A deep water sediment sampling system, a sampling method thereof and a sediment sample calculation method

Abstract

The application discloses a deep-water bottom mud sampling system, a sampling method thereof and a mud sample calculation method, and the sampling system comprises an underwater sampling device, a winch, a controller, a man-machine interface, an air compressor and a power supply. The underwater sampling device comprises a sampling device body, a pneumatic hammer, a piston sampler, a sampling pipe, a water level gauge, a displacement gauge, a camera with an illuminator, an inclinometer and a distance sensor. The sampling device body comprises a cylindrical shell, a baffle, a sliding rail and a supporting rod. The mud sample collecting method can automatically collect deep-water bottom mud samples, improves sampling efficiency, reduces labor cost and labor intensity, does not disturb the mud sample, and the mud sample calculation method can accurately calculate the actual length of each layer of mud sample.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of underwater sediment sampling in hydrology, water environment engineering technology, etc., in particular to a deep water sediment sampling system, a sampling method thereof and a sediment sample calculation method. BACKGROUND

[0002] Underwater sediment sampling is mainly applied in water ecosystem investigation, management, research and other activities, which is of great significance to the development of water ecological restoration methods and the revelation of environmental changes, sedimentation processes and pollutant migration. The main application water areas include rivers, lakes, reservoirs, oceans and the like. Underwater sediment sampling generally requires maintaining the original sequence of the sample and avoiding disturbance. The commonly used sampling methods include claw type and column type, which can be divided into manual or automatic type according to the degree of manual participation in the sampling process. Among them, the automatic type is mainly electromagnetic high-frequency vibration type and mechanical drag weight type. For example, CN200810237472.3 provides a columnar sediment sampling device, which needs to be operated manually by hand, requiring multiple people to work together, with low work efficiency. At the same time, it is only suitable for collecting underwater or shore sediment samples. CN200910098258.9 discloses a valve type sampler for drilling continuous undisturbed sediment samples. The sampler realizes continuous sediment sampling through a piston type, but the weight needs to be manually lifted and naturally lowered to knock the platform for excavation, which is labor-intensive and low in work efficiency. At the same time, it cannot guarantee that the sampler is vertical during the sampling process, so it is difficult to ensure the accuracy of the length of each layer of the sediment sample. CN201710209170.4 discloses a sediment collector vibration mechanism that drives the sampling pipe to vibrate, causing the sediment around the sampling pipe wall to "liquefy", and the sampling pipe to sink, thereby realizing the collection of stratified sediment samples. This method is easy to cause disturbance of the sediment sample and cannot guarantee the order of the sediment sample. CN201410843442.2 provides a natural river columnar sediment collection device, which can reduce the labor intensity, but cannot guarantee that the sampler is vertical during the sampling process, so it is difficult to ensure the accuracy of the length of each layer of the sediment sample. At the same time, the weight still needs to be lifted to knock the platform, which is not efficient.

[0003] In summary, the existing columnar sediment sampling device has the disadvantages of low work efficiency, high labor intensity, and manual operation. Even though there are automatic methods such as high-frequency vibration type and drop hammer type, there are still disadvantages such as sediment disturbance, low efficiency, and inability to guarantee that the sampling pipe is always vertical, resulting in inaccurate length of each layer of the sediment sample. At present, there is a need for a high-efficiency, automated, and high-precision deep water sediment sampling system and method to improve the efficiency and accuracy of sediment sampling. SUMMARY

[0004] The technical problem solved by the present application is to provide a deep water sediment sampling system, a sampling method thereof and a sediment sample calculation method, so as to improve the efficiency and accuracy of sediment sampling.

[0005] In order to solve the above technical problems, the technical scheme adopted by the present application is as follows: a deep water sediment sampling system, the sampling system comprising an underwater sampling device, a winch, a controller, a human-machine interface, an air compressor and a power supply.

[0006] The underwater sampling device comprises a sampling device body, an air hammer, a piston sampler, a sampling pipe, a water level gauge, a displacement gauge, a camera with illuminator, an inclinometer and a distance sensor. The sampling device body comprises a cylindrical shell, a shield, three sliding rails and three support rods. The shield is installed on the top of the shell. The three sliding rails are fixed on the inner wall of the shell in an axial and uniform manner. The three support rods are fixed on the outer wall of the body in a diagonal and uniform manner. The top of the sampling device body is connected with the shield. The top of the piston sampler is connected with the bottom of the air hammer. The bottom of the piston sampler is connected with the sampling pipe. The outer diameter of the piston sampler is equal to that of the air hammer. A plurality of groups of pulleys are arranged on the outer wall of the piston sampler and the air hammer. Each group of pulleys comprises three centrally symmetric pulleys. The pulleys on the outer wall of the piston sampler and the air hammer are slidingly fixed in the sliding rails of the shell of the sampling device body. The water level gauge is installed on the side wall of the sampling device body. The displacement gauge is fixed on the upper part of the shield on the top of the sampling device body. Two cameras with illuminators are installed on any two support rods of the sampling device body. The inclinometer is installed on the outer wall of the sampling device body. The distance sensor is an ultrasonic sensor. The probe direction is parallel to the central axis of the sampling device body and downward.

[0007] The controller is connected with the water level gauge, the displacement gauge, the camera with illuminator, the inclinometer, the distance sensor, the winch and the air compressor through a cable.

[0008] A fixing ring is arranged on the top of the air hammer. The fixing ring is connected with the winch through a steel cable. The air hammer is connected with the air compressor and the atmosphere through an air pipe.

[0009] The winch winds up the air pipe, the cable and the steel cable.

[0010] The human-machine interface is connected with the controller through an RS-232 bus for inputting and viewing data.

[0011] The power supply is connected with the air compressor, the winch, the controller, the human-machine interface, the water level gauge, the displacement gauge, the camera with illuminator, the inclinometer and the distance sensor to provide electric energy for them.

[0012] The controller is connected with the water level gauge, the displacement gauge, the camera with illuminator and the inclinometer through an RS-485 interface.

[0013] The water level meter is a pressure type liquid level meter, and the displacement meter is a pull rope type displacement meter. One end of the pull rope of the displacement meter is connected to the top of the pneumatic hammer.

[0014] The water level meter, the displacement meter, the camera with illuminator, the inclinometer, and the distance sensor are designed to be waterproof.

[0015] The piston sampler and the outer wall of the pneumatic hammer are respectively provided with two groups of pulleys, i.e., a total of 12 pulleys.

[0016] The water level at the sampling position of the sediment is measured by collecting the data of the water level meter, the displacement of the sampling tube relative to the body of the sampling device is measured by collecting the data of the displacement meter, the situation of the water bottom is observed by collecting the data of the camera with illuminator, and the real-time inclination of the sampling tube is measured by collecting the data of the inclinometer.

[0017] The deep water sediment sampling method and the mud sample calculation method using the above system comprise the following steps:

[0018] s1: the sampling method comprises

[0019] s1-1: assembling the parts of the sampling system;

[0020] s1-2: after reaching the predetermined sediment sampling site, the underwater part of the sampling system is lowered by the winch under the control of the man-machine interface, and the water level data h of the water level meter is collected in real time;

[0021] s1-3: during the lowering process, the video situation of the water bottom is observed through the man-machine interface, if the situation of the water bottom is not suitable for sampling, the winch is controlled to stop working, and the sampling position is adjusted until there is no obstacle on the water bottom to hinder the sampling;

[0022] s1-4: the data of the distance sensor is collected in real time, and the winch is lowered, when the sampling distance S of the distance sensor is equal to the total length L of the top of the pneumatic hammer and the bottom of the sampling tube, the displacement H of the displacement meter and the inclination θ of the inclinometer are controlled to be recorded in real time, the timer is started, the sampling time is recorded, the winch is continuously lowered by 2-3 m, and the winch is controlled to stop working;

[0023] s1-5: the working frequency f of the pneumatic hammer is set, the air compressor is controlled to make the pneumatic hammer work, and the displacement H of the displacement meter and the inclination θ of the inclinometer are continuously recorded;

[0024] s1-6: when the sampling distance S of the distance sensor is equal to the total length of the pneumatic hammer and the piston sampler, the sampling is completed, the underwater sampling part is lifted by the winch until it is successfully lifted out of the water surface;

[0025] s1-7: the sampling device is disassembled, and the sample in the sampling tube is collected;

[0026] s2: the mud sample calculation method comprises

[0027] s2-1: remove gross errors from the time series of the collected displacement meter displacement H and the inclinometer inclination θ, and interpolate;

[0028] s2-2: construct a Kalman filter, and Kalman filter the time series of the interpolated displacement meter displacement H and the inclinometer inclination θ;

[0029] s2-3: perform ICEEMDAN empirical mode decomposition on the time series of the Kalman filtered displacement meter displacement H and the inclinometer inclination θ, eliminate the IMF components in the displacement meter displacement H and the inclinometer inclination θ sequence that are the same frequency as the aerodynamic hammer working frequency f, and reconstruct the remaining IMF;

[0030] s2-4: use the reconstructed displacement meter displacement H and the inclinometer inclination θ sequence to obtain the time series of the bottom sediment sampling speed V and the sampler tilting speed u, and calculate the actual length of each layer of the sediment sample.

[0031] The beneficial effects of the present application are: the present application can automatically collect deep water sediment samples, enhance the sampling efficiency of the existing columnar sediment sampling device, reduce the labor cost and labor intensity, the method does not disturb the sediment sample in real time, at the same time, through the cooperation of multiple sensors, the sediment sampling curve can be recorded, and through the sediment sample calculation method, the actual length of each layer of the sediment sample can be accurately calculated. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 is a schematic diagram of the underwater sampling device mechanism of the present application;

[0033] Figure 2 is a schematic diagram of the electrical connection of the deep water sediment sampling system of the present application;

[0034] Figure 3 is an assembly schematic diagram of the pneumatic hammer, the piston sampler and the sampling tube of the present application;

[0035] Figure 4 is a top view schematic diagram of the pneumatic hammer and the piston sampler of the present application;

[0036] Figure 5 is a top view schematic diagram of the main body of the sampling device of the present application;

[0037] Figure 6 is a top view schematic diagram of the shield of the present application;

[0038] Figure 7 is a step diagram of the sediment sampling method of the present application;

[0039] Figure 8 is a step diagram of the sediment sample calculation method of the present application. DETAILED DESCRIPTION

[0040] With reference to the accompanying drawings, the technical solutions in the embodiments of the present application will be described clearly and completely; obviously, the described embodiments are only a part of the embodiments of the present application, and not all the embodiments; based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative labor fall within the scope of the present application.

[0041] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom end" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0042] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "provided with", "sleeved / connected", "connected" and the like should be understood broadly, for example, "connected" can be fixedly connected, or can be detachably connected, or integrally connected; can be mechanically connected, or can be electrically connected; can be directly connected, or can be indirectly connected through an intermediate medium; can be the communication inside two elements. For a person of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0043] As shown in Figures 1-6 The deep water sediment sampling system of the present application includes an underwater sampling device, a winch 2, a controller 3, a human-computer interface 9, an air compressor 16, and a power supply 17.

[0044] The underwater sampling device comprises a sampling device body 8, a pneumatic hammer 1, a piston sampler 6, a sampling tube 7, a water level gauge 10, a displacement gauge 11, a camera with illuminator 12, an inclinometer 13, a distance sensor 14, the sampling device body 8 comprises a cylindrical shell, a cover 20, sliding rails 21, support rods 22, the cover 20 is installed on the top of the shell, the sliding rails 21 are three in total and are fixed on the inner wall of the shell in an axial distribution, the support rods 22 are three in total and are fixed on the outer wall of the body in a slanting support distribution, the sampling device body 8 is connected with the cover 20 at the top, the piston sampler 6 is connected with the bottom of the pneumatic hammer 1, the piston sampler 6 is connected with the sampling tube 7 at the bottom, the piston sampler 6 has the same outer diameter as the pneumatic hammer 1, a plurality of groups of pulleys 18 are arranged on the outer wall of the piston sampler 6 and the pneumatic hammer 1, each group of pulleys 18 comprises three centrally symmetric pulleys, the piston sampler 6 and the pulleys 18 on the outer wall of the pneumatic hammer 1 are slidably fixed in the sliding rails 21 of the shell of the sampling device body 8, the water level gauge 10 is installed on the side wall of the sampling device body 8, the displacement gauge 11 is fixed on the upper part of the cover 20 on the top of the sampling device body 8, the camera with illuminator 12 is two in total and is installed on any two support rods 22 of the sampling device body 8, the inclinometer 13 is installed on the outer wall of the sampling device body 8, the distance sensor 14 is an ultrasonic sensor and is installed on the upper end of the outer wall of the sampling device body 8, the probe direction is parallel to the central axis of the sampling device body 8 and downward;

[0045] The controller 3 is connected with the water level gauge 10, the displacement gauge 11, the camera with illuminator 12, the inclinometer 13, the distance sensor 14, the winch 2 and the air compressor 16 through cables;

[0046] The pneumatic hammer 1 is provided with a fixing ring 23 at the top, the fixing ring 23 is connected with the winch 2 through a steel cable 15, and the pneumatic hammer 1 is connected with the air compressor 16 and the atmosphere through the air pipe 4;

[0047] The winch 2 winds up the air pipe 4, the cable and the steel cable 15;

[0048] The man-machine interface 9 is connected with the controller 3 through an RS-232 bus and is used for inputting and checking data;

[0049] The power supply 17 is connected with the air compressor 16, the winch 2, the controller 3, the man-machine interface 9, the water level gauge 10, the displacement gauge 11, the camera with illuminator 12, the inclinometer 13 and the distance sensor 14 respectively and provides electric energy for them.

[0050] The controller 3 is connected with the water level gauge 10, the displacement gauge 11, the camera with illuminator 12 and the inclinometer 13 through an RS-485 interface.

[0051] The water level gauge 10 is a pressure type liquid level gauge, and the displacement gauge 11 is a pull rope type displacement gauge, one end of the pull rope of the displacement gauge 11 is connected with the top of the pneumatic hammer 1.

[0052] The water level gauge 10, displacement gauge 11, camera with illuminator 12, inclinometer 13, and distance sensor 14 are designed to be waterproof.

[0053] The piston sampler 6 is respectively provided with two groups of pulleys 18 on the outer wall of the pneumatic hammer 1, a total of four groups of 12 pulleys.

[0054] The water level at the sampling position of the sediment is measured by collecting data from the water level gauge 10, the displacement of the sampling tube 7 relative to the body 8 of the sampling device is measured by collecting data from the displacement gauge 11, the situation under the water is observed by collecting data from the camera with illuminator 12, and the real-time inclination of the sampling tube 7 is measured by collecting data from the inclinometer 13.

[0055] The deep water sediment sampling method and sediment sample calculation method using the above system include the following steps:

[0056] As shown in Figure 7 s1: the sampling method, including

[0057] s1-1: assembling the parts of the sampling system;

[0058] s1-2: after reaching the predetermined sediment sampling site, controlling the winch 2 to lower the underwater part of the sampling system through the human-machine interface 9, and collecting real-time water level data h from the water level gauge 10;

[0059] s1-3: during the lowering process, observing the underwater video situation through the human-machine interface 9, if the underwater situation is not suitable for sampling, controlling the winch 2 to stop working, and fine-tuning the sampling position until there are no obstacles on the water bottom to hinder sampling;

[0060] s1-4: collecting real-time data from the distance sensor 14, and lowering the winch 2, when the sampling distance S of the distance sensor 14 is equal to the total length L of the top of the pneumatic hammer 1 and the bottom of the sampling tube 7, controlling to start recording the displacement H of the displacement gauge 11 and the inclination θ of the inclinometer 13 in real time, starting the timer to record the sampling time, and continuing to lower the winch 2 by 3m, and controlling the winch 2 to stop working;

[0061] s1-5: setting the working frequency f of the pneumatic hammer 1, controlling the air compressor 16 to make the pneumatic hammer 1 work, and continuously recording the displacement H of the displacement gauge 11 and the inclination θ of the inclinometer 13;

[0062] s1-6: when the sampling distance S of the distance sensor 14 is equal to the total length of the pneumatic hammer 1 and the piston sampler 6, the sampling is completed, and the underwater sampling part is lifted by the winch 2 until it is successfully lifted out of the water surface;

[0063] s1-7: disassembling the sampling device and collecting the sample in the sampling tube 7;

[0064] As shown in Figure 8 s2: the sediment sample calculation method, including

[0065] s2-1: remove gross errors from the time series of the displacement meter 11 displacement H and the inclinometer 13 inclination θ, and interpolate;

[0066] s2-2: construct a Kalman filter to Kalman filter the time series of the interpolated displacement meter 11 displacement H and the inclinometer 13 inclination θ;

[0067] s2-3: perform ICEEMDAN empirical mode decomposition on the time series of the Kalman filtered displacement meter 11 displacement H and the inclinometer 13 inclination θ, eliminate the IMF components of the same frequency as the working frequency f of the pneumatic hammer 1, and reconstruct the remaining IMF;

[0068] s2-4: use the reconstructed displacement meter 11 displacement H and the inclinometer 13 inclination θ sequence to obtain the time series of the bottom sediment sampling speed V and the sampler inclination speed u, and calculate the actual length of each layer of the sediment sample.

[0069] The specific embodiments of the present application are described in detail with the example of a ship-borne deep water sediment sampling:

[0070] The sampling tube 7 is installed at the bottom of the piston sampler 6;

[0071] The bottom of the pneumatic hammer 1 is connected to the top of the piston sampler 6;

[0072] The baffle 20 is installed on the top of the sampling device body 8;

[0073] The sampling part composed of the sampling tube 7, the piston sampler 6 and the pneumatic hammer 1 is inserted from the bottom of the sampling device body 8, wherein the pneumatic hammer 1 is located at the upper end, and the pulley 18 is sleeved into the sliding rail 21 of the sampling device body 8;

[0074] The winch 2 winds up the air pipe 4, the cable and the steel cable 15, wherein the lower end of the steel cable 15 passes through the baffle 20 to connect the fixed ring 23 at the top of the pneumatic hammer 1, one air pipe 4 connects the pneumatic hammer 1 and the air compressor 16 to provide working air pressure for the pneumatic hammer 1, and the other air pipe 4 connects the pneumatic hammer 1 and the atmosphere, the cable connects the water level meter 10, the displacement meter 11, the camera with illuminator 12, the inclinometer 13 and the distance sensor 14 to the controller 3 and the power supply 17, and is used for communication between these sensors and the controller 3 and power supply for these sensors;

[0075] The water level meter 10 is installed on the side wall of the sampling device body 8;

[0076] The displacement meter 11 is installed between the top of the pneumatic hammer 1 and the baffle 20 at the top of the sampling device body 8;

[0077] The camera with illuminator 12 is installed on the support rod 22 of the sampling device body 8;

[0078] The tilt meter 13 is installed on the outer wall of the sampling device body 8;

[0079] The distance sensor 14 is an ultrasonic sensor, which is installed on the outer wall of the sampling device body 8 at the upper end, with the probe direction being parallel to the central axis of the sampling device body 8 and pointing downward;

[0080] The air compressor 16 and the winch 2 are respectively connected to the power supply 16 and the controller 3, to provide power and control signals for the two;

[0081] The human-computer interface 9 is connected to the power supply 16 and the controller 3;

[0082] The winch 2 is controlled to lift the underwater part of the sampler through the steel wire rope, and at this time, the sampling device body 8 is synchronously lifted due to the action of the top cover 20 of the sampling device body 8.

[0083] The sampling system is controlled to work according to the sampling method steps through the human-computer interface 9:

[0084] After the ship reaches the predetermined sediment sampling site, the underwater part of the sampling system is lowered through the human-computer interface 9, and the water level data h of the water level gauge 10 is collected in real time; during the lowering process, the underwater video is observed through the human-computer interface 9, and if the underwater condition is not suitable for sampling, the winch 2 is controlled to stop working, and the position of the ship is fine-tuned until there is no rock or other obstacles on the seabed to hinder sampling; the data of the distance sensor 14 is collected in real time, and the winch 2 is lowered, and when the sampling distance S of the distance sensor 14 is equal to the total length L of the top of the pneumatic hammer 1 and the bottom of the sampling tube 7, the displacement H of the displacement meter 11 and the tilt angle θ of the tilt meter 13 are controlled to be recorded in real time, the timer is started, the sampling time is recorded, the winch 2 is continuously lowered by 3 m, and the winch 2 is controlled to stop working; the working frequency f of the pneumatic hammer 1 is set, the air compressor 16 is controlled, the pneumatic hammer 1 is worked, and the displacement H of the displacement meter 11 and the tilt angle θ of the tilt meter 13 are continuously recorded; when the sampling distance S of the distance sensor 14 is equal to the total length of the pneumatic hammer 1 and the piston sampler 6, the sampling is completed, the underwater sampling part is lifted by the winch 2 until it is successfully lifted out of the water, the sampling device is disassembled, and the samples in the sampling tube 7 are collected.

[0085] When the above work is completed, the bottom sediment sampling curve analysis work is started. Firstly, the time series of the displacement H of the displacement meter 11 and the inclination θ of the inclinometer 13 are removed from the gross error and are interpolated; then, the Kalman filter is constructed, and the time series of the displacement H of the displacement meter 11 and the inclination θ of the inclinometer 13 after interpolation are Kalman filtered; then, the time series of the displacement H of the displacement meter 11 and the inclination θ of the inclinometer 13 after Kalman filtering are subjected to ICEEMDAN empirical mode decomposition, the IMF components with the same frequency as the working frequency f of the pneumatic hammer 1 in the displacement H of the displacement meter 11 and the inclination θ of the inclinometer 13 sequence are eliminated, and the remaining IMF is reconstructed; finally, the reconstructed displacement H of the displacement meter 11 and the inclination θ of the inclinometer 13 sequence are used to obtain the time series of the bottom sediment sampling speed V and the sampling device inclination speed u, and the actual length of each layer of the mud sample is calculated.

[0086] Through the above process, the deep water bottom sediment sample is automatically collected, and the real length data of each layer of the sample is accurately obtained.

[0087] The above-described embodiments are only used to illustrate the technical ideas and characteristics of the present application, and the purpose is to enable those skilled in the art to understand the content of the present application and to implement it, and cannot be limited to the patent scope of the present application only by the above-described embodiments, that is, any equivalent changes or modifications made according to the spirit disclosed by the present application still fall within the patent scope of the present application.

Claims

1. A deep-water sediment sampling system, characterized in that: The sampling system includes an underwater sampling device, a winch (2), a controller (3), a human-machine interface (9), an air compressor (16), and a power supply (17); The underwater sampling device comprises a sampling device body (8), a pneumatic hammer (1), a piston sampler (6), a sampling tube (7), a water level meter (10), a displacement meter (11), a camera with an illuminator (12), an inclinometer (13), and a distance sensor (14). The sampling device body (8) comprises a cylindrical shell, a shield (20), a slide rail (21), and a support rod (22). The shield (20) is installed on the top of the shell. There are three slide rails (21) which are evenly distributed and fixed to the inner wall of the shell in the axial direction. There are three support rods (22) which are evenly distributed and fixed to the outer wall of the body in the oblique direction. The top of the sampling device body (8) is connected to the shield (20). The top of the piston sampler (6) is connected to the bottom of the pneumatic hammer (1). The bottom of the piston sampler (6) is connected to the sampling tube (7). The outer diameters of the piston sampler (6) and the pneumatic hammer (1) are equal. The sampler (6) and the pneumatic hammer (1) are respectively provided with a plurality of upper and lower pulleys (18) on the outer walls, each pulley (18) including three centrally symmetrical pulleys. The pulleys (18) on the outer walls of the piston sampler (6) and the pneumatic hammer (1) are slidably connected to the slide rails (21) of the shell of the sampling device body (8); the water level meter (10) is installed on the side wall of the sampling device body (8); the displacement meter (11) is fixed on the upper part of the shield (20) at the top of the sampling device body (8); there are two cameras (12) with lighting devices, which are respectively installed on any two support rods (22) of the sampling device body (8); the inclinometer (13) is installed on the outer wall of the sampling device body (8); the distance sensor (14) is an ultrasonic sensor, which is installed on the upper end of the outer wall of the sampling device body (8), and the probe direction is parallel to the central axis of the sampling device body (8) and downward; The controller (3) is connected to the water level meter (10), the displacement meter (11), the camera with lighting (12), the inclinometer (13), the distance sensor (14), the winch (2) and the air compressor (16) through cables; A fixing ring (23) is provided on the top of the pneumatic hammer (1), the fixing ring (23) is connected to the winch (2) via a steel cable (15), and the pneumatic hammer (1) is connected to the air compressor (16) and the atmosphere via an air pipe (4); The hoist (2) rolls up the air pipe (4), the cable, and the steel rope (15); The human-machine interface (9) is connected to the controller (3) via an RS-232 bus and is used to input and view data; The power supply (17) is respectively connected to the air compressor (16), the winch (2), the controller (3), the human-machine interface (9), the water level meter (10), the displacement meter (11), the camera with an illuminator (12), the inclinometer (13), and the distance sensor (14) to provide them with electric energy.

2. The deepwater sediment sampling system according to claim 1, characterized in that: The controller (3) is connected to the water level meter (10), the displacement meter (11), the camera with lighting (12), and the inclinometer (13) via an RS-485 interface.

3. The deepwater sediment sampling system according to claim 1, characterized in that: The water level gauge (10) is a pressure type liquid level gauge, and the displacement meter (11) is a pull rope type displacement meter. One end of the pull rope of the displacement meter (11) is connected to the top of the pneumatic hammer (1).

4. The deepwater sediment sampling system according to claim 1, characterized in that: The water level meter (10), displacement meter (11), camera with lighting (12), inclinometer (13), and distance sensor (14) are designed to be waterproof.

5. The deepwater sediment sampling system according to claim 1, characterized in that: The outer walls of the piston sampler (6) and the pneumatic hammer (1) are respectively provided with two sets of upper and lower pulleys (18), with a total of 4 sets of 12 pulleys.

6. The deepwater sediment sampling system according to claim 1, characterized in that: The water level at the bottom mud sampling position is measured by collecting data from a water level meter (10), the displacement of the sampling tube (7) relative to the sampling device body (8) is measured by collecting data from a displacement meter (11), the bottom water situation is observed by collecting data from a camera with an illuminator (12), and the real-time inclination of the sampling tube (7) is measured by collecting data from an inclinometer (13).

7. A deep-water sediment sampling method and a sediment sample calculation method using the system according to any one of claims 1 to 6, characterized in that: The following steps are involved: s1: Sampling method, including s1-1: Assemble all parts of the sampling system; s1-2: After reaching the predetermined bottom sediment sampling location, the winch (2) is controlled by the human-machine interface (9) to lower the underwater part of the sampling system, and the water level data h from the water level gauge (10) is collected in real time; s1-3: During the lowering process, the underwater video situation is observed through the human-machine interface (9). If the underwater situation is not suitable for sampling, the winch (2) is controlled to stop working and the sampling position is fine-tuned until there are no obstacles on the bottom of the water that hinder sampling; s1-4: real-time data collection of the distance sensor (14) and lowering of the winch (2); when the sampling distance S of the distance sensor (14) is equal to the total length L between the top of the pneumatic hammer (1) and the bottom of the sampling tube (7), the control starts to record the displacement H of the displacement meter (11) and the inclination angle θ of the inclinometer (13) in real time, starts the timer, records the sampling time, continues to lower the winch 2 to 3 meters, and controls the winch (2) to stop working; s1-5: setting the operating frequency f of the pneumatic hammer (1), controlling the air compressor (16), making the pneumatic hammer (1) work, and continuously recording the displacement H of the displacement meter (11) and the inclination angle θ of the inclinometer (13); s1-6: When the sampling distance S of the distance sensor (14) is equal to the total length of the pneumatic hammer (1) and the piston sampler (6), the sampling is completed, and the winch (2) is controlled to lift the underwater sampling part until it is successfully raised to the water surface; s1-7: dismantle the sampling device and collect the sample in the sampling tube (7); s2: Mud sample calculation method, including s2-1: Eliminate gross errors from the time series of displacement H of the displacement meter (11) and inclination θ of the inclinometer (13) collected, and perform interpolation; s2-2: construct a Kalman filter and perform Kalman filtering on the time series of the displacement H of the displacement meter (11) and the inclination θ of the inclinometer (13) after interpolation; s2-3: Perform ICEEMDAN empirical mode decomposition on the time series of displacement H of the displacement meter (11) and tilt angle θ of the inclinometer (13) after Kalman filtering, eliminate the IMF components in the series of displacement H of the displacement meter (11) and tilt angle θ of the inclinometer (13) that are at the same frequency as the working frequency f of the pneumatic hammer (1), and reconstruct the remaining IMFs; s2-4: Using the reconstructed displacement H of the displacement meter (11) and the inclination θ sequence of the inclinometer (13), the time series of the bottom mud sampling velocity V and the time series of the sampler tilt velocity u are obtained to calculate the actual length of each layer of the mud sample.

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