阅读说明：本技术 一种近海底重力测量装置及测量方法 (Offshore bottom gravity measurement device and measurement method ) 是由 陆凯 周吉祥 孙建伟 李志彤 孙波 于 2021-08-24 设计创作，主要内容包括：本发明涉及海洋重力测量技术领域,具体涉及一种近海底重力测量装置及测量方法。装置包括潜器对接底座、相对重力仪、相对重力仪搭载机构和绝对重力仪基准站。所述潜器对接底座与潜器固定连接,所述潜器对接底座与相对重力仪搭载机构可拆卸连接。所述相对重力仪固定在相对重力仪搭载机构上,所述相对重力仪搭载机构与绝对重力仪基准站可拆卸连接。所述绝对重力仪基准站上设置有绝对重力仪和相对重力仪搭载机构对接底座。方法包括利用上述的装置实现的近海底重力测量。本发明受风浪影响较小,可以保证其姿态的稳定性,有足够的时间实现静置稳定,可以实现直接在水下完成基准点的比对,保证测量数据的准确性。(The invention relates to the technical field of marine gravity measurement, in particular to a device and a method for measuring the gravity of an offshore bottom. The device comprises a submersible vehicle butt joint base, a relative gravimeter carrying mechanism and an absolute gravimeter reference station. The submersible vehicle butt joint base is fixedly connected with the submersible vehicle, and the submersible vehicle butt joint base is detachably connected with the relative gravity meter carrying mechanism. The relative gravimeter is fixed on the relative gravimeter carrying mechanism, and the relative gravimeter carrying mechanism is detachably connected with the absolute gravimeter reference station. And the absolute gravimeter reference station is provided with an absolute gravimeter and a relative gravimeter carrying mechanism butt joint base. The method comprises offshore gravity measurement using the apparatus described above. The invention is less influenced by wind and waves, can ensure the stability of the posture, has enough time to realize the standing stability, can realize the comparison of the reference points directly under water, and ensures the accuracy of the measured data.)

1. An offshore gravity measurement device, characterized by: the device comprises a submersible vehicle butt joint base (2), a relative gravimeter carrying mechanism (3) and an absolute gravimeter reference station (4); the submersible vehicle butt joint base (2) is fixedly connected with the submersible vehicle (1), and the submersible vehicle butt joint base (2) is detachably connected with the relative gravity meter carrying mechanism (3); the relative gravimeter is fixed on the relative gravimeter carrying mechanism (3), and the relative gravimeter carrying mechanism (3) is detachably connected with the absolute gravimeter reference station (4); and the absolute gravimeter reference station (4) is provided with an absolute gravimeter (42) and a relative gravimeter carrying mechanism butt joint base (43).

2. An offshore gravity measurement device according to claim 1, wherein: the submersible vehicle docking base (2), the relative gravimeter carrying mechanism (3) and the absolute gravimeter reference station (4) are detachably connected through the docking transmission mechanism.

3. An offshore gravity measurement device according to claim 2, wherein: the butt joint transmission mechanism comprises a driving hydraulic cylinder (23), a hydraulic pump (34), a hydraulic oil bag (35), a valve box (33), a valve box control unit, an oil pipe and a butt joint lock pin hydraulic cylinder; the driving hydraulic cylinder (23) is arranged on the submersible vehicle butt joint base (2) and is supported by hydraulic power provided by the submersible vehicle (1); the hydraulic pump (34), the hydraulic oil bag (35), the valve box (33), the valve box control unit, the oil pipe and the butt joint lock pin hydraulic cylinder are arranged on the relative gravity meter carrying mechanism (3); the output end of the driving hydraulic cylinder (23) is connected with a hydraulic pump (34), the hydraulic pump (34) is connected with a hydraulic oil bag (35) and a valve box (33), the valve box (33) is connected with a valve box control unit, and the butt joint lock pin hydraulic cylinder is connected with the hydraulic pump (34), the hydraulic oil bag (35) and the valve box (33) through oil pipes.

4. An offshore gravity measurement device according to claim 3, wherein: the docking lock pin hydraulic cylinder comprises an upper docking lock pin hydraulic cylinder (31) and a lower docking lock pin hydraulic cylinder, the upper docking lock pin hydraulic cylinder (31) corresponds to a first lock pin port (25) arranged on the submersible docking base (2) and a second lock pin port arranged on the relative gravimeter carrying mechanism (3), and the lower docking lock pin hydraulic cylinder corresponds to a third lock pin port (37) arranged on the relative gravimeter carrying mechanism (3) and a fourth lock pin port arranged on the absolute gravimeter reference station (4).

5. An offshore gravity measurement device according to claim 1, wherein: the docking mechanism comprises a first docking slide way (22), a second docking slide way (36), a first docking guide mechanism (26) and a second docking guide mechanism (39); the first butt-joint slideway (22) and the first butt-joint guide mechanism (26) are arranged on the submersible vehicle butt-joint base (2), and the second butt-joint slideway (36) and the second butt-joint guide mechanism (39) are arranged on the relative gravimeter carrying mechanism (3).

6. An offshore gravity measurement device according to claim 1, wherein: the first butt joint guide mechanism (26) and the second butt joint guide mechanism (39) are set to be laser rulers.

7. An offshore gravity measurement device according to claim 1, wherein: still include communication identification mechanism, wireless transmission mechanism and wireless module of charging, communication identification mechanism sets up on submersible vehicle docks base (2) and relative gravimeter carrying mechanism (3), wireless transmission mechanism and wireless module of charging set up on relative gravimeter carrying mechanism (3).

8. An offshore gravity measurement device according to claim 1, wherein: the absolute gravimeter reference station (4) is provided with a battery compartment (44) and an acoustic communication and positioning beacon (45), and the battery compartment (44) is internally provided with a battery and a communication control module.

9. A method of subsea gravity measurement comprising the offshore gravity measurement device of any of claims 1-8, comprising the steps of:

s1: connecting a relative gravimeter carrying mechanism (3) carrying a relative gravimeter with an absolute gravimeter reference station (4), and releasing the relative gravimeter carrying mechanism to the seabed through a shipborne winch;

s2: starting a relative gravimeter and an absolute gravimeter (42) through remote control, and carrying out standing calibration work;

s3: the submersible vehicle (1) carries a submersible vehicle docking base (2) to launch, and is docked with a relative gravimeter carrying mechanism (3) and an absolute gravimeter reference station (4);

s4: the relative gravimeter carrying mechanism (3) and the absolute gravimeter reference station (4) are separated and unlocked under the control of the submersible vehicle (1), meanwhile, the submersible vehicle docking base (2) and the relative gravimeter carrying mechanism (3) are locked, the submersible vehicle (1) carries the submersible vehicle docking base (2) and the relative gravimeter carrying mechanism (3) to leave the absolute gravimeter reference station (4), and measurement work is started;

s5: after measurement is completed, the submersible (1) carries the submersible docking base (2) and the relative gravimeter carrying mechanism (3) to return to the absolute gravimeter reference station (4), the relative gravimeter carrying mechanism (3) and the relative gravimeter carrying mechanism docking base (43) are locked again, the submersible docking base (2) is carried to return to the water surface, the relative gravimeter and the absolute gravimeter (42) are waited for reference comparison, and after comparison, the absolute gravimeter reference station (4) is recovered.

10. A method of offshore gravity measurement according to claim 9, wherein: the method comprises the following specific steps of realizing locking or unlocking actions of the submersible docking base (2), the relative gravimeter carrying mechanism (3) and the absolute gravimeter reference station (4): the submersible vehicle (1) and the submersible vehicle butt joint base (2) are fixedly installed and can directly provide hydraulic power and communication for the submersible vehicle butt joint base (2), after the submersible vehicle butt joint base (2) and the relative gravity meter carrying mechanism (3) are in butt joint, communication between the submersible vehicle (1) and the relative gravity meter carrying mechanism (3) can be established for a relay through the submersible vehicle butt joint base (2), a valve box (33) in the relative gravity meter carrying mechanism (3) is controlled, meanwhile, hydraulic power can be provided for the relative gravity meter carrying mechanism (3) through a driving hydraulic cylinder (23) on the submersible vehicle butt joint base (2), and therefore a butt joint hydraulic cylinder lock pin on the relative gravity meter carrying mechanism (3) can be controlled to achieve locking or unlocking.

Technical Field

The invention relates to the technical field of marine gravity measurement, in particular to a device and a method for measuring the gravity of an offshore bottom.

Background

Marine gravimetry is one of the marine geophysical survey methods. The gravity measurement is based on Newton's law of universal gravitation as theoretical basis, and based on the premise of gravity change caused by density difference of various terranes forming crust and upper mantle, the gravity field value of the earth water area is measured by a special instrument, and the gravity abnormal distribution characteristics and change rules are given, so that the geological structure, crust structure, earth morphology, exploration of submarine mineral products and the like are researched.

There are two common approaches to existing marine gravimetry, one is to sink a gravimeter into the sea floor for remote measurement, i.e. for sub-sea gravimetry, which is similar to the measurement of gravity on land. Secondly, the gravimeter is arranged on a sea surface ship for observation, but the gravity observation value is influenced by various disturbances due to the influence of the movement of the measuring ship and the seawater. For the measuring device, the existing marine gravimeter has an absolute gravimeter and a relative gravimeter. The absolute gravimeter is used for measuring the absolute gravity value of one point, but the instrument has extremely large volume and no portability. Compared with a gravimeter, the portable gravimeter is small in size and good in portability, but only the gravity difference between two points can be measured.

In order to ensure the accuracy of the measurement result, the two gravimeters need to be kept still for a period of time before being used, and the more stable the posture is, the better the subsequent measurement effect is. The relative gravimeter needs to be close to the gravity reference point for comparison before and after measurement, and the closer the gravity reference point is to the measurement area, the higher the data precision is. Both gravimeters also need to keep their posture as stable as possible during working hours, and the unstable posture can cause data misalignment and even damage to the instrument.

At present, a miniaturized relative gravimeter is carried on an AUV for near-seabed gravity measurement, but the following problems exist: 1. during the process of floating, submerging, releasing and recovering the AUV, the attitude stability of the AUV cannot be ensured due to the influence of wind waves on the water surface. 2. The AUV and the relative gravimeter are fixedly installed, and the AUV cannot be kept still and stable for enough time after reaching the seabed due to the adoption of an energy source mode with a battery. 3. At present, data comparison is carried out by adopting a ship-based absolute gravimeter or a land gravity reference point, and the reference point is far away from a measuring area and is difficult to ensure the data accuracy.

Therefore, it is desirable to design an apparatus and a method for measuring gravity of an offshore platform, which ensure the accuracy of the measurement data during the process of gravity measurement of the offshore platform.

Disclosure of Invention

In order to solve the defects in the prior art, the invention provides a device and a method for measuring the gravity of the offshore bottom.

The technical scheme of the invention is as follows:

the utility model provides a coastal waters bottom gravity measuring device, includes latent ware butt joint base, relative gravimeter carrying mechanism and absolute gravimeter reference station. The submersible vehicle butt joint base is fixedly connected with the submersible vehicle, and the submersible vehicle butt joint base is detachably connected with the relative gravity meter carrying mechanism. The relative gravimeter is fixed on the relative gravimeter carrying mechanism, and the relative gravimeter carrying mechanism is detachably connected with the absolute gravimeter reference station. And the absolute gravimeter reference station is provided with an absolute gravimeter and a relative gravimeter carrying mechanism butt joint base.

Furthermore, the submersible vehicle docking base, the relative gravimeter carrying mechanism and the absolute gravimeter reference station are detachably connected through the docking transmission mechanism, and the problem of underwater reloading of task loads is solved.

Furthermore, the docking transmission mechanism comprises a driving hydraulic cylinder, a hydraulic pump, a hydraulic oil bag, a valve box control unit, an oil pipe and a docking lock pin hydraulic cylinder. The driving hydraulic cylinder is arranged on the submersible vehicle butt joint base and is supported by the submersible vehicle through hydraulic power. The hydraulic pump, the hydraulic oil bag, the valve box control unit, the oil pipe and the butt joint lock pin hydraulic cylinder are arranged on the relative gravimeter carrying mechanism. The output end of the driving hydraulic cylinder is connected with a hydraulic pump, the hydraulic pump is connected with a hydraulic oil bag and a valve box, the valve box is connected with a valve box control unit, and the butt-joint lock pin hydraulic cylinder is connected with the hydraulic pump, the hydraulic oil bag and the valve box through oil pipes.

Furthermore, the butt joint lock pin hydraulic cylinder comprises an upper butt joint lock pin hydraulic cylinder and a lower butt joint lock pin hydraulic cylinder, the upper butt joint lock pin hydraulic cylinder corresponds to a first lock pin port arranged on the submersible vehicle butt joint base and a second lock pin port arranged on the relative gravimeter carrying mechanism, and the lower butt joint lock pin hydraulic cylinder corresponds to a third lock pin port arranged on the relative gravimeter carrying mechanism and a fourth lock pin port arranged on the absolute gravimeter reference station.

Further, still include supplementary docking mechanism, supplementary docking mechanism includes first butt joint slide, second butt joint slide, first butt joint guiding mechanism and second butt joint guiding mechanism. The first butt joint slide way and the first butt joint guide mechanism are arranged on the submersible vehicle butt joint base, and the second butt joint slide way and the second butt joint guide mechanism are arranged on the relative gravimeter carrying mechanism. The first butt joint slide way is matched with the second butt joint slide way, so that the underwater butt joint efficiency and safety are improved. The first butt joint guide mechanism is matched with the second butt joint guide mechanism, so that the success rate and the stability of butt joint are greatly improved.

Furthermore, the first butt joint guide mechanism and the second butt joint guide mechanism are arranged to be laser rulers.

Further, still include communication identification mechanism, wireless transmission mechanism and wireless module of charging, communication identification mechanism sets up on latent ware butt joint base and relative gravimeter carries on the mechanism, wireless transmission mechanism and wireless module of charging set up on relative gravimeter carries on the mechanism.

Furthermore, a battery cabin and an acoustic communication and positioning beacon are arranged on the absolute gravimeter reference station, and a battery and a communication control module are arranged in the battery cabin.

A seabed gravity measurement method comprises the near seabed gravity measurement device, and specifically comprises the following steps:

s1: and connecting a relative gravimeter carrying mechanism carrying the relative gravimeter with the absolute gravimeter reference station, and releasing the relative gravimeter carrying mechanism to the seabed through a ship-borne winch.

S2: and starting the relative gravimeter and the absolute gravimeter through remote control to perform standing calibration.

S3: the submersible vehicle carries the submersible vehicle docking base to launch, and is docked with the relative gravimeter carrying mechanism and the absolute gravimeter reference station.

S4: through the control of the submersible vehicle, the relative gravimeter carrying mechanism and the absolute gravimeter reference station are separated and unlocked, meanwhile, the submersible vehicle docking base and the relative gravimeter carrying mechanism are locked, and the submersible vehicle carrying the submersible vehicle docking base and the relative gravimeter carrying mechanism leaves the absolute gravimeter reference station to start measurement.

S5: after the measurement is completed, the submersible vehicle carries the submersible vehicle docking base and the relative gravimeter carrying mechanism to return to the absolute gravimeter reference station, the relative gravimeter carrying mechanism and the relative gravimeter carrying mechanism docking base are locked again, the submersible vehicle docking base is carried to return to the water surface, the relative gravimeter and the absolute gravimeter are waited for comparison, and after the comparison is completed, the absolute gravimeter reference station is recovered.

Further, the concrete steps of the submersible vehicle docking base, the relative gravimeter carrying mechanism and the absolute gravimeter reference station for realizing locking or unlocking actions are as follows: the submersible vehicle is fixedly installed with the submersible vehicle butt joint base and can directly provide hydraulic power and communication for the submersible vehicle butt joint base, after the submersible vehicle butt joint base is in butt joint with the relative gravimeter carrying mechanism, communication between the submersible vehicle and the relative gravimeter carrying mechanism can be established for relaying through the submersible vehicle butt joint base, a valve box in the relative gravimeter carrying mechanism is controlled, meanwhile, hydraulic power can be provided for the relative gravimeter carrying mechanism through a driving hydraulic cylinder on the submersible vehicle butt joint base, and therefore a butt joint lock pin hydraulic cylinder on the relative gravimeter carrying mechanism can be controlled to achieve locking or unlocking actions.

The invention achieves the following beneficial effects:

the relative gravimeter is arranged on the relative gravimeter carrying mechanism, the absolute gravimeter is arranged on the absolute gravimeter reference station, in the process of recovering and hoisting the two gravimeters, the carrying mechanism and the reference station are arranged, the hoisting is stable, the influence of wind waves is small because the weight is relatively heavy and the carrying mechanism and the reference station are negative buoyancy in water, the stability of the posture of the gravimeter can be ensured, and the accuracy of the measured data is ensured.

The relative gravimeter is arranged on the relative gravimeter carrying mechanism, the absolute gravimeter is arranged on the absolute gravimeter reference station, the relative gravimeter and the absolute gravimeter can be firstly put into the seabed through the relative gravimeter carrying mechanism and the absolute gravimeter reference station, the two gravimeters can have enough time to realize standing stability, and after the standing is finished, the submersible vehicle is launched for work, so that the problem that the submersible vehicle cannot be kept for enough time and stable due to the fact that the submersible vehicle has limited energy sources is solved.

According to the invention, through the arrangement of the absolute gravimeter reference station, the comparison of the reference points can be directly completed underwater, and the accuracy of data is greatly ensured.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the docking base of the submersible vehicle, the relative gravimeter carrying mechanism and the absolute gravimeter reference station during docking.

FIG. 2 is a schematic view of the connection structure of the submersible vehicle and the docking base of the submersible vehicle according to the present invention.

FIG. 3 is a schematic structural diagram of the connection of the submersible vehicle docking station with the relative gravimeter loading mechanism according to the present invention.

FIG. 4 is a schematic view showing the connection between the relative gravimeter-mounting mechanism and the absolute gravimeter reference station according to the present invention.

Fig. 5 is a schematic view of the docking station structure of the submersible vehicle of the present invention.

Fig. 6 is a schematic structural view of a relative gravity meter mounting mechanism on which a relative gravity meter is mounted according to the present invention.

FIG. 7 is a schematic diagram of an absolute gravimeter reference station according to the present invention.

In the figure, 1, a submersible vehicle; 2. butting the submersible vehicle with a base; 21. a top frame; 22. a first docking chute; 23. driving the hydraulic cylinder; 24. a side frame; 25. a first latch port; 26. a first docking guide mechanism; 27. a first communication identification mechanism; 3. a relative gravimeter carrying mechanism; 31. an upper butt-joint lock pin hydraulic cylinder; 32. a relative gravimeter chamber; 33. a valve box; 34. a hydraulic pump; 35. a hydraulic oil bladder; 36. a second docking chute; 37. a third latch port; 38. a second communication identification mechanism; 39. a second docking guide mechanism; 4. an absolute gravimeter reference station; 41. a frame body; 42. an absolute gravimeter; 43. butting the base with respect to the gravity meter carrying mechanism; 44. a battery compartment; 45. acoustic communication and positioning beacons.

Detailed Description

To facilitate an understanding of the present invention by those skilled in the art, specific embodiments thereof are described below with reference to the accompanying drawings.

As shown in fig. 1-7, an offshore gravity measurement device includes a submersible vehicle docking base 2, a relative gravimeter pick-up mechanism 3, and an absolute gravimeter reference station 4.

The submersible vehicle butt joint base 2 is fixedly connected with the submersible vehicle 1. The submersible docking station 2 includes a first frame, a first docking chute 22, a first docking guide mechanism 26, a first communication identification mechanism 27, and a first latch opening 25. The first frame comprises a top frame 21 and side frames 24 which are arranged on two sides of the top frame 21 and are vertically connected with the top frame 21, and the first butt slide 22 is arranged on the side frames 24. The first butt guide mechanism and the first communication identification mechanism 27 are arranged at the tail part of the top frame 21, and the first lock pin opening 25 is arranged on the side frame 24. The first butt-joint guide mechanism 26 is set as a laser ruler, the first communication identification mechanism 27 is set as two infrared communication probes, and the laser ruler is arranged between the two infrared communication probes. The top frame 21 is fixedly connected with the bottom of the submersible vehicle 1 through bolts. The infrared communication probe and the laser ruler are supported by the submersible vehicle 1 end to provide power supply and communication.

The relative gravimeter is fixed on the relative gravimeter carrying mechanism 3. The relative gravimeter carrying mechanism 3 includes a second frame, a second butt slide 36, a second butt guide mechanism 39, a second communication identification mechanism 38, a second lock pin opening, and a third lock pin opening 37. The relative gravimeter is arranged in a relative gravimeter compartment 32, said relative gravimeter compartment 32 being arranged in a middle position of the second frame, said relative gravimeter compartment 32 being provided with a battery module. To ensure buoyancy balance of the underwater vehicle 1, a buoyancy material is added to the remaining space in the second frame.

The second butt-joint slide ways 36 are arranged on two sides of the second frame and matched with the first butt-joint slide ways 22, and the second butt-joint guide mechanism 39 and the second communication identification mechanism 38 are arranged at the tail part of the second frame and matched with the first butt-joint guide mechanism 26 and the first communication identification mechanism 27. The second docking guidance mechanism 39 is configured as a laser ruler, and the second communication identification mechanism 38 is configured as an infrared communication probe. The second lock pin opening is arranged at the top of the second frame to match the first lock pin opening 25 and the third lock pin opening 37 is arranged at the bottom of the second frame to match the fourth lock pin opening arranged on the absolute gravimeter reference station 4.

And the relative gravimeter carrying mechanism 3 is also provided with a wireless communication module and a wireless charging assembly.

The absolute gravimeter reference station 4 comprises a frame body 41, an absolute gravimeter 42 arranged on the frame body 41, a relative gravimeter carrying mechanism docking base 43, a battery compartment 44 and an acoustic communication and positioning beacon 45. The relative gravimeter carrying mechanism butt joint base 43 is arranged in the middle of the frame body 41, the absolute gravimeter 42 and the battery compartment 44 are arranged on two sides of the relative gravimeter carrying mechanism butt joint base 43, the acoustic communication and positioning beacon 45 is arranged on the battery compartment 44, and a battery and a communication control module are arranged in the battery compartment 44. The relative gravimeter and the absolute gravimeter 42 can be calibrated relatively, and the data can be transmitted back in real time through acoustic communication.

The submersible vehicle docking base 2, the relative gravimeter carrying mechanism 3 and the absolute gravimeter reference station 4 are detachably connected through the docking transmission mechanism, and the problem of underwater reloading of task loads is solved.

The docking transmission mechanism comprises a driving hydraulic cylinder 23, a hydraulic pump 34, a hydraulic oil bag 35, a valve box 33, a valve box control unit, an oil pipe and a docking lock pin hydraulic cylinder. The driving hydraulic cylinder 23 is arranged on the submersible vehicle butt joint base 2 and is supported by the submersible vehicle 1 through hydraulic power. The hydraulic pump 34, the hydraulic oil bag 35, the valve box 33, the valve box control unit, the oil pipe and the butt joint lock pin hydraulic cylinder are arranged on the relative gravity meter carrying mechanism 3. The output end of the driving hydraulic cylinder 23 is connected with a hydraulic pump 34, the hydraulic pump 34 is connected with a hydraulic oil bag 35 and a valve box 33, the valve box 33 is connected with a valve box control unit, and the butt-joint lock pin hydraulic cylinder is connected with the hydraulic pump 34, the hydraulic oil bag 35 and the valve box 33 through oil pipes. In the specific working process, the driving hydraulic cylinder 23 of the submersible vehicle butt joint base 2 provides reciprocating power, and the hydraulic pump 34 consists of a cylinder body with a built-in spring and a piston. The working principle of the hydraulic pump is similar to that of an inflating pump, the hydraulic cylinder 23 is driven to pump oil from the oil bag to the valve box 33, and the hydraulic oil circuit further comprises a check valve and an electromagnetic reversing valve so as to ensure check and reversing of the oil circuit. Besides the hydraulic components, the valve box 33 is also integrated with a control and communication module.

The butt joint lock pin hydraulic cylinder comprises an upper butt joint lock pin hydraulic cylinder 31 and a lower butt joint lock pin hydraulic cylinder, the upper butt joint lock pin hydraulic cylinder 31 corresponds to a first lock pin port 25 arranged on the submersible vehicle butt joint base 2 and a second lock pin port arranged on the relative gravimeter carrying mechanism 3, and the lower butt joint lock pin hydraulic cylinder corresponds to a third lock pin port 37 arranged on the relative gravimeter carrying mechanism 3 and a fourth lock pin port arranged on the absolute gravimeter reference station 4.

The docking process of the submersible vehicle docking base 2 and the relative gravimeter carrying mechanism 3 is as follows: the laser ruler respectively arranged on the submersible vehicle docking base 2 and the relative gravimeter carrying mechanism 3 provides docking guidance, after docking in place, the infrared communication probes respectively arranged on the submersible vehicle docking base 2 and the relative gravimeter carrying mechanism 3 identify each other, communication is established, the driving hydraulic cylinder 23 on the submersible vehicle docking base 2 starts to act through the control of the submersible vehicle 1, the valve box 33 at the end of the relative gravimeter carrying mechanism 3 controls the action of the 4 upper docking lock pin hydraulic cylinders 31, and docking of the submersible vehicle docking base 2 and the relative gravimeter carrying mechanism 3 is completed.

In the same way, the relative gravimeter carrying mechanism 3 and the absolute gravimeter reference station 4 are butted or separated through the action of a lower butting lock pin hydraulic cylinder.

The method for measuring the submarine gravity is realized by combining a relative gravimeter and an absolute gravimeter. The device for measuring the near-seabed gravity comprises the following steps:

s1: a relative gravimeter carrying mechanism 3 carrying a relative gravimeter is connected to an absolute gravimeter reference station 4 and is simultaneously released to the sea bottom by a ship-borne winch.

S2: the relative gravimeter and absolute gravimeter 42 are activated by remote control to perform the calibration work of standing.

S3: the submersible vehicle 1 carries a submersible vehicle docking base 2 to launch, and is docked with a relative gravimeter carrying mechanism 3 and an absolute gravimeter reference station 4, and particularly, the mechanical connection and the real-time docking on communication are realized through a docking transmission mechanism.

S4: through the control of the submersible vehicle 1, the gravity meter carrying mechanism 3 and the absolute gravimeter reference station 4 are separated and unlocked, meanwhile, the submersible vehicle butt joint base 2 and the relative gravimeter carrying mechanism 3 are locked, the submersible vehicle 1 carries the submersible vehicle butt joint base 2 and the relative gravimeter carrying mechanism 3 to leave the absolute gravimeter reference station 4, and measurement work is started.

S5: after the measurement is completed, the submersible 1 carries the submersible docking base 2 and the relative gravimeter carrying mechanism 3 to return to the absolute gravimeter reference station 4, the relative gravimeter carrying mechanism 3 and the relative gravimeter carrying mechanism docking base 43 are locked again, the submersible carrying base 2 is carried to return to the water surface, the relative gravimeter and the absolute gravimeter 42 are waited for reference comparison, and after the comparison is completed, the absolute gravimeter reference station 4 is recovered.

The method comprises the following specific steps of realizing locking or unlocking actions of the submersible docking base 2, the relative gravimeter carrying mechanism 3 and the absolute gravimeter reference station 4: the submersible vehicle 1 is fixedly installed with the submersible vehicle butt joint base 2 and can directly provide hydraulic power and communication for the submersible vehicle butt joint base 2, after the submersible vehicle butt joint base 2 is in butt joint with the relative gravity meter carrying mechanism 3, the submersible vehicle butt joint base 2 can establish communication between the submersible vehicle 1 and the relative gravity meter carrying mechanism 3 for relaying, a valve box 33 in the relative gravity meter carrying mechanism 3 is controlled, meanwhile, hydraulic power can be provided for the relative gravity meter carrying mechanism 3 by means of a driving hydraulic cylinder 23 on the submersible vehicle butt joint base 2, and therefore a butt joint lock pin hydraulic cylinder on the relative gravity meter carrying mechanism 3 can be controlled to achieve locking or unlocking.

The above-described embodiments of the present invention do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.