A classification sampling tool and method suitable for low visibility environments on the sea floor

Abstract

The application relates to a classification sampling tool and method suitable for a low-visibility seabed environment, which comprises a sampler for collecting samples, the structure of the sampler comprising a sampling cylinder, one end of the sampling cylinder being closed by a sealing plate, and a matching rod being connected to the sealing plate; a sample barrel provided with a barrel body for containing the collecting sampler; a cover capable of moving along the axial direction of the sample barrel and controllably closing the barrel body; a limiting structure arranged on the sample barrel and capable of controllably limiting the axial movement of the cover on the sample barrel; and a matching hole corresponding to the matching rod being arranged on the cover. Through the above operation, in-situ classification sampling in a low-visibility environment can be completed, the sound and light pollution of the sampling process to the seabed environment is effectively reduced, the cross contamination between different types of sampling samples is effectively reduced, the classification sampling of samples with different requirements for sample treatment is facilitated, the structure is simple, the sampling operation process is simplified, intelligent sampling operation is facilitated, and the application has strong practicability.

Description

Technical Field

[0001] This invention relates to the field of seabed sampling technology, and in particular to a classification sampling tool and method suitable for low-visibility seabed environments. Background Technology

[0002] Since most of the seabed is submerged thousands of meters below sea level, and sunlight can only reach a depth of 1,000 meters, the majority of the seabed remains submerged in a low-visibility environment. At the same time, the presence of large marine animals can also disturb seabed sediments, interfering with visibility during operations.

[0003] Currently, human understanding of the deep sea is still far less than that of the shallow waters near the coast. Due to limitations in objective environments such as seabed depth and visibility, exploring the deep sea requires a great deal of human, material, financial, and time resources. How to collect high-quality seabed samples more efficiently and accurately is one of the important problems that marine science and technology development is committed to solving.

[0004] One traditional sampling method involves using a marine research vessel to lower a sampler to the seabed via a high-strength cable for blind retrieval and then back to the surface. This deployment and retrieval process is typically time-consuming, taking nearly 24 hours due to factors such as ocean currents. Furthermore, the quality of the collected samples cannot be guaranteed, and the hasty sampling without proper classification significantly increases the workload for scientists processing the samples back in the laboratory.

[0005] Another method involves using manned submersibles or in-situ experimental platforms to send marine scientists and engineers to the seabed. The manned submersibles then use their onboard audio-visual equipment for illumination and operate robotic arms to collect samples in situ. The ascent and descent of the submersible usually takes nearly 10 hours. Due to the limited oxygen supply of the manned submersible, the time available for actual sampling is both tight and precious. Furthermore, the sampling process inevitably causes unnecessary audio-visual pollution to the sampling area and the samples.

[0006] With the development of marine technology, remotely operated underwater vehicles (ROVs) are increasingly being used in seabed sampling operations. However, the tag identification method used in traditional sampling tubes relies heavily on seabed visibility, requiring a high level of concentration from operators. Prolonged seabed operations can lead to fatigue and operational errors. Furthermore, the traditional sampling method accumulates calibration errors in the robotic arm and tool basket during multiple sampling operations, causing mismatches between sampling and collection tubes. In addition, the cumbersome and ambiguous nature of traditional sampling processes hinders machine learning, thus impeding the development of intelligent seabed operation technologies to some extent.

[0007] Therefore, we propose a classification and sampling tool and method suitable for low-visibility environments on the seabed. Summary of the Invention

[0008] To address the shortcomings of existing production technologies, the applicant provides a classification and sampling tool and method suitable for low-visibility environments on the seabed. By employing a matching structure with matching rods and matching holes, precise docking of the sampler and sample container is achieved, enabling dedicated use of the sampler and facilitating its use in light-free environments. This also improves the docking effect between the sample container and the sampler.

[0009] The technical solution adopted in this invention is as follows: A classification and sampling tool suitable for low-visibility seabed environments, comprising: A sampler for collecting samples has a structure including a sampling tube, one end of which is sealed with a sealing plate, and a matching rod parallel to the axis of the sealing plate is connected to a section of the sealing plate inside the sampling tube. Sample container, which is equipped with a container for accommodating the sampler; The cap can move along the axial direction of the sample container and controllably seal the container. A limiting structure is provided on the sample container and can controllably restrict the axial movement of the cap on the sample container; The cover is provided with a matching hole corresponding to the matching rod, and the limiting effect of the limiting structure is controlled to be released after the matching rod and the matching hole are connected.

[0010] Its further features are: The sampling tube has a cylindrical structure and carries out the corresponding sample after being embedded in the sample area.

[0011] The matching rod extends from the open end face of the sampling tube to be inserted into the matching hole, and the control release method of the matching rod and the matching hole after docking is horizontal rotation.

[0012] The open end of the barrel is connected to a guide section, and a handle is connected to the outer wall of the barrel.

[0013] The limiting structure includes a stepped groove connected to the inner wall of the barrel, and two opposing guide grooves are opened at the port of the stepped groove. At the same time, two sets of opposing double rail grooves are provided on the side wall of the stepped groove located at the lower end of the guide groove along the axis, and the double rail grooves are connected to the guide grooves. The end face of the stepped groove is provided with a bevel facing the axis.

[0014] The cover includes a cover plate, on the side wall of which are connected two opposing sliding rods, which are slidably connected in the double track groove and the guide groove.

[0015] The sampling tube has an annular groove on its side wall, and a sealing ring is connected inside the annular groove.

[0016] The sampling tube is equipped with a handle for easy hand grip.

[0017] A classification sampling method suitable for low-visibility seabed environments employs multiple sampling tools, wherein the patterns of the corresponding matching holes and matching rods in the multiple sampling tools are different, and the sampling process includes the following steps: Positioning: Before the sampling operation, the sampler and sample bucket are placed in batches in sampling tool basket A and tool basket B respectively, and the positional relationship between the tool basket and the robot arm is calibrated in advance using a specified coordinate system; Robotic arm sampling: The robotic arm sequentially grabs a sampler from sampling tool basket A and inserts it into the seabed sampling area to collect samples; Transfer: After sampling is completed, transfer the sampler to the top of tool basket B and match it with the sample bucket in tool basket B in turn; Matching: The robotic arm moves the sampler vertically above one of the sample containers, and then moves it vertically downward for the first time. At this time, the guide section is used for alignment, and the matching rod in the sampler is inserted and matched with the matching hole on the cap. After descending to a certain height, it rotates horizontally. After the horizontal rotation, it moves vertically downward for the second time. If the robotic arm does not change height during the second movement, it means that the matching is not successful. Then, the robotic arm is moved to the original height position and moved to the next sample container to perform the same operation. Sampling complete: If the robot arm changes height during the second movement, it indicates that the matching was successful. During the downward movement of the robot arm, the sampler can be inserted into the sample container, thus completing the sampling process of the sampling tool.

[0018] The robotic arm has a gripping effect and also has position and force feedback mechanisms.

[0019] The beneficial effects of this invention are as follows: This invention has a compact and reasonable structure and is easy to operate. The above operations can complete in-situ classification sampling in low visibility environments, effectively reducing the sound and light pollution to the seabed environment during the sampling process, effectively reducing cross-contamination between different types of samples, facilitating classification sampling with different requirements for sample processing, and having a simple structure that simplifies the sampling process and enables intelligent sampling operations, making it highly practical.

[0020] In addition, the present invention also has the following advantages: 1. By employing a matching structure with matching rods and matching holes, precise docking of the sampler and sample container is achieved, enabling dedicated use of the sampler in dark environments. This also improves the docking performance between the sampler and sample container, enhances sample sealing, reduces external seawater contamination, and improves subsequent experimental results. 2. Once the positions of the sample container and sampler are initially understood, the entire docking process can be carried out by inserting the tube, which is convenient for use in low visibility, sheltered environments, or underwater environments where it is inconvenient to increase artificial sound and light pollution for various reasons. 3. Dedicated tubes for specific purposes, enabling classified insertion and sampling. The matching structure of the matching rod and matching hole allows the corresponding sampler and sample container to match, ensuring the accuracy of sample recovery, simplifying the sorting and labeling process, and helping to achieve efficient and intelligent sampling operations. 4. The entire device has a simple structure, is convenient and durable, and has a tight connection, which effectively ensures the sample collection effect and has strong practicality.

[0021] 5. An annular groove is provided on the side wall of the sampling tube, and a sealing ring is connected in the annular groove, which can improve the sealing effect of the sample after the sample tube and the sampler are connected, and prevent the sample from being contaminated by seawater.

[0022] 6. Moreover, the operation process can be automated. Since the entire matching process is judged by the force and height, information control is performed on the robotic arm to achieve autonomous learning, which facilitates automatic matching and sampling and improves the intelligent effect. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the present invention.

[0024] Figure 2 This is a perspective view of the sample container in this invention.

[0025] Figure 3 This is a cross-sectional view of the sample container in this invention.

[0026] Figure 4 This is a perspective view of the cap in this invention.

[0027] Figure 5 This is the front view of the sampler in this invention.

[0028] Figure 6 This is a top view of the sampler in this invention.

[0029] Figure 7 This is a coordinate diagram of the location of the present invention.

[0030] in: 100. Sample container; 200. Cap; 300. Sampler; 101. Barrel body; 102. Handle; 103. Guide section; 104. Step groove; 105. Guide groove; 106. Double track groove; 201. Cover plate; 202. Sliding rod; 203. Matching hole; 301. Sampling tube; 302. Handle; 303. Sealing plate; 304. Matching rod; 305. Sealing ring. Detailed Implementation

[0031] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0032] Example 1 like Figures 1-6 As shown in the figure, this embodiment discloses a classification and sampling tool suitable for low-visibility environments on the seabed. Its structure includes a sample container 100, a cap 200, and a sampler 300. like Figure 5 and Figure 6 As shown, in this embodiment, the sampler 300 is used to collect samples. Its structure includes a sampling tube 301. The sampling tube 301 has a cylindrical structure and carries out the corresponding sample after being embedded in the sample area, which is a traditional sampling method.

[0033] like Figure 5 As shown, one end of the sampling tube 301 is sealed with a sealing plate 303, and a matching rod 304 parallel to the axis of the sealing plate 303 is connected to a section of the sealing plate 303 inside the sampling tube 301. In this embodiment, the matching rod 304 is located at the axial center of the sealing plate 303. The matching rod 304 extends out of the open end face of the sampling tube 301 to be inserted into the matching hole 203, which facilitates subsequent insertion into the matching hole 203.

[0034] like Figure 5 As shown, an annular groove is provided on the side wall of the sampling tube 301, and a sealing ring 305 is connected in the annular groove. This can improve the sealing effect of the sample after the sample tube 100 and the sampler 300 are docked, and prevent the sample from being contaminated by seawater. A hand grip 302 is connected to the sampling tube 301 for easy hand gripping, which facilitates subsequent gripping operations by the robotic arm.

[0035] like Figures 1-3 As shown, the sample container 100 is provided with a container 101 for accommodating the sampler 300. The sampler 300 is collected through the container 101. The open end of the container 101 is connected to a guide section 103, and a handle 102 is connected to the outer wall of the container 101.

[0036] The cap 200 can move along the axial direction of the sample container 100 and controllably seal the container 101; It also includes a limiting structure, which is set on the sample container 100 and controls the axial movement of the cap 200 on the sample container 100.

[0037] In this embodiment, as Figure 2 and Figure 3As shown, the specific structure of the limiting structure includes a stepped groove 104, which is connected to the inner wall of the barrel 101. Two opposing guide grooves 105 are opened at the port of the stepped groove 104. At the same time, two sets of opposing double rail grooves 106 are provided on the side wall of the stepped groove 104 located at the lower end of the guide grooves 105, and the double rail grooves 106 are connected to the guide grooves 105.

[0038] In another embodiment, the end face of the stepped groove 104 is provided with a bevel facing the axis, which facilitates the centering of the sampler 300, improves the connection effect with the sampler 300, and enhances the sealing effect on the sample.

[0039] Specifically, such as Figure 4 As shown, the cover 200 includes a cover plate 201. Two opposing sliding rods 202 are connected to the side wall of the cover plate 201. The sliding rods 202 can be slidably connected in the double track groove 106 and the guide groove 105, which reflects the specific connection structure of the limiting structure and the cover 200. At the same time, the structure is simple to assemble and easy to operate.

[0040] like Figure 4 and Figure 6 As shown, the cap 200 is provided with a matching hole 203 corresponding to the matching rod 304. After the matching rod 304 and the matching hole 203 are connected, the limiting effect of the limiting structure is released. In this embodiment, the control release method after the matching rod 304 and the matching hole 203 are connected is horizontal rotation. After the matching rod 304 and the matching hole 203 are inserted, horizontal rotation can be realized. After horizontal rotation, the limiting effect of the limiting structure is released, thereby realizing vertical movement, that is, the sampler 300 can be inserted into the corresponding sample container 100 for sample collection.

[0041] In this embodiment, the matching rod 304 and the matching hole 203 are equivalent to a matching lock and key. Only when they are matched can the matching rod 304 drive the matching hole 203 to rotate horizontally. Normally, the sampler 300 is moved and rotated by a robotic arm. The matching hole 203 and the matching rod 304 have corresponding shapes and non-circular cross-sections, which facilitates the rotation of the cover 200.

[0042] In practical use, multiple sets of sampling tools may be required to collect different samples, and the shapes of the matching hole 203 and matching rod 304 in the sampling tools for collecting different samples are different.

[0043] By employing the sampling tool in this embodiment, the following advantages are available: 1. Once the positions of the sample container 100 and the sampler 300 are initially known during the entire docking process, the tube can be inserted, which is convenient for use in low visibility, sheltered environments, or underwater environments where it is inconvenient to increase artificial sound and light pollution for various reasons. 2. Dedicated tubes for specific purposes, enabling classified insertion and sampling. Through the matching structure of the matching rod 304 and the matching hole 203, the corresponding sampler 300 and sample container 100 are matched, which can ensure the accuracy of sample recovery, simplify the sampling classification and labeling process, and help to achieve efficient and intelligent sampling operations. This invention features a compact and reasonable structure and is easy to operate. By employing a matching structure of matching rod 304 and matching hole 203, it achieves precise docking between sampler 300 and sample container 100, enabling dedicated pipes for dedicated use and facilitating use in dark environments. It also improves the docking effect between sample container 100 and sampler 300, enhances sample sealing, reduces external seawater pollution, and improves subsequent experimental results.

[0044] Example 2 The following, in conjunction with the accompanying drawings, discloses a classification sampling method suitable for low-visibility environments on the seabed. This method employs multiple classification sampling tools as shown in Embodiment 1, wherein the patterns of the matching holes 203 and matching rods 304 in the multiple sampling tools are different. The method includes the following steps: Positioning: Before sampling, samplers 300 and sample containers 100 are placed in batches in sampling tool baskets A and B, respectively. The approximate positional relationship between the tool baskets and the robotic arm is pre-defined using a coordinate system to facilitate subsequent grasping and collection by the robotic arm. Figure 7 As shown; In this embodiment, the robotic arm that grasps the sampler 300 is existing technology. The robotic arm has a gripping effect and also has position and force feedback mechanisms. It is operated by an operator in a dark environment inside the in-situ submersible.

[0045] Robotic arm sampling: The robotic arm grabs a sampler 300 from the sampling tool basket A as needed and inserts it into the seabed sampling area to collect samples. The insertion process is the same as traditional cannulation sampling. Transfer: After sampling is completed, the sampler 300 is transferred to the top of the tool basket B and matched with the sample bucket 100 in the tool basket B in sequence; Matching: The sampler 300 is moved vertically above one of the sample bins 100 by the robotic arm, and then moves downward in the vertical direction for the first time. At this time, the guide section 103 is used for alignment. At the same time, the matching rod 304 in the sampler 300 is inserted and matched with the matching hole 203 on the cap 200. After descending to a certain height, it is rotated horizontally. After the horizontal rotation, it moves downward in the vertical direction for the second time. If the robotic arm does not change height during the second movement, it means that the matching is not successful. Then, the robotic arm is moved to the original height position and moved to the next sample bin 100 to perform the same operation. Sampling complete: If the robot arm changes height during the second movement, it indicates that the matching is successful. During the downward movement of the robot arm, the sampler 300 can be inserted into the sample container 100, thus completing the sampling process of the sampling tool.

[0046] In another embodiment, multiple sample containers 100 and samplers 300 can be transferred to one of the tool baskets A (or tool basket B) and then to another tool basket after sampling is completed. The specific arrangements can be adjusted according to the actual situation.

[0047] However, even within the same tool basket, the sample container 100 and the sampler 300 need to be placed in separate areas.

[0048] Moreover, the above operations can be automated. Since the entire matching process is judged by force and height, information control is performed on the robotic arm to achieve autonomous learning, which facilitates automatic matching and sampling and improves the intelligent effect.

[0049] The above operations can complete in-situ classification sampling in low visibility environments, effectively reducing the sound and light pollution to the seabed environment during the sampling process, effectively reducing cross-contamination between different types of samples, facilitating classification sampling with different requirements for sample processing, and having a simple structure that simplifies the sampling process and enables intelligent sampling operations, making it highly practical.

[0050] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

Claims

1. A classification and sampling tool suitable for low-visibility environments on the seabed, characterized in that, include: The sampler (300) is used to collect samples. Its structure includes a sampling tube (301), one end of which is closed by a sealing plate (303), and a matching rod (304) parallel to the axis of the sealing plate (303) is connected to a section of the sealing plate (303) inside the sampling tube (301). Sample container (100) is provided with a container (101) for accommodating the collection sampler (300). A cap (200) is movable along the axial direction of the sample container (100) and can controllably seal the container (101); A limiting structure is provided on the sample container (100) and a controllable limiting cap (200) is axially moved on the sample container (100); The cover (200) is provided with a matching hole (203) corresponding to the matching rod (304). The cross-section of the matching rod (304) is a non-circular structure, and the limiting effect of the limiting structure is controlled to be released after the matching rod (304) and the matching hole (203) are connected. The matching rod (304) extends out of the open end face of the sampling tube (301) to be inserted into the matching hole (203), and the control release method of the matching rod (304) and the matching hole (203) after docking is horizontal rotation.

2. The classification and sampling tool suitable for low-visibility seabed environments as described in claim 1, characterized in that: The sampling tube (301) has a cylindrical structure and carries out the corresponding sample after being embedded in the sample area.

3. A classification and sampling tool suitable for low-visibility environments on the seabed as described in claim 1, characterized in that: The open end of the barrel (101) is connected to a guide section (103), and a handle (102) is connected to the outer wall of the barrel (101).

4. A classification and sampling tool suitable for low-visibility environments on the seabed as described in claim 3, characterized in that: The limiting structure includes a stepped groove (104), which is connected to the inner wall of the barrel (101). Two opposing guide grooves (105) are opened at the port of the stepped groove (104). At the same time, two sets of opposing double rail grooves (106) are provided on the side wall of the stepped groove (104) located at the lower end of the guide groove (105). The double rail grooves (106) and the guide grooves (105) are connected to each other. The end face of the stepped groove (104) is provided with a bevel facing the axis.

5. A classification and sampling tool suitable for low-visibility environments on the seabed as described in claim 4, characterized in that: The cover (200) includes a cover plate (201), on which two opposing sliding rods (202) are connected, and the sliding rods (202) are slidably connected in the double track groove (106) and the guide groove (105).

6. A classification and sampling tool suitable for low-visibility environments on the seabed as described in claim 1, characterized in that: The sampling tube (301) has an annular groove on its side wall, and a sealing ring (305) is connected in the annular groove.

7. A classification and sampling tool suitable for low-visibility environments on the seabed as described in claim 1, characterized in that: The sampling tube (301) is connected to a handle (302) for easy hand grip.

8. A classification and sampling method suitable for low-visibility environments on the seabed, characterized in that: Using multiple sampling tools as described in claim 1, wherein the patterns of the corresponding matching holes (203) and matching rods (304) are different among the multiple sampling tools, the sampling process includes the following steps: Positioning: Before the sampling operation, the sampler (300) and sample bucket (100) are placed in batches in the sampling tool basket A and tool basket B respectively, and the positional relationship between the tool basket and the robot arm is calibrated in advance by using a specified coordinate system; Robotic arm sampling: The robotic arm sequentially grabs a sampler (300) from the sampling tool basket A and inserts it into the seabed sampling area to collect samples; Transfer: After sampling is completed, the sampler (300) is transferred to the top of the tool basket B and matched sequentially with the sample bucket (100) in the tool basket B; Matching: The sampler (300) is moved vertically above one of the sample bins (100) by the robotic arm, and then moves downward in the vertical direction for the first time. At this time, the guide section (103) is used for alignment. At the same time, the matching rod (304) in the sampler (300) is inserted and matched with the matching hole (203) on the cap (200). After descending to a certain height, it is rotated horizontally. After the horizontal rotation, it moves downward in the vertical direction for the second time. If the robotic arm does not change height during the second movement, it means that the matching is not successful. Then the robotic arm is moved to the original height position and moved to the next sample bin (100) to perform the same operation. Sampling complete: If the robot arm changes height during the second movement, it means that the matching is successful. During the downward movement of the robot arm, the sampler (300) can be inserted into the sample container (100), thus completing the sampling process of the sampling tool.

9. A classification and sampling method suitable for low-visibility environments on the seabed as described in claim 8, characterized in that: The robotic arm has a gripping effect and also has position and force feedback mechanisms.

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