Seabed substrate advanced detection device and method for seabed mining vehicle

Abstract

The invention relates to the technical field of a seabed substrate advanced detection device and method for a seabed mining vehicle, and provides a seabed substrate advanced detection device and method for a seabed mining vehicle, which can simultaneously obtain submarine topography and landform and detect multiple parameters of a seabed substrate. The deep sea detection system is matched with a mine car to ensure smooth proceeding of a rear mine car in deep sea bottom detection, and comprises a sea surface data processing system and a frame with the cross section in a structure shaped like a Chinese character'tian ', a master control device, a signal receiver and at least four detection modules arranged in a matrix are arranged on the frame, and the master control device is used for controlling the detection modules. The signal receiver is used for transmitting information of the detection module and the sea surface receiving device; the detection module comprises a side-scan sonar module used for rapidly obtaining the topography and landform in front, a transverse push toothed plate used for cutting into a soil body, a turbidity meter module used for measuring the concentration of suspended particles and dissolved matters in the seabed, and a pressing plate module used for obtaining the bearing capacity and the subsidence index of the seabed sediment.

Description

Technical Field

[0001] The present invention relates to the technical field of seabed sediment advanced detection devices and methods for subsea mining vehicles, and specifically, to a seabed sediment advanced detection device and method for subsea mining vehicles. Background Art

[0002] Deep-sea sediments contain rich biological and mineral resources. At the same time, the sediments also record paleoclimate and environmental information. The research on sediments is of great significance for marine environmental protection and resource development. The seabed environment is extremely extreme and complex and changeable, which restricts the research and development of marine resources. Therefore, it is of great significance to develop effective detection and research equipment.

[0003] Currently, the means of deep-sea detection and sampling are relatively single. After simple detection and sampling, data and sample processing are carried out in the laboratory, which adds a lot of difficulties for data interpretation and sample analysis. Although China has made a series of breakthroughs in the field of deep-sea detection technology, there are still bottlenecks in some key technologies. Problems such as deep-sea navigation and high-precision measurement have led to less research and development of deep-sea advanced detection devices.

[0004] For example, the Chinese invention patent with the publication number CN114264502A discloses an underwater detection device for ocean engineering. Although this device can conveniently carry out underwater sampling, it cannot well complete the real-time detection function, and the device structure is complex and the volume is large. When the device dives during deep-sea experiments, it is easily affected by the complex deep-sea environment. At the same time, the device is easily damaged by bumps when it lands on the bottom. Facilities such as subsea mining vehicles that are配套 with detection devices often have relatively high volume and weight restrictions, and it is difficult to cooperate with this device.

[0005] In order to overcome the above problems, there is an urgent need to design a new detection device and detection method that can directly measure key mechanical parameters after sampling and provide a basis for judging the drivability and path adjustment of the rear vehicle body. Summary of the Invention

[0006] One of the purposes of the present invention is to provide a seabed sediment advanced detection device for a subsea mining vehicle, which can simultaneously obtain the seabed topography and perform multi-parameter detection of seabed sediments, and cooperate with the mining vehicle to ensure the smooth progress of the rear mining vehicle during deep-sea seabed detection.

[0007] The technical solution of the present invention is as follows: A seabed sediment advanced detection device for a subsea mining vehicle includes a sea surface data processing system, which includes a frame with a "field" - shaped cross-section. A total control device, a signal receiver, and at least 4 detection modules arranged in a matrix are provided on the frame. The total control device is used to control each detection module, and the signal receiver is used to transmit information between the detection module and the sea surface receiving device; The detection module comprises a side-scan sonar module for quickly obtaining the terrain in front, a horizontal pushing tooth plate for cutting into the soil body, a turbidity meter module for measuring the concentration of suspended particles and dissolved substances on the seabed, and a down pressure plate module for obtaining the bearing capacity and subsidence index of seabed sediments.

[0008] Further, the side-scan sonar module is connected with the sea surface sonar processing system and arranged at the front end of the frame.

[0009] Further, the horizontal pushing tooth plate is arranged at the front end of the frame and horizontally adjacent to the side-scan sonar module. The horizontal pushing tooth plate comprises a movable tooth plate and a pressure sensor arranged at the bottom surface of the movable tooth plate, and the movable tooth plate is connected with a tooth plate horizontal telescopic mechanism, and the movable tooth plate can make flip action in horizontal and vertical states respectively and up-down movement.

[0010] Further, the turbidity meter module is arranged at the rear end of the horizontal pushing tooth plate. The turbidity meter module comprises a turbidity meter and a first driving mechanism for driving the turbidity meter to move up and down.

[0011] Further, the down pressure plate module is arranged at the rear end of the side-scan sonar module and horizontally adjacent to the turbidity meter module. The down pressure plate module comprises a down pressure plate, a pressure sensor, a displacement sensor, and a second driving mechanism for driving the down pressure plate to move up and down. The pressure sensor and the displacement sensor are both arranged on the down pressure plate and connected with the sea surface data processing system.

[0012] Further, the first driving mechanism is a telescopic cylinder and connected with the frame through four support rods. The four support rods form a four-pyramid structure with the frame, the first driving mechanism is fixed at one end of the four support rods connected with each other and perpendicular to the horizontal plane, and the turbidity meter is arranged at the output end of the first driving mechanism.

[0013] Further, the second driving mechanism is a telescopic cylinder, and the second driving mechanism is connected with the frame through four fixed rods. The four fixed rods form a four-pyramid structure with the frame, and the four-pyramid structure is fixed at one end of the four support rods connected with each other and perpendicular to the horizontal plane, and the down pressure plate is arranged at the output end of the second driving mechanism and perpendicular to the output shaft of the down pressure plate telescopic cylinder.

[0014] Further, the rear end of the frame comprises a mining car connecting frame with a trapezoidal cross-section structure, and the mining car connecting frame is integrally formed with the frame.

[0015] Another object of the present application is to provide a seabed bottom material advanced detection method for seabed mining vehicles, comprising the following steps: S100: After the seabed bottom material advanced detection device reaches the vicinity of the designated area of the seabed, first start the side-scan sonar module, select a suitable position in the topography of the designated area according to the seabed image transmitted back to the sea surface by the side-scan sonar module, and make the seabed bottom material advanced detection device fall to the seabed; S200: After the device falls to the seabed, the total control device controls the ground supporting cylinder to adjust the device to be placed horizontally, so as to ensure the balance and stability of the device; S300: Start the side-scan sonar module, when working, the emitted sound waves project on the seabed area in the form of a long strip, the reverse scattering signals from each point in the irradiation area are received, amplified, processed and recorded, and the image of the seabed is displayed on the sonar processing system, and the terrain topography in front of the seabed is saved and recorded; S400: Open the horizontal pushing tooth plate, and convert the horizontal pushing tooth plate from being parallel to the horizontal plane to being vertical, the sea surface control system sends a command, and the horizontal pushing tooth plate is pushed to reach a designated horizontal pushing position; S500: According to the depth of the tooth into the soil, the horizontal pushing tooth plate is adjusted up and down along the track of the horizontal pushing tooth plate, so as to achieve different action depths and meet different working conditions of actual action requirements; S600: After the pushing speed is stable, the data of the active soil pressure sensor distributed on the horizontal pushing tooth plate in the pushing process is collected, the soil reaction force received by the horizontal pushing tooth plate in the pushing process is directly measured, and multiple groups of measurements can be performed back and forth to ensure the reliability of the data; S700: After the turbidimeter reaches the designated position, the turbidimeter starts to work, adjusts and sets appropriate light intensity according to the actual working environment of the device, measures the water turbidity according to the principle that the seabed water scatters or transmits light, and transmits the data to the sea surface data processing system in real time; S800: The sea surface control system can pre-set different pressure amounts and pressure depths according to the actual seabed sediment characteristics, make the pressure plate fall to contact the seabed soil, then the pressure plate slowly presses the seabed soil, at this time, the pressure sensor array and the displacement sensor on the pressure plate also start to work, the pressure sensor records and saves the pressure data, the displacement sensor continuously records the pressure depth in groups, and the data is transmitted to the sea surface data processing system in real time; S900: After the advanced detection task in the region is completed, the seabed bottom material advanced detection device is sent to the next designated position, and the above steps are repeated until all the advanced detection tasks are completed, and finally the device is recycled to the sea surface.

[0016] Further, the horizontal pushing tooth plate, the turbidimeter module and the pressure plate module can be started simultaneously or sequentially according to the detection requirements in the detection process.

[0017] The beneficial effects of the present application are:

[0018] The present application can simultaneously carry out advanced detection on seabed bottom material through four detection devices, and quickly, conveniently and economically obtain the terrain and topography in front through the side scan sonar module.

[0019] The horizontal push tooth plate cuts into the soil, and a dynamic soil pressure sensor is installed on the plate surface to measure the soil reaction force in the shearing process. According to the depth of the mine car crawler tooth into the soil, the working depth of the device is flexibly adjusted to adapt the device to different working environments.

[0020] The turbidimeter module measures the concentration of suspended particles and dissolved substances on the seabed, and a temperature sensor is set to correct the measurement data through an algorithm to ensure data accuracy. Meanwhile, the light intensity is controllable, and different light intensities can change the monitoring range and sensitivity of the instrument.

[0021] The seabed sediment bearing capacity and subsidence index are obtained through the down plate module. Different pressure and down depth can be preset through the sea surface control system to adapt to different seabed geological and sediment conditions.

[0022] The seabed data is obtained through remote control, which is safe and convenient to operate, and provides a basis for judging the drivability and path adjustment of the subsequent vehicle body. BRIEF DESCRIPTION OF DRAWINGS

[0023] The present application will be further described in detail below in combination with the drawings and specific embodiments.

[0024] Figure 1 It is a schematic diagram of the overall structure of embodiment 1.

[0025] Figure 2 It is a top view of embodiment 1.

[0026] Figure 3 It is a schematic diagram of the structure of the horizontal push tooth plate.

[0027] Figure 4 It is a side view of the turbidimeter module and the horizontal push tooth plate.

[0028] Figure 5 It is a side view of the turbidimeter module and the down plate module.

[0029] Figure 6 It is a signal transmission module block diagram in embodiment 2.

[0030] Figure 7 It is a perspective view of embodiment 1.

[0031] Figure 8 It is a schematic diagram of the turbidimeter in embodiment 1.

[0032] Figure 9 It is a schematic diagram of the automatic locking structure in embodiment 1.

[0033] In the figure: 1. Frame; 2. Side-scan sonar module; 3. Master control device; 4. Signal receiver; 5. Fixed steel frame; 6. Fixed bolt; 7. Horizontal telescopic mechanism of toothed plate; 8. Upper and lower opening and closing buckle; 81. Rear rotating shaft; 82. Rear rotating wheel; 9. Transverse pushing toothed plate; 10. First driving mechanism; 11. Turbidity meter; 12. Second driving mechanism; 13. Lower pressing plate; 14. Plate surface track; 15. Pressure sensor; 16. Temperature sensor; 17. Pressure controller; 18. Intelligent temperature control bin; 19. Circuit bin; 20. Cabin body; 21. Thermal insulation material; 22. Ventilation channel; 23. Optical window; 24. PTC graphene heating film; 25. Micro air pump; 26. Intelligent pressure control bin; 27. Temperature controller; 28. Ground-supporting cylinder; 29. Servo motor head; 30. Servo motor rod; 31. Fixed block; 32. Fixed piece. Detailed implementation mode

[0034] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present invention.

[0035] Embodiment 1

[0036] As Figures 1-9 shown, a seabed sediment advanced detection device for a seabed mining vehicle includes a sea surface data processing system, including a frame 1 with a "field" - shaped cross - section structure. On the frame 1, there are a master control device 3, a signal receiver 4, and at least 4 detection modules arranged in a matrix. The master control device 3 is used to control each detection module, and the signal receiver 4 is used to transmit information between the detection module and the sea surface receiving device. The master control device 3 and the signal receiver 4 are also provided with waterproof and corrosion - resistant covers to prevent corrosion by seawater and improve service life. A mine car connecting frame with a trapezoidal cross - section structure is provided at the rear end of the frame 1. The mine car connecting frame and the frame 1 are integrally formed to improve the structural strength and facilitate the connection of the mine car.

[0037] In addition, each detection module in this embodiment includes a side - scan sonar module 2 for quickly obtaining the terrain and landform in front, a transverse pushing toothed plate 9 for cutting into the soil, a turbidity meter 11 module for measuring the concentration of suspended particles and dissolved substances on the seabed, and a lower pressing plate 13 module for obtaining the bearing capacity and subsidence index of seabed sediments.

[0038] Specifically, the side - scan sonar module 2 in this embodiment is connected to the sea surface sonar processing system and is arranged on one side of the front end of the frame 1. It is horizontally fixed on two fixed steel frames 5 and transmits the real - time terrain and landform of the seabed to the sea surface sonar processing system through its own internal signal transmitting device.

[0039] The horizontal pushing tooth plate 9 is arranged at the front end of the frame 1 and horizontally adjacent to the side scan sonar module 2. The horizontal pushing tooth plate 9 comprises a movable tooth plate and a pressure sensor 15 (dynamic soil) arranged at the bottom surface of the movable tooth plate. The movable tooth plate is connected with a tooth plate horizontal telescopic mechanism 7 (two air cylinders are arranged inside the grooves on the main body frame 1 left and right respectively, and the two air cylinders are pushed towards each other to realize the horizontal left and right movement of the horizontal pushing tooth plate 9 according to the control warehouse instruction). And the movable tooth plate can be flipped by the up and down opening and closing buckle 8, respectively, to make horizontal, vertical state flipping action and up and down movement action. The horizontal and vertical state flipping is that the buckle can be flipped into horizontal and vertical two states, and the up and down movement action is that the rear wheel 82 behind the buckle and the plate surface track 14 can change the up and down cutting depth of the tooth plate.

[0040] Therefore, the embodiment adds the tooth plate horizontal telescopic mechanism 7 and the up and down opening and closing buckle 8. When the detection operation is not performed, the tooth plate horizontal telescopic mechanism 7 is retracted, the pressure sensor 15 (dynamic soil) is arranged on the horizontal pushing tooth plate 9, and the up and down opening and closing buckle 8 is opened, so that the originally vertically placed plate surface is turned upward to be placed horizontally. Then, the up and down opening and closing buckle 8 is automatically locked to fix the horizontal pushing tooth plate 9 on the horizontal plane, so as to prevent the horizontal pushing tooth plate 9 from being collided or affected during the process of sinking to the seabed and landing. The horizontal pushing tooth plate 9 can be protected by the up and down opening and closing buckle 8, and the horizontal pushing tooth plate 9 can be adjusted up and down by arranging the plate surface track 14.

[0041] The up and down opening and closing buckle 8 supplies power to the rear shaft 81 through the built-in power supply, drives the rear shaft 81 to rotate, and drives the rear wheel 82 to rotate. The rear wheel 82 is installed on the plate surface track 14, and the rear wheel 82 rotates to drive the horizontal pushing tooth plate 9 to move up and down, so as to realize flexible control of the cutting depth of the soil body.

[0042] The above-mentioned automatic locking structure is composed of two servo motor heads 29, a servo motor rod 30, three fixed blocks 31, and four fixed pieces 32 with fixed rings. The two servo motor heads 29 jointly drive the servo motor rod 30 to rotate, the three fixed blocks 31 are welded at the contact parts of the servo motor rod 30 and the right half of the up and down opening and closing buckle 8, and the four fixed pieces 32 with fixed rings are sleeved on the servo motor rod 30 and welded at the contact parts of the servo motor rod 30 and the left half of the up and down opening and closing buckle 8. The servo motor head 29 drives the servo motor rod 30 to rotate, the servo motor rod 30 drives the fixed block 31 and the right half of the up and down opening and closing buckle 8 to move, so as to drive the horizontal pushing tooth plate 9 to be flipped and folded upward. At the same time, the built-in electromagnetic brake of the servo motor head 29 is started and locked when the motor stops current output, so as to realize the self-locking function.

[0043] The embodiment is characterized in that a servo motor is installed inside the original automatic opening and closing upper and lower opening and closing buckle 8 (installed on one side of the groove), the other end of the toothed plate horizontal expansion and contraction mechanism 7 connected with the horizontal pushing toothed plate 9 is connected with the main body frame 1, a groove is opened along the x-axis in the direction shown in the figure on the side edge of the main body frame 1 at this position, the original horizontal pushing toothed plate 9 realizes movement along the y-axis in the direction shown by the expansion rod, the horizontal pushing toothed plate 9 can not only move along the y-axis in the direction shown, but also move along the x-axis through the groove of the main body frame 1, and the servo motor can detect the mechanical properties of the seabed sediment at different depths according to the requirements of the sea surface control center, that is, control the up and down movement of the roller on the upper and lower opening and closing buckle 8, so that the seabed mechanical detection module can realize spatial stereoscopic detection.

[0044] The turbidimeter 11 module is arranged at the rear end of the horizontal pushing toothed plate 9. The turbidimeter 11 module comprises the turbidimeter 11 and a first driving mechanism 10 for driving the turbidimeter 11 to move up and down. The first driving mechanism 10 is preferably an expansion cylinder and is connected with the frame 1 through four support rods. The four support rods and the frame 1 form a four-pyramid structure, the first driving mechanism 10 is fixed at one end of the four support rods connected with each other and is perpendicular to the horizontal plane, and the turbidimeter 11 is arranged at the output end of the first driving mechanism 10.

[0045] In the initial state, the first driving mechanism 10 is contracted, and the turbidimeter 11 is pulled up to the protection range of the four support rods to prevent the turbidimeter 11 from malfunctioning due to collision.

[0046] In addition, in addition to integrating the micro temperature sensor 16 and the micro pressure sensor 15 in the turbidimeter 11, a control bin is additionally arranged between the connecting rod and the turbidimeter 11, the control bin is divided into three layers, the upper layer is an intelligent pressure control bin 26, the middle layer is an intelligent temperature control bin 18, and the lower layer is a circuit bin 19, which is responsible for adjusting the internal pressure and temperature of the turbidimeter 11 in real time according to the monitoring condition of the sensor to ensure normal operation. The turbidimeter 11 is designed with a sealed shell, the main body and the optical window 23 are sealed by laser welding to ensure the air tightness in a high pressure environment, the internal air pressure is adjusted through the feedback of the micro pressure sensor 15 to avoid deformation of the optical element. The PTC graphene heating film 24 is laid inside, and the insulating material 21 is filled between the shell and the inner interlayer, which can not only keep warm, but also automatically start the heating mode in a low temperature environment to ensure that the turbidimeter 11 operates at a normal temperature.

[0047] The lower pressing plate 13 module is arranged at the rear end of the side scan sonar module 2 and horizontally abuts the turbidity meter 11 module. The lower pressing plate 13 module comprises the lower pressing plate 13, the pressure sensor 15, the displacement sensor, and the second driving mechanism 12 for driving the lower pressing plate 13 to move up and down. The pressure sensor 15 and the displacement sensor are arranged on the lower pressing plate 13 and connected with the sea surface data processing system. The second driving mechanism 12 is preferably a telescopic cylinder, and the second driving mechanism 12 is connected with the frame 1 through four fixed rods. The four fixed rods and the frame 1 form a four-pyramid structure, which is fixed at one end of the four supporting rods and perpendicular to the horizontal plane. The lower pressing plate 13 is arranged at the output end of the second driving mechanism 12 and perpendicular to the output shaft of the telescopic cylinder of the lower pressing plate 13.

[0048] In the initial state, the second driving mechanism 12 also retracts to pull the lower pressing plate 13 up to the protection range of the four fixed rods to prevent collision damage to the lower pressing plate 13. The pressure sensor 15 array is arranged and fixed.

[0049] In the embodiment, the signal receiver 4 is arranged on the main frame 1 and used for receiving the instructions of the sea surface control system and transmitting the instructions to the general control device 3 for uniformly deploying the operation of each module.

[0050] Embodiment 2

[0051] A seabed bottom material advanced detection method for a seabed mining vehicle, comprising the following steps: S100: After the seabed bottom material advanced detection device reaches the vicinity of the designated area of the seabed, the side scan sonar module 2 is first started, the seabed image transmitted back to the sea surface by the side scan sonar module 2 is selected, and the seabed bottom material advanced detection device is lowered to the seabed at a suitable position of the topography in the designated area; S200: After the device falls to the seabed, the general control device 3 controls the supporting cylinder 28 to adjust the device to be placed horizontally, so as to ensure the balance and stability of the device; S300: The side scan sonar module 2 is started, the emitted sound waves are projected in a long strip shape on the area of the seabed, the reverse scattering signals from each point in the irradiation area are received, amplified, processed and recorded, and the image of the seabed is displayed on the sonar processing system. The terrain topography in front of the seabed is saved and recorded; S400: The horizontal pushing tooth plate 9, the turbidity meter 11, and the lower pressing plate 13 are started simultaneously or sequentially.

[0052] When the horizontal pushing tooth plate 9 is opened, first, the upper and lower opening and closing buckles 8 are loosened, the control plate is slowly turned to the vertical plane with the bottom up, the horizontal pushing tooth plate 9 is turned from parallel to the horizontal plane to vertical, the sea surface control system sends a command, and the horizontal pushing tooth plate 9 is pushed to the specified horizontal pushing position until the horizontal pushing tooth plate 9 reaches the specified horizontal pushing position, then the upper and lower opening and closing buckles 8 are locked to ensure the stability of the horizontal pushing tooth plate 9; Specifically, the sea surface control system sends a command, first, the control horizontal telescopic mechanism inside the cylinder is pushed towards each other until the horizontal pushing tooth plate 9 reaches the specified position in the x-axis direction, then the tooth plate horizontal telescopic mechanism 7 is controlled to extend forward until the horizontal pushing tooth plate 9 reaches the specified position in the y-axis direction; then the built-in electromagnetic brake of the servo motor is loosened, and at the same time the servo motor shaft 30 rotates, the upper and lower opening and closing buckles 8 are turned down, the plate is slowly turned to the vertical plane with the bottom up, the horizontal pushing tooth plate 9 is turned from parallel to the horizontal plane to vertical, then the servo motor stops current output, the brake will automatically start and lock the motor shaft, and then the upper and lower opening and closing buckles 8 are locked to realize self-locking.

[0053] S500: In the falling process, the edge of the horizontal pushing tooth plate 9 cuts the seabed soil, and part of the plate enters the soil; According to the depth of the track shoe of the mining vehicle into the soil, the horizontal pushing tooth plate 9 is adjusted up and down along the track to achieve different depths of action, so as to meet the different working conditions required by the actual action; Specifically, after the horizontal pushing tooth plate 9 reaches the specified monitoring point x, y-axis plane position and is converted into a vertical plate, the sea surface control system continues to send a command to determine the required shear depth of the detected soil body as H, at this time the z-axis position of the plate is HB, then the servo motor with a rotating wheel in the plate track 14 is controlled to rotate, so that the horizontal pushing tooth plate 9 plate moves downward by H-HB, in the process, the edge of the horizontal pushing tooth plate 9 cuts the seabed soil, and part of the plate enters the soil, and finally reaches the specified three-dimensional space point; According to the actual operation demand of the device, the horizontal pushing tooth plate 9 can be adjusted up and down along the track to achieve different depths of action, so that the device has the ability to detect the mechanical properties of all point soil in the region, and meets the different working conditions required by the actual action.

[0054] S600: When working, the first telescopic rod is elongated to drive the horizontal pushing tooth plate 9 to push forward, and the pushing speed is controlled by the command issued by the sea surface worker; After the pushing speed is stable, the data of the active soil pressure sensor 15 distributed on the horizontal pushing tooth plate 9 in the pushing process is collected, the soil reaction force received by the horizontal pushing tooth plate 9 in the pushing process is directly measured, and multiple measurements can be made back and forth to ensure the reliability of the data; S700: After the turbidimeter 11 reaches the designated position, the turbidimeter 11 starts working, the first driving mechanism 10 slowly falls, the micro temperature sensor 16 and the micro pressure sensor 15 start working, and real-time data is transmitted to the pressure controller 17 and the temperature controller 27 to control the micro air pump 25 and the PTC graphene heating film 24 to adjust the temperature and pressure of the cabin body 20 of the turbidimeter 11. When the pressure sensor 15 monitors that the external pressure P is greater than the normal working pressure PE of the turbidimeter 11 (such as when the turbidimeter 11 is in a diving condition and a deep water condition), the pressure controller 17 starts the micro air pump 25 to inject inert gas (such as nitrogen) into the cavity to maintain the internal air pressure of the cavity stable and ensure the turbidimeter 11 works normally; When the pressure sensor 15 monitors that the external pressure P is less than the normal working pressure PE of the turbidimeter 11 (such as when the turbidimeter 11 is in a floating condition and a shallow water condition), the pressure controller 17 starts the micro air pump 25 to actively pump air to release pressure, avoiding the expansion of the cavity to cause sealing failure, maintaining the internal air pressure of the cavity stable and ensuring the turbidimeter 11 works normally. When the temperature sensor 16 monitors that the external temperature T is less than the normal working temperature TE of the turbidimeter 11 (common in deep sea environment), the temperature controller 27 activates the PTC graphene heating film 24 covering the inner wall to warm up to the set value at a gradient of 1℃ / min, preventing low temperature fogging or performance drift of optical elements; When the temperature sensor 16 monitors that the external temperature T is greater than the normal working temperature TE of the turbidimeter 11, the heating film is automatically turned off. After the temperature and pressure are adjusted, the appropriate light intensity is set according to the actual working environment of the device, the water turbidity is measured according to the principle of scattering or transmission of light by the seabed water, and the data is transmitted to the sea surface data processing system in real time; S800: The sea surface control system can pre-set different pressure and pressure depth according to the actual seabed sediment characteristics, and slowly lower the pressure plate 13 to contact the seabed soil through the second driving mechanism 12; Subsequently, the pressure plate 13 slowly presses the seabed soil, and the pressure sensor 15 array and the displacement sensor on the pressure plate 13 also start working at this time. The pressure sensor 15 records and saves the pressure data, the displacement sensor continuously records the pressure depth in groups, and the data is transmitted to the sea surface data processing system in real time; S900: After the completion of the region ahead of the detection task, the seabed ahead of the detection device is sent to the next designated position, and the above steps are repeated until all the ahead of the detection task is completed, then the turbidity meter 11 and the lower pressing plate 13 are retracted upward with the first driving mechanism 10, protecting the safety of the two module instruments, at the same time, the built-in electromagnetic brake of the servo motor of the horizontal pushing tooth plate 9 is released, and the servo motor rod 30 rotates to control the up-down opening and closing buckle 8 to rotate upward, so that the plate surface slowly turns to the horizontal plane, and the horizontal pushing tooth plate 9 is turned from vertical to parallel, then the servo motor stops current output, the brake will automatically start and lock the motor shaft, then lock the up-down opening and closing buckle 8, realize self-locking, then the first driving mechanism 10 retracts to ensure the safety of the horizontal pushing tooth plate 9.

[0055] Finally, the device is recovered to the sea surface.

[0056] In addition, the horizontal pushing tooth plate 9, the turbidity meter 11 and the lower pressing plate 13 in the above steps can be opened at the same time or opened in turn according to the detection requirement during the detection process.

[0057] The above is only a preferred embodiment of the present application, and is not used to limit the present application, any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A seabed bottom material advanced detection device for a seabed mining vehicle, comprising a sea surface data processing system, characterized in that, The application relates to a frame (1) with a cross-section in the shape of a Chinese character 'tian', wherein the frame (1) is provided with a general control device (3) for controlling each detection module, a signal receiver (4) for transmitting information between the detection module and a sea surface receiving device, and at least four detection modules arranged in a matrix. The detection module comprises a side-scan sonar module (2) for quickly obtaining the terrain and topography in front, a horizontal pushing tooth plate (9) for cutting into the soil, a turbidimeter (11) module for measuring the concentration of suspended particles and dissolved substances in the seabed, and a lower pressing plate (13) module for obtaining the bearing capacity and subsidence index of seabed sediments.

2. The seabed bottom material advanced detection device for a seabed mining vehicle according to claim 1, characterized in that, The side-scan sonar module (2) is connected with a sea surface sonar processing system and arranged at the front end of the frame (1).

3. The seabed bottom material advanced detection device for a seabed mining vehicle according to claim 2, characterized in that, The horizontal pushing tooth plate (9) is arranged at the front end of the frame (1) and horizontally adjacent to the side-scan sonar module (2). The horizontal pushing tooth plate (9) comprises a movable tooth plate and a pressure sensor (15) arranged at the bottom surface of the movable tooth plate, wherein the movable tooth plate is connected with a tooth plate horizontal telescopic mechanism (7), and the movable tooth plate can be flipped in horizontal and vertical states and can be moved up and down.

4. The seabed bottom material advanced detection device for a seabed mining vehicle according to claim 3, characterized in that, The turbidimeter (11) module is arranged at the rear end of the horizontal pushing tooth plate (9). The turbidimeter (11) module comprises a turbidimeter (11) and a first driving mechanism (10) for driving the turbidimeter (11) to move up and down.

5. The seabed bottom material advanced detection device for a seabed mining vehicle according to claim 4, characterized in that, The lower pressing plate (13) module is arranged at the rear end of the side-scan sonar module (2) and horizontally adjacent to the turbidimeter (11) module. The lower pressing plate (13) module comprises a lower pressing plate (13), a pressure sensor (15), a displacement sensor, and a second driving mechanism (12) for driving the lower pressing plate (13) to move up and down. The pressure sensor (15) and the displacement sensor are arranged on the lower pressing plate (13) and connected with a sea surface data processing system.

6. The seabed bottom material advanced detection device for a seabed mining vehicle according to claim 5, characterized in that, The first driving mechanism (10) is a telescopic cylinder and connected with the frame (1) through four supporting rods. The four supporting rods and the frame (1) form a quadrangular pyramid structure, the first driving mechanism (10) is fixed at one end of the four supporting rods and perpendicular to the horizontal plane, and the turbidimeter (11) is arranged at the output end of the first driving mechanism (10).

7. The seabed bottom material advanced detection device for a seabed mining vehicle according to claim 6, characterized in that, The second driving mechanism (12) is a telescopic cylinder and connected with the frame (1) through four fixing rods. The four fixing rods and the frame (1) form a quadrangular pyramid structure, the fixing rods are fixed at one end of the four supporting rods and perpendicular to the horizontal plane, and the lower pressing plate (13) is arranged at the output end of the second driving mechanism (12) and perpendicular to the output shaft of the telescopic cylinder of the lower pressing plate (13).

8. The seabed bottom material advanced detection device for a seabed mining vehicle according to claim 7, characterized in that, The rear end of the frame (1) comprises a mining car connecting frame with a trapezoidal cross-section, and the mining car connecting frame is integrally formed with the frame (1).

9. The method according to any one of claims 1-8, wherein the method is used for seabed bottom material advanced detection of a seabed mining vehicle, characterized in that, The application further relates to a method for detecting the seabed, comprising the following steps: S100: After the seabed bottom condition advanced detection device reaches the vicinity of the designated area of the seabed, first start the side-scan sonar module (2), select the suitable position of the topography in the designated area according to the seabed image transmitted back to the sea surface by the side-scan sonar module (2), and make the seabed bottom condition advanced detection device fall to the seabed; S200: After the device falls to the seabed, the general control device (3) controls the ground supporting cylinder (28) to adjust the device to be placed horizontally, ensuring the balance and stability of the device; S300: Start the side-scan sonar module (2), when working, the emitted sound waves project in the form of a long strip on the seabed area, the reverse scattering signals from each point in the irradiation area are received, amplified, processed and recorded, and the image of the seabed is displayed on the sonar processing system, and the terrain topography in front of the seabed is saved and recorded; S400: Open the horizontal pushing tooth plate (9), and change the horizontal pushing tooth plate (9) from parallel to the horizontal plane to vertical, the sea surface control system sends a command to push the horizontal pushing tooth plate (9) to the designated horizontal pushing position; S500: Adjust up and down along the track of the horizontal pushing tooth plate (9) according to the depth of the tooth into the soil, to achieve different depths of action and meet the different working conditions of the actual action requirements; S600: After the pushing speed is stable, collect the data of the active soil pressure sensor (15) distributed on the horizontal pushing tooth plate (9) during the pushing process, directly measure the soil reaction force received by the horizontal pushing tooth plate (9) during the pushing process, and can be measured back and forth to ensure the reliability of the data; S700: After the turbidimeter (11) reaches the designated position, the turbidimeter (11) starts to work, adjusts and sets the appropriate light intensity according to the actual working environment of the device, measures the water turbidity according to the principle of scattering or transmission of light by the seabed water, and transmits the data to the sea surface data processing system in real time; S800: The sea surface control system can pre-set different pressure and depth according to the actual seabed sediment characteristics, make the lower pressing plate (13) fall to contact the seabed soil, then the lower pressing plate (13) slowly presses the seabed soil, at this time the pressure sensor (15) array and displacement sensor on the lower pressing plate (13) also start to work, the pressure sensor (15) records and saves the pressure data, the displacement sensor continuously records the depth of the lower pressing plate (13), and transmits the data to the sea surface data processing system in real time; S900: After completing the advanced detection task in this area, send the seabed bottom condition advanced detection device to the next designated position, and repeat the above steps until all the advanced detection tasks are completed, and finally recycle the device to the sea surface.

10. The method of claim 9, wherein: The horizontal pushing tooth plate (9), turbidimeter (11) module and lower pressing plate (13) module can be opened simultaneously or sequentially according to the detection requirements during the detection process.

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