一、将水下机器人投入水中工作；步骤二、进行自下而上仰孔钻进工作；步骤三、控制水下机器人返回海平面。有益效果：本发明提供的技术方案设计独特，原理清晰，突破了传统的由上而下的取芯钻进方法，能够在冰架冰芯研究的关键区域‑‑冰架底部与海洋交界面处取芯，而无需钻穿整个冰架，极大地减少了人力物力的资源浪费。
The invention discloses a system and method for uphole coring at the bottom of an ice shelf based on an underwater robot. The coring system includes an underwater robot, a core drilling tool, a water tank, a boiler and a control system, wherein the core drilling tool is assembled on On the shell of the upper part of the underwater robot, the water tank, the boiler and the control system are all located in the inner cavity of the underwater robot. The water tank and the boiler are connected by a water delivery pipe, and the boiler water is input from the water tank. The coring method is: Step 1 1. Putting the underwater robot into the water for work; Step 2, performing bottom-up upward drilling; Step 3, controlling the underwater robot to return to the sea level. Beneficial effects: the technical scheme provided by the present invention is unique in design and clear in principle, which breaks through the traditional top-down core drilling method, and can be used at the interface between the bottom of the ice shelf and the ocean in the key area of ice shelf ice core research. Coring without drilling through the entire ice shelf greatly reduces the waste of manpower and material resources.
Description
Technical field
It is the present invention relates to a kind of ice shelf bottom uphole coring system and method, in particular to a kind of based on underwater robot
Ice shelf bottom uphole coring system and method.
Background technique
Currently, polar region and ocean play extremely heavy respectively with its global cold source and the length and breadth of land in global climate system
The role wanted.Ice shelf is the tie for connecting ocean and polar ice sheet, there is important influence to two systems.Ice shelf structure and bottom
Portion's frozen-thaw process will directly affect ice shelf stability and motion state, to generate weight to continental ice sheet, ocean water body and circulation
It influences.Based on this, the interaction of South Pole ice shelf and ocean water body and circulation has been included in science frontier research by relevant departments
Plan, ice shelf-ocean repercussion study become the hot issue of global change research due.Ice core is the key that research ice shelf problem
The Ice core study meaning at place, ice shelf bottom near zone is even more the most important thing.Currently, the method for various countries' use is all in the world
Ice core is obtained in ice shelf surface drilling using drilling tool and extends to ice shelf bottom down, it is therefore desirable to drill entire ice shelf
The ice core of ice shelf bottom can be obtained.It is this conventional top-down for the scientific requirement of ice shelf bottom Critical region coring
Drilling mode, significantly increases drilling cost, causes the unnecessary wasting of resources.
Summary of the invention
The purpose of the present invention is to solve conventional top-down drillings to obtain problems present in ice core mode
And a kind of ice shelf bottom uphole coring system and method based on underwater robot provided.
Ice shelf bottom uphole coring system provided by the invention based on underwater robot includes underwater robot, coring
Drilling tool, water tank, boiler and control system, wherein core bit is assemblied on the shell on underwater robot top, water tank, boiler and
Control system is each provided in the inner cavity of underwater robot, is connected between water tank and boiler by water-supply-pipe, boiler feed water by water tank into
Row input, is also connected to by hydraulic pipeline between boiler and core bit, and connecting pipeline is equipped with high-pressure pump, and boiler is coring
Drilling tool provides drilling hot water, and the switch of high-pressure pump and boiler is connected to the control system, control system control high-pressure pump and
The work of boiler.
The junction of core bit and underwater robot upper body is provided with rotary draw work, and core bit is in rotary draw work
Drive under be able to carry out 0-180 ° of rotation.
The lower part of water tank is connected with water inlet pipe, and water inlet pipe is threaded through on the shell of underwater robot lower part, water inlet pipe and water
The outside of lower robot is connected, and filter is provided on water inlet pipe, and the water-supply-pipe between water tank and boiler is high-pressure hose, high
It is equipped with valve on pressure hose, which connect with control system and controlled by control system and opened and closed.
The middle part and top of boiler intracavity are respectively equipped with liquid level sensor, are additionally provided with temperature sensing in the middle part of boiler intracavity
Device, two liquid level sensors and temperature sensor are connected to the control system, two liquid level sensors and temperature sensor energy
It is enough that the data of acquisition are sent to control system in time.
Control system is made of input isolation board, signal receiving module, processing reaction module and output isolation board, wherein
Signal receiving module is connected with processing reaction module, and input isolation board is connected to the side of signal receiving module, input isolation
Plate also in boiler two liquid level sensors and temperature sensor be connected, two in boiler liquid level sensor and temperature pass
The data of sensor acquisition can be transferred to the signal receiving module in control system, output isolation board connection by inputting isolation board
In the side of processing reaction module, export valve of the isolation board also between water tank and boiler on water-supply-pipe, boiler switch with
And the switch of high-pressure pump is connected, the instruction that processing reaction module issues can be transferred in time water tank and pot by output isolation board
The switch of valve, boiler between furnace on water-supply-pipe and the switch of high-pressure pump.
Above-mentioned underwater robot, core bit, water tank, boiler, control system, liquid level sensor and temperature sensor are equal
For the assembling of existing equipment, therefore, concrete model and specification are not repeated.
Ice shelf bottom uphole coring method provided by the invention based on underwater robot, method are as described below:
Step 1: connecting all devices and part at ice shelf edge bank end, core bit lies in a horizontal plane in underwater
On the shell on people top, underwater robot is put into water and is worked, seawater enters the water tank of underwater robot inner cavity after filtering
In, it subsequently enters boiler and is heated；
Step 2: control underwater robot slips into deep-sea, it is moved to ice shelf bottom near zone, operation rotary draw work will take
Core drilling tool is moved to vertical state by horizontality, and drill bit is close to ice shelf bottom, to boiler by heating of seawater to 60 Celsius
When spending, high-pressure pump is opened by hot water and is pumped into core bit, start to spray hot water thawing ice sheet immediately, while underwater robot is upward
It is mobile, it carries out uphole from bottom to top and creeps into work；
Step 3: control underwater robot is retracted into initial position after the completion of coring drilling, control rotary draw work will be carried
The core bit of ice core is moved to original horizontal position, and control underwater robot returns to sea level.
The working principle of the invention:
After underwater robot launches sea, seawater enters water tank after being filtered by filter.Liquid level sensor in boiler
Water level in the boiler is monitored, if water level, lower than 1/2 height of boiler, the liquid level sensor at boiler intracavity centre position is sent a signal to
Control system, after control system receives signal, feedback signal opens the valve between water tank and boiler on water-supply-pipe, seawater into
Enter in boiler, if water level in the boiler has been expired, the liquid level sensor on boiler intracavity top issues signal, control system to control system
Feedback closes valve signal after system receives signal.Temperature sensor monitors ocean temperature in boiler, if being lower than 50 DEG C, issues letter
Number, feedback opens boiler signal after control system receives, and boiler start-up operation is heated, when more than 60 DEG C, signal is issued,
Control system receives rear back-to-back running high pressure pump signal, and high-pressure pump is started to work, and pumping hot water enters core bit.
Beneficial effects of the present invention:
Technical Design provided by the invention is unique, clear principle, breaches traditional coring drilling from top to bottom
Method, can be in the key area of ice shelf Ice core study -- coring at ice shelf bottom and ocean interface, it is entire without drilling
Ice shelf considerably reduces the wasting of resources of manpower and material resources.
Detailed description of the invention
Fig. 1 is coring overall system architecture schematic diagram of the present invention.
Fig. 2 is Control system architecture block diagram in coring system of the present invention.
Fig. 3 is that coring system of the present invention is set out status diagram.
Fig. 4 is coring working state of system schematic diagram of the present invention.
Fig. 5 is that coring system of the present invention is maked a return voyage status diagram.
1, underwater robot 2, core bit 3, water tank 4, boiler 5, control system 6, high-pressure pump 7, rotary draw work
8, filter 9, valve 10, liquid level sensor 11, temperature sensor 12, input isolation board 13, signal receiving module 14,
Handle reaction module 15, output isolation board.
Specific embodiment
It please refers to shown in Fig. 1 to Fig. 5:
Ice shelf bottom uphole coring system provided by the invention based on underwater robot includes underwater robot 1, takes
Core drilling tool 2, water tank 3, boiler 4 and control system 5, wherein core bit 2 is assemblied on the shell on 1 top of underwater robot, water
Case 3, boiler 4 and control system 5 are each provided in the inner cavity of underwater robot 1, are connected between water tank 3 and boiler 4 by water-supply-pipe, pot
Furnace 4 is inputted with water by water tank 3, is also connected to by hydraulic pipeline between boiler 4 and core bit 2, is set on connecting pipeline
Have a high-pressure pump 6, boiler 4 is that core bit 2 provides drilling hot water, the switch of high-pressure pump 6 and boiler 4 with 5 phase of control system
Connection, control system 5 control the work of high-pressure pump 6 and boiler 4.
The junction of core bit 2 and 1 upper body of underwater robot is provided with rotary draw work 7, and core bit 2 is rotating
0-180 ° of rotation is able to carry out under the drive of winch 7.
The lower part of water tank 3 is connected with water inlet pipe, and water inlet pipe is threaded through on the shell of 1 lower part of underwater robot, water inlet pipe with
The outside of underwater robot 1 is connected, and filter 8 is provided on water inlet pipe, and the water-supply-pipe between water tank 3 and boiler 4 is high pressure
Hose is equipped with valve 9 on high-pressure hose, which connect with control system 5 and controlled by control system 5 and opened and closed.
The middle part and top of 4 inner cavity of boiler are respectively equipped with liquid level sensor 10, and boiler is additionally provided with temperature in the middle part of 4 inner cavity
Sensor 11, two liquid level sensors 10 and temperature sensor 11 are connected with control system 5, two 10 Hes of liquid level sensor
The data of acquisition can be sent in time control system 5 by temperature sensor 11.
Control system 5 is by input isolation board 12, signal receiving module 13, processing reaction module 14 and output isolation board 15
Composition, wherein signal receiving module 13 is connected with processing reaction module 14, and input isolation board 12 is connected to signal receiving module
13 side, input isolation board 12 also in boiler 4 two liquid level sensors 10 and temperature sensor 11 be connected, boiler 4
The data that two interior liquid level sensors 10 and temperature sensor 11 acquire can be transferred to control system by inputting isolation board 12
System 5 in signal receiving module 13, output isolation board 15 be connected to processing reaction module 14 side, output isolation board 15 also with
The switch of valve 9, boiler 4 and the switch of high-pressure pump 6 between water tank 3 and boiler 4 on water-supply-pipe are connected, and export isolation board
15 instructions that processing reaction module 14 can be issued are transferred to valve 9, pot between water tank 3 and boiler 4 on water-supply-pipe in time
The switch of furnace 4 and the switch of high-pressure pump 6.
Above-mentioned underwater robot 1, core bit 2, water tank 3, boiler 4, control system 5, liquid level sensor 10 and temperature
Sensor 11 is the assembling of existing equipment, and therefore, concrete model and specification are not repeated.
Ice shelf bottom uphole coring method provided by the invention based on underwater robot, method are as described below:
Step 1: all devices and part are connected at ice shelf edge bank end, the horizontal positioned machine under water of core bit 2
On the shell on 1 top of device people, underwater robot 1 is put into water and is worked, seawater enters 1 inner cavity of underwater robot after filtering
In water tank 3, subsequently enters boiler 4 and heated；
Step 2: control underwater robot 1 slips into deep-sea, it is moved to ice shelf bottom near zone, operation rotary draw work 7 will
Core bit 2 is moved to vertical state by horizontality, and drill bit is close to ice shelf bottom, to boiler 4 by heating of seawater to 60
Degree Celsius when, open high-pressure pump 6 and hot water be pumped into core bit 2, start to spray hot water immediately and melt ice sheet, while underwater
People 1 moves up, and carries out uphole from bottom to top and creeps into work；
Step 3: control underwater robot 1 is retracted into initial position after the completion of coring drilling, control rotary draw work 7 will be taken
Core bit 2 with ice core is moved to original horizontal position, and control underwater robot 1 returns to sea level.
The working principle of the invention:
After underwater robot 1 launches sea, seawater enters water tank 3 after being filtered by filter 8.Liquid level passes in boiler 4
Sensor 10 monitors water level in boiler 4, if water level is lower than 1/2 height of boiler 4, the level sensing at 4 inner cavity of boiler centre position
Device 10 sends a signal to control system 5, and after control system 5 receives signal, feedback signal is opened defeated between water tank 3 and boiler 4
Valve 9 on water pipe, seawater enter in boiler 4, if water level has been expired in boiler 4, the liquid level sensor 10 on 4 inner cavity top of boiler
Signal is issued to control system 5, feedback closes 9 signal of valve after control system 5 receives signal.Temperature sensor in boiler 4
11 monitoring ocean temperatures issue signal if being lower than 50 DEG C, and feedback opens 4 signal of boiler after control system 5 receives, and boiler 4 starts
Work is heated, and when more than 60 DEG C, issues signal, control system 5 receives rear 6 signal of back-to-back running high-pressure pump, high-pressure pump 6
It starts to work, pumping hot water enters core bit 2.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811294768.9A CN109083608A (en) | 2018-11-01 | 2018-11-01 | A kind of ice shelf bottom uphole coring system and method based on underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811294768.9A CN109083608A (en) | 2018-11-01 | 2018-11-01 | A kind of ice shelf bottom uphole coring system and method based on underwater robot |
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| CN109083608A true CN109083608A (en) | 2018-12-25 |
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| CN201811294768.9A Pending CN109083608A (en) | 2018-11-01 | 2018-11-01 | A kind of ice shelf bottom uphole coring system and method based on underwater robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110273645A (en) * | 2019-08-06 | 2019-09-24 | 吉林大学 | One kind heating rotary drilling system without drilling rod uphole for ice shelf bottom |
| CN110295865A (en) * | 2019-08-06 | 2019-10-01 | 吉林大学 | A kind of uphole electric heating melting coring drilling system for encircling ice core for ice shelf bottom |
| CN110318669A (en) * | 2019-08-06 | 2019-10-11 | 吉林大学 | A kind of uphole hot water drilling system for ice shelf bottom |
| CN113138095A (en) * | 2021-04-12 | 2021-07-20 | 浙江大学 | Novel polar region floating ice lower floor hot melt formula sampler |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110273645A (en) * | 2019-08-06 | 2019-09-24 | 吉林大学 | One kind heating rotary drilling system without drilling rod uphole for ice shelf bottom |
| CN110295865A (en) * | 2019-08-06 | 2019-10-01 | 吉林大学 | A kind of uphole electric heating melting coring drilling system for encircling ice core for ice shelf bottom |
| CN110318669A (en) * | 2019-08-06 | 2019-10-11 | 吉林大学 | A kind of uphole hot water drilling system for ice shelf bottom |
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| CN113138095B (en) * | 2021-04-12 | 2022-05-13 | 浙江大学 | A kind of polar ice floe lower layer hot-melt sampler |
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Application publication date: 20181225 |