Deep sea autonomous attitude adjustment sampling system and attitude adjusting method thereof

Abstract

The invention discloses a deep sea autonomous attitude adjustment sampling system and an autonomous attitude adjusting method thereof. The sampling system comprises a sample assembling rack, a sampler, a battery chamber assembly, an MCU master control assembly, a propeller assembly and a clinometer. The clinometer and the propeller assembly are electrically connected with the MCU master control assembly. The propeller assembly comprises four sets of propellers. The four sets of propellers are correspondingly arranged at periphery of the sample assembling rack and are orthogonally arranged in atwo-to-two facing manner. Furthermore high integral structure design stability is realized. In sampling system attitude adjustment, self-learning is realized based on a balance algorithm. Action of the propeller is realized in a torque control mode. Simple and quick controlling is realized. The propellers are used for keeping an accurate seabed landing attitude of the sampling system, thereby realizing autonomous attitude adjustment of the system in a dropping process. Furthermore various actions are executed through setting one cycle. The sequence of the actions is determined according to the action sequence score. The deep sea autonomous attitude adjustment sampling system and the autonomous attitude adjusting method thereof have advantages of ensuring high speed in reaching an optimalbalance state in attitude adjustment and effectively improving efficiency in acquiring deep sea seabed surface-layer deposit.

Description

technical field [0001] The invention belongs to the technical fields of deep-sea exploration technology and ocean engineering, and in particular relates to a sampling system for deep-sea autonomous attitude adjustment and an attitude adjustment method thereof. Background technique [0002] The total area of ​​the earth's surface is about 510 million square kilometers, about 70% of which is ocean. The development and utilization of marine resources have been paid more and more attention by various countries, and the related marine resource exploration industry has become the core strategic field of many countries. The depth of the ocean can range from a few meters in the shallow sea to thousands of meters in the deep sea. Among them, deep sea exploration and sampling are technically difficult, especially the equipment used for sampling is highly demanding. [0003] For example, the invention patent with the authorized announcement number [CN105547737B] discloses a deep-sea d...

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Problems solved by technology

[0003] For example, the invention patent with the authorized announcement number [CN105547737B] discloses a deep-sea diving sampling device and its implementation method, which can simultaneously realize the sampling of water samples, soil samples, and aquatic plants. Due to the complexity of the marine environment, the attitude of deep-sea sampling equipment The adjustment and smooth landing directly affect the success rate and accuracy of sampling, which is also a major bottleneck in the exploration of marine resources.

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