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

A sampling system and attitude technology, applied in attitude control, sampling devices, ships, etc., can solve the problems affecting the success rate and accuracy of sampling, achieve the effect of improving attitude adjustment efficiency, simplifying attitude adjustment process, and improving acquisition efficiency

Active Publication Date: 2019-03-29
QINGDAO INST OF MARINE GEOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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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 pla

Method used

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

Examples

Experimental program
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Example Embodiment

[0033] Embodiment 1, a deep-sea autonomous attitude adjustment sampling system, such as figure 1 with figure 2 As shown, it includes a sampling assembly rack 1 and a box sampler 2 set on the sampling assembly rack 1. The sampling assembly rack 1 is also provided with a battery compartment assembly 3, an MCU main control assembly 4, a pusher assembly and an inclinometer 5. Both the inclinometer 5 and the pusher assembly are electrically connected to the MCU main control assembly 4. The battery compartment assembly 3 is used to provide power for the entire system, and the inclinometer 5 is used to detect the attitude information of the sampling system in real time. The MCU main control component includes an attitude analysis module, a torque list module, and a self-balancing execution module. The attitude analysis module receives the inclinometer detection data in real time and parses it into the attitude information of the sampling system. The attitude information includes the ro...

Example Embodiment

[0039] Embodiment 2, based on the autonomous attitude adjustment sampling system described in embodiment 1, this embodiment proposes an attitude adjustment method for a deep-sea autonomous attitude adjustment sampling system, which includes the following steps:

[0040] (1) Put the sampling system through the wire rope winch;

[0041] (2) When the sampling system is lowered from the sea level to the seabed, the data is collected in real time through the inclinometer and transmitted to the MCU main control component to obtain the attitude information of the sampling system. The attitude information includes the roll angle, the yaw angle and the azimuth angle. ;

[0042] (3) The torque adjustment action list is set by the torque list module of the MCU main control component. The action list records the number of cycles, the data detected by the inclinometer each cycle (roll angle, pitch angle, azimuth angle, etc.), and corresponding adjustments Information such as torque. The torque ...

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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...

Claims

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Application Information

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IPC IPC(8): G01N1/02G01N1/10G05D1/08B63B35/00
CPCB63B35/00G01N1/02G01N1/10G05D1/08
Inventor 杨慧良陆凯单瑞杨源窦振亚虞义勇秦轲张世阳于得水
Owner QINGDAO INST OF MARINE GEOLOGY
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