"Xiangyanghong No. 10", which is carrying out the task of conducting the investigation of China's Ocean 49 voyage, has brought a sea-searching weapon - Qianlong No. 2. It is a 4,500-meter deep-sea resources autonomous exploration system independently researched and developed by China, and it is also the most advanced autonomous underwater robot in China. What is the long dragon of Qianlong II? What excels in it? How will the future be applied?
Compared to Qianlong No. 1, Qianlong No. 2 is more like an off-road vehicle. It can work better in complex terrain. People who have seen Qianlong No. 2 are very impressed.
Unlike many submersibles, Qianlong No. 2 looks like a fish: 3.5 meters long, 1.5 meters high, 1.5 tons in weight, the flat body is bright yellow, and there are 4 "fins" - - Scientists affectionately call it "yellow fat fish."
The strange appearance of Qianlong No. 2 is unique in China. "This is the first time in the world to apply a non-rotating body flat fish shape design, which is beneficial to reduce the vertical surface resistance, so that it can climb vertically in complex seabed terrain, and can also enhance the surface navigation ability." Liu Jian, a researcher at the Shenyang Institute of Automation, Chinese Academy of Sciences, said, "The original intention of our design was not to imitate the shape of the fish. The shape design is based on the results of hydrodynamic optimization calculations. I did not expect it to be similar to the shape of the fish."
Researchers poured a lot of effort into Qianlong No. 2, hoping that it will shoulder the heavy responsibility of deep sea exploration.
Qianlong No. 2 was developed by the Chinese scientific research personnel under the support of the National 863 Program and developed over five years of hard work. As a practical deep-sea exploration system integrating hydrothermal anomaly detection, micro-topography detection, underwater photography and magnetic detection, it is mainly used for exploration of deep-sea mineral resources such as polymetallic sulphides.
The vast ocean is rich in resources. According to the relevant regulations of the International Seabed Authority, which country first detects the seabed resources and provides corresponding data and information, it can obtain the priority mining rights. Only by human diving technology can not reach most areas of the deep sea, underwater robots have a place to use.
Underwater robots are generally divided into three categories: manned submersibles (HOV), remotely controlled underwater vehicles (ROV), and autonomous underwater vehicles (AUV). Among them, the famous Xiaolong is a manned submersible, and the Hailong is an unmanned remotely operated submersible. Both are good at local operations and fine-point detection, but they are not good at large-scale fine detection. The Qianlong is different. It is an unmanned cable-free autonomous submersible. It can move freely and perform fine detection in a large area. It can navigate autonomously, operate autonomously, and protect itself.
China's first practical 6000-meter underwater robot Qianlong No.1 was born during the “Twelfth Five-Year Plan†period and was applied to the flat polymetallic nodules area on the seabed.
There has been Qianlong No.1, and what do you want to do with “yellow fat fish�
“The submarine topography of the polymetallic sulphide zone in the mid-ocean ridge is extremely complex, with up and down fluctuations of more than 1,000 meters, and the detection is very difficult.†Tao Chunhui, chief scientist of the second section of the Ocean 49 voyage, and researcher of the Second Institute of Oceanography of the State Oceanic Administration said. Some of the tasks of Qianlong No. 1 are not competent, and an upgraded version of Qianlong No. 2 is required.
Compared to Qianlong No. 1, Qianlong No. 2 is more like an off-road vehicle, which can work better in complex terrain: in addition to detecting polymetallic sulphides, it can also detect multi-metal crust resources and obtain the same position at the same time. Acoustic micro-geomorphology, temperature and salt depth, turbidity, methane, redox potential, magnetic force and other data, and then delineate the mineralized area.
The "yellow fat fish" has a fine structure and high "intelligence", and its detection results have been the highest in China's deep-sea autonomous underwater robots.
How does "yellow fat fish" work?
Before diving, the researchers will implant the parameters and mission configuration in the “brain†of the “yellow fat fishâ€, then put it in the water with a crane; then lift the connection between the crane and the submersible, “yellow fat fish†You can dive to the designated area.
"It has installed a sinking ballast iron and a floating ballast iron. After launching, it relies on its own gravity to dive. After diving to a predetermined depth, it automatically throws off the sinking ballast iron and then starts the operation. After finishing the operation, It will automatically throw off the floating ballast iron to achieve automatic floating, and the staff will recycle it to the mother ship through remote control hook or throwing rope, etc., Liu Jian said.
The "yellow fat fish" that arrived at the work area was very busy. Under the control of the "brain", its "eyes" are particularly sensitive, carrying a "camera" to move flexibly, and the "tail" is working synchronously.
"Eyes" refers to the voice of Qianlong No. 2. Among them, the front view sonar is a collision avoidance control device, which can convert the acoustic data collected by the submersible into an image to identify obstacles and surrounding environment, and then ensure the safety and tasks of the body through autonomous rotation and avoidance. According to reports, this technology is also adopted for the first time in China. The sounding side of the sounding side of the two sides will collect the topographic and geomorphic data for a moment, carry out real-time signal processing, and sweep back and forth along the planned line along the seabed.
Under the support of the battery, Qianlong No. 2 can work for more than 30 hours. The four "fins" of the "yellow fat fish" are actually four rotatable rudder thrusters. By manipulating the propeller and the rudder for movement, Qianlong No. 2 can flexibly advance, retreat, and rotate, and “over the mountains†on the seabed.
"Camera" is a submarine camera that takes a picture of the bottom of the sea without a finger at every seven seconds, and finally forms a complete and clear picture of the seabed for scientists to analyze.
The "tail" is a magnetic detector installed at the end of Qianlong No. 2. “Some polymetallic sulphide zones are already inactive, and traditional plume flow detection systems are difficult to detect. The first domestically-developed, self-developed magnetometer can detect its magnetic anomalies,†Tao Chunhui said.
The advanced of "yellow fat fish" is not only reflected in the fine structure, but also in its high "intelligence" and good automation. For example, when it finds that its "body" is malfunctioning, if it does not affect the operation, it will stick to it; if it feels that "the big thing is not good" and can no longer be underwater, it will automatically end the work and float back.
The "yellow fat fish" was a good starter and it performed well. From February to March 2016, it carried out the experimental application of the second section of the Chinese Ocean 40 voyage in the Southwest Indian Ocean, which was its first experimental application. The mission carried out a total of 8 dives, 7 of which were long-range exploration missions, with a submarine time of 231.3 hours, a cumulative range of 661.7 km, and a detection area of ​​218 square kilometers. The detection data were complete and valid.
In this experimental application, the detection area of ​​Qianlong No. 2 exceeded the detection area of ​​any deep-sea autonomous underwater robot in China. The successful detection results of four consecutive long-range voyages also set the highest in China's deep-sea autonomous underwater robots.
The "brother" of the "yellow fat fish" Qianlong No. 3 is expected to conduct the first sea trial in March this year.
In Liu Jian’s eyes, “yellow fat fish†is like his child. Parents, the most concerned is always the peace of the child. Every time Qianlong No. 2 is launched, Liu Jian will be worried about his children.
Liu Jian hopes that this child will grow faster. "Qianlong No.2 is China's most advanced deep-sea autonomous underwater robot, which has reached the international advanced level. However, its technical level and performance need to be further improved." Liu Jian told reporters that when the water surface will be the second of the dragon After recycling, scientists will download the data they have detected. “In the future, we will shorten the time for data return and download through technological innovation and process data in a timely manner.â€
"Qianlong No. 2 is a type of robot. With the continuous advancement of artificial intelligence technology, it may be possible to apply some of the latest intelligent technologies to the upgrading of submersibles on the basis of full argumentation in the future." Ocean Minerals Li Bo, deputy director of the Office of the Resource Research and Development Association, said.
In addition to improvements in the body and detection technology of the submersible, experts believe that management and application should be improved.
It is understood that the "brother" of the "yellow fat fish" Qianlong No. 3 is expected to conduct the first sea trial in March this year. "It and Qianlong No. 2 are twin brothers, and they are similar submersibles that are optimized and upgraded on the basis of them." Li Bo said that the ocean is vast and the demand for deep-sea exploration is growing. The main goal of the "Qianlong" family is to the deep sea. Resources for a wide range of fine detection, better for ocean resources exploration and deep sea scientific investigation services. Therefore, the number of submersible submersibles will continue to increase in the future, and cluster operations and collaborative operations will be carried out.
In addition, the new scientific research mother ship serving deep sea exploration is expected to be launched by the end of 2019. At that time, it will be equipped with "Jilong", "Hailong" and "Hidden Dragon", and "Sanlong" will have the opportunity to explore the sea together.
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