Method for detecting using a complex marine geological environment detection device

Abstract

The present invention relates to the field of water environment monitoring, and in particular to a method for detecting using a complex marine geological environment detection device. The water environment detection device includes at least two triangular pyramids, a propeller is provided at the vertex of the triangular pyramid located at the front end, a direction-changing converter is provided at one side thereof, a propulsion turbine is provided at the side of the triangular pyramid located at the rear end, a toggle cone tip is fixedly provided at several vertices of the triangular pyramid, and a sliding path is provided at the edge of the triangular pyramid; a battery, a sample collection mechanism, a manipulator, a cone tip probe rod and a water environment monitoring mechanism are provided in the triangular pyramid, and a charging plug for charging is provided at one vertex of the triangular pyramid; wherein, through the combination, connection and deformation between the triangular pyramids, water environment monitoring, rapid advancement, underwater operation, underwater in-situ long-term monitoring, and launch signal transmission actions are completed. It utilizes the characteristics of free combination and free deformation of the device to realize multiple operation modes, and has a high degree of freedom in operation.

Description

Technical Field

[0001] The invention relates to the field of water environment monitoring, and in particular to a method for detecting a complex marine geological environment using a detection device. Background Art

[0002] The water environment includes lakes, rivers, oceans and other ecological environments that are closely related to humans. It is an important component that affects human survival and development, and its accurate monitoring is necessary. The current monitoring methods have relatively poor patrol performance, are difficult to sustain in complex environments, and lack multifunctionality. A new method is urgently needed to make up for these blind spots. The invention proposes a water environment detection device. Due to its high degree of freedom of operation, diversified operating modes, and complex separation and combination methods, the method of its use needs to be further explained. Summary of the invention

[0003] The purpose of the present invention is to overcome the above-mentioned defects of the prior art and propose a method for detection using a complex marine geological environment detection device, which utilizes the characteristics of free combination and free deformation of the device to achieve multiple operation modes with high operating freedom.

[0004] The technical solution of the present invention is: a method for detecting a complex marine geological environment using a detection device, wherein the water environment detection device comprises at least two triangular pyramids, a propeller is provided at the vertex of the triangular pyramid located at the front end, a direction-changing converter is provided at one side thereof, a propulsion turbine is provided at the side of the triangular pyramid located at the rear end, a plurality of vertices of the triangular pyramid are fixedly provided with toggling cone tips, and a sliding path is provided at the edge of the triangular pyramid;

[0005] The triangular pyramid is equipped with a battery, a sample collection mechanism, a manipulator, a cone-tip probe and a water environment monitoring mechanism. A charging plug for charging is provided at one vertex of the triangular pyramid.

[0006] Among them, through the combination, connection and deformation of the triangular pyramids, water environment monitoring, rapid advancement, underwater operations, underwater in-situ long-term monitoring, and launch signal actions are completed.

[0007] In the present invention, two adjacent triangular pyramids are connected via a connecting portion and a nanofiber portion;

[0008] One end of the nanofiber portion is connected to the sliding path of the triangular pyramid, and the other end of the nanofiber portion is fixedly connected to the moving cone tip of the adjacent triangular pyramid.

[0009] When adjacent triangular pyramids of the detection device pass through the connecting portion and the nanofiber portion in sequence, and the side surfaces of the triangular pyramids are all in a planar state, the water environment monitoring action is completed through the water environment monitoring mechanism.

[0010] When the adjacent triangular pyramids of the detection device are connected in sequence through the connecting portion and the nanofiber portion, and:

[0011] When the blades on the propeller are in the extended position;

[0012] The sample collection mechanism includes a sample collector and a sample collection chamber fixed to the side of the triangular pyramid. When the sample collector is slid and pulled out of the sample collection chamber;

[0013] When the charging plug is connected to the hydroelectric charging cable and the wave accumulator extends from the side of the triangular pyramid;

[0014] When the manipulator extends from the side of the triangular pyramid and is in an unfolded state;

[0015] When the cone tip probe is pushed out from the triangular pyramid;

[0016] The device completes its underwater operations through a propeller, a sample collection mechanism, a charging plug, a wave accumulator, a manipulator, and a cone-tip probe.

[0017] The connecting portion comprises:

[0018] Two bearings, the bearings are rotatably connected to the moving cone tips of two adjacent triangular pyramids respectively;

[0019] Conductive memory metal, the two bearings are connected by two symmetrical conductive memory metals, each conductive memory metal comprises a first section of conductive memory metal and a second section of conductive memory metal;

[0020] A connecting ball, one end of the second section of conductive memory metal is fixedly connected to the bearing on one side, and the other end of the second section of conductive memory metal is fixedly provided with a connecting ball;

[0021] A connecting buckle, one end of the first section of conductive memory metal is fixedly connected to the bearing on the other side, and the other end of the first section of conductive memory metal is fixedly provided with a connecting buckle, and the connecting buckle includes a plurality of buckle plates arranged at intervals along the circumferential direction, and the buckle plates are rotatably connected to the first section of conductive memory metal, and the buckle plates are covered on the outside of the connecting ball.

[0022] The nanofiber portion comprises:

[0023] The nanofiber has one end connected to the adsorption round head and the other end fixedly connected to the moving cone tip of the triangular pyramid;

[0024] The round head is adsorbed and slidably arranged in the sliding path of the adjacent triangular pyramid.

[0025] The connection between two adjacent triangular pyramids is disconnected, and the tip of the triangular pyramid moves along the sliding path of the adjacent triangular pyramid under the drag of the nanofiber part until the triangular surfaces of the triangular pyramids fit together;

[0026] The propeller is located at the front center of the device after deformation, the triangular side with the direction-changing converter and the triangular side with the propulsion turbine are adjacent to each other, and the direction-changing converter is located above the propulsion turbine;

[0027] The forward motion of the device is accomplished by a propulsion turbine and a direction-changing converter.

[0028] The connecting part and the nanofiber part between two adjacent triangular pyramids are disconnected, and one side surface of each triangular pyramid is a folded surface;

[0029] The tip of the triangular pyramid is inserted into the folded surface of the adjacent triangular pyramid, and the triangular pyramids are stacked up and down in sequence to form a stacked tower-like bottom platform, wherein the triangular pyramid with the propeller is located at the top of the transformed device, the propeller is located at the top of the transformed device, and the side where the propulsion turbine is located is located at the bottom of the transformed device;

[0030] The long-term in-situ monitoring of the device is accomplished by stacking triangular pyramids.

[0031] A fixed base is provided on the side of the triangular pyramid where the propulsion turbine is located.

[0032] A load-bearing end is provided at the apex of one of the triangular pyramids, and the triangular pyramid with a propeller and the triangular pyramid with a load-bearing end are separated from the other triangular pyramids and gradually float to the water surface under the action of buoyancy;

[0033] The connection part and the nanofiber part between the triangular pyramid with the propeller and the triangular pyramid with the load-bearing end are disconnected, and the load-bearing end is inserted into the through hole at the center of the folding surface of the triangular pyramid with the propeller, and the triangular pyramid where the load-bearing end is located lifts the triangular pyramid with the propeller to a position above the water surface;

[0034] The propeller blades are opened. During the propeller rotation, the lift of the triangular pyramid connected to the propeller gradually increases. The two triangular pyramids are separated, and the triangular pyramid with the propeller rises into the air and sends a signal to the shore.

[0035] The device's lifting and signal transmission action is completed through a triangular pyramid with a propeller and a triangular pyramid with a load-bearing end.

[0036] The beneficial effects of the present invention are that the connection relationship and combination relationship between the components can be changed so that the device has different shapes and structures, realizing multiple operation modes including underwater monitoring, underwater operation, advancement, long-term in-situ monitoring, and launching signals into the air. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a schematic diagram of the structure of the device described in Example 1;

[0038] Figure 2 It is a schematic structural diagram of the tail end part in Embodiment 1;

[0039] Figure 3 It is a schematic structural diagram of the connecting part;

[0040] Figure 4 It is a schematic structural diagram of the nanofiber part;

[0041] Figure 5 It is a schematic structural diagram of the device described in Embodiment 2;

[0042] Figure 6 It is a schematic structural diagram of the propulsion worm gear and the direction-changing converter in Embodiment 2;

[0043] Figure 7 It is a schematic structural diagram of the direction-changing converter;

[0044] Figure 8 It is a schematic structural diagram of the device described in Embodiment 3;

[0045] Figure 9 It is a schematic structural diagram of the sample collector;

[0046] Figure 10 It is a schematic structural diagram of the second component in Embodiment 3;

[0047] Figure 11 It is a schematic working diagram of the conical tip probe when the bottom of the water is flat;

[0048] Figure 12 It is a schematic working diagram of the conical tip probe when the bottom of the water is inclined;

[0049] Figure 13 It is a schematic structural diagram of the device described in Embodiment 4;

[0050] Figure 14(a) is a schematic structural diagram of the foldable surface of the head end part;

[0051] Figure 14(b) is a schematic structural diagram of the foldable surface of the first component;

[0052] Figure 14(c) is a schematic structural diagram of the foldable surface of the second component;

[0053] Figure 14(d) is a schematic structural diagram of the foldable surface of the third component;

[0054] Figure 14(e) is a schematic structural diagram of the foldable surface of the tail end part;

[0055] Figure 15 It is a schematic structural diagram of the device described in Embodiment 4.

[0056] In the figure: 1 head end; 2 first component; 3 second component; 4 third component; 5 tail end; 6 connecting part; 601 bearing; 603 connecting buckle; 604 connecting ball; 605 buckle plate; 606 first section of conductive memory metal; 607 second section of conductive memory metal; 7 nanofiber part; 8 propeller; 801 spiral head; 802 blade; 9 toggle cone tip; 12 direction converter; 1201 rotating handle; 1202 water baffle; 13 load-bearing end; 14 sample collector; 1401 central guide column; 1402 collecting trough; 1403 block; 15 charging plug; 16 hydroelectric charging cable; 17 wave accumulator; 18 manipulator; 19 propulsion turbine; 20 diversion hole; 21 cone tip probe rod; 22 sliding path; 23 fixed base. DETAILED DESCRIPTION

[0057] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0058] In the following description, specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in a variety of other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0059] The invention discloses a method for detecting using a complex marine geological environment detection device, wherein the water environment detection device comprises at least two triangular pyramids, a propeller is arranged at the vertex of the triangular pyramid at the front end, and a direction-changing converter is arranged at the side of the triangular pyramid. A propulsion turbine is arranged at the side of the triangular pyramid at the rear end, a plurality of vertices of the triangular pyramid are fixed with toggling cone tips, and a sliding path is arranged at the edge of the triangular pyramid.

[0060] The above-mentioned triangular pyramids can be independent triangular pyramids without any connection relationship, or two adjacent triangular pyramids can be connected through a connecting part and a nanofiber part.

[0061] In the present application, the number of triangular pyramids can be three, four, five or more. When the number of triangular pyramids is five, the structural performance of the device is optimal.

[0062] The storage battery, charging plug, sample collection mechanism, manipulator, cone tip probe and water environment monitoring mechanism can be arranged on the above-mentioned several triangular pyramids according to actual needs. The storage battery is arranged in the triangular pyramid with the propeller.

[0063] During the operation, the device can complete water environment monitoring, rapid advancement, underwater operation, underwater in-situ long-term monitoring, and launch signal transmission through the connection, combination, and deformation of the triangular pyramids. In this embodiment, a detection device including five triangular pyramids is taken as an example to specifically introduce a method for detecting using the detection device.

[0064] Example 1

[0065] like Figure 1 As shown, the water environment detection device includes a head end 1, a first component 2, a second component 3, a third component 4 and a tail end 5 connected in sequence from front to back, each part adopts a regular triangular pyramid, and when the surface of each triangular pyramid is in a flat state, the water environment monitoring action is completed by the water environment monitoring mechanism of the detection device. The water environment monitoring mechanism includes a camera and various hydrological monitoring instruments.

[0066] The two adjacent components are connected by the connecting part 6 and the nanofiber part 7 respectively. The nanofiber part 6 is made of a nanocellulose-based conductive composite material and has conductive properties to achieve conductivity between the two adjacent components. The head end 1 and the second component 3 are both provided with control components, wherein the control component in the head end 1 is used to control the actions of the head end 1 and the first component 2, and the control component in the second component 3 is used to control the actions of the second component 3, the third component 4 and the tail end 5.

[0067] A propeller 8 is provided at one vertex of the triangular pyramid of the head end 1, and a toggle cone tip 9 is fixed at the other three vertices. In complex terrain, the triangular pyramid can use the toggle cone tip 9 as a fulcrum to apply forces in all directions, through which the entire device can move forward, and the triangular pyramid can rotate around the toggle cone tip 9, so as to achieve more and more precise posture adjustments. In this embodiment, the toggle cone tip 9 and the triangular pyramid are an integrated structure.

[0068] The propeller 8 includes a spiral head 801 and blades 802 arranged at intervals along the circumference of the spiral shaft. The spiral head 801 is rotatably connected to the triangular pyramid. A motor is arranged in the cavity of the triangular pyramid at the head end, and the spiral head 801 is fixedly connected to the motor output shaft. A first battery is arranged in the cavity at the head end, and the motor is powered by the first battery. At this time, the blades are in a retracted state.

[0069] A camera, a first GPS and a direction-changing converter are also provided on the surface of the triangular pyramid of the head end 1, and the camera, the first GPS and the direction-changing converter 12 are all hidden in the groove on the side of the triangular pyramid. The camera is used to shoot the underwater environment, and the first GPS is used for underwater navigation of the device.

[0070] At a vertex of the triangular pyramid of the first component 2, there is a load-bearing end 13, which is fixedly connected to the triangular pyramid. Poking tips 9 are respectively fixed at the other vertices of the triangular pyramid 13. The poking tips at the two vertices of the triangular side corresponding to the load-bearing end 13 are respectively connected to the head end and the second component.

[0071] On the sides of the triangular pyramid of the first component 2, there are respectively a second GPS, various types of hydrological monitoring instruments that can be carried, and sample collectors. Among them, the hydrological monitoring instruments are used to monitor various parameters of the underwater environment.

[0072] There is a second battery inside the first component.

[0073] Inside the cavity of the triangular pyramid of the second component 3, there is a third battery. The second component 3 is mainly used for storing electrical energy. At a vertex of this triangular pyramid, there is a charging plug 15, which can be connected to a water surface charging cable laid in advance on the water surface for charging. Poking tips 9 are respectively fixed at the other three vertices of the second component 3.

[0074] On one side surface of the second component 3, there is a wave energy accumulator. There is a groove on this side surface. In this embodiment, the wave energy accumulator 17 is folded and arranged in the groove, and at this time this side surface is flat.

[0075] After the third battery is charged, the electrical energy in the third battery is transmitted to the conductive element installed in the slide rail of the first component through the nanofiber part. There is electrical circuit permeability between the second battery and the conductive element, thereby completing the power supply to the second battery. Similarly, the electrical energy in the second battery is transmitted to the first battery in the head end 1 through the above method.

[0076] On the two triangular side surfaces of the triangular pyramid of the third component 4, there are respectively manipulators. The manipulators are folded in the grooves of the triangular side surfaces. At this time, the outer side surfaces of the triangular pyramid of the third component are all flat, ensuring that the whole device has as little influence on the flow field as possible during the forward movement. Poking tips are respectively fixed at the four vertices of the triangular pyramid of the third component 4.

[0077] As Figure 2 shown, on one side surface of the tail end 5, there is a propulsion turbine 19. There are flow guiding holes 20 penetrating through the other three side surfaces of the tail end 5 of the turbine 19. During the working process of the propulsion turbine 19, water flows into the cavity of the triangular pyramid of the tail end through the flow guiding holes 20. The kinetic energy of the fluid acts on the blades of the turbine 19, generating a reaction force, thereby causing the propulsion turbine 19 to rotate, thus providing propulsion force for the forward movement of the whole device. A poking tip is fixed at the vertex of the triangular pyramid opposite to the side surface where the propulsion turbine is set.

[0078] A cone tip probe is provided on one side of the tail end 5, and the cone tip probe is telescopically arranged in the triangular pyramid. In this embodiment, the cone tip probe is retracted in the triangular pyramid cavity of the tail end. At this time, the side surface of the triangular pyramid is flat.

[0079] like Figure 3 As shown, the connecting part 6 includes bearings 601 located on both sides, and conductive memory metal and connecting buckle 603 connecting the two bearings, wherein the two bearings are respectively arranged on two adjacent triangular pyramids, and a groove is provided at the tip of the triangular pyramid, and the bearing 601 is rotatably arranged in the groove. The change of the control posture between the two adjacent triangular pyramids is realized through the rotation connection between the bearing 601 and the triangular pyramid. The two bearings are connected by the conductive memory metal 602 symmetrically arranged on both sides. The conductive memory metal 602 has the characteristics of being hard under the action of electricity and soft after power failure. When the force conduction is required, the current passes through the conductive memory metal 602. At this time, the conductive memory metal 602 is in a rigid state, completing the conduction of the force, providing torsional force and bending force for the advancement of complex terrain, and providing a method for in-depth detection of narrow and complex water environments.

[0080] The conductive memory metal 602 on each side is composed of two sections of conductive memory metal, wherein one end of the first section of conductive memory metal is fixedly connected to one side of the bearing, and the other end of the first section of conductive memory metal is fixed with a connecting buckle 603. One end of the second section of conductive memory metal is fixedly connected to the bearing on the other side, and the other end of the second section of conductive memory metal is provided with a connecting ball 604. The connecting buckle 603 includes a plurality of buckles 605 arranged at intervals along the circumferential direction, and the buckle 605 is rotatably connected to the end of the first section of conductive memory metal. When the buckle 605 is closed inwardly, the connecting ball 604 can be wrapped in the buckle 605, thereby realizing the connection between the first section of conductive memory metal 606 and the second section of conductive memory metal 607, and the connecting part is in a connected state at this time. When there is no need to connect the two adjacent triangular pyramids, the buckle 605 opens outward, and the connecting buckle 603 and the connecting ball 604 are in a separated state, thereby realizing the separation between the first section of conductive memory metal 606 and the second section of conductive memory metal 607, and the connecting part is in a disconnected state.

[0081] like Figure 4 As shown, the nanofiber portion 7 includes a nanofiber 701 and an adsorption round head 702, one end of the nanofiber 701 is fixedly connected to the tip of the toggle cone, and the other end of the nanofiber 701 is fixedly connected to the adsorption round head 702. The connection between the nanofiber 701 and the adsorption round head 702 is a controllable connection, that is, when two adjacent triangular pyramids need to be in a connected state, the nanofiber 701 and the adsorption round head 702 are fixedly connected; when the two adjacent triangular pyramids need to be disconnected, the nanofiber 701 and the adsorption round head 702 need to be controlled to be in a disconnected state.

[0082] Cylindrical sliding paths 22 are provided at the edges of the triangular pyramid. The adsorption round head 702 is slidably and rotatably arranged in the sliding path 22. When the adsorption round head 702 is connected to the nanofiber 701, when the adsorption round head 702 slides in the sliding path 22, the adjacent triangular pyramid can be driven to move along the sliding path 22 through the nanofiber, thereby realizing the controllability of the moving direction of the triangular pyramid. Through the nanofiber part 7 and the multiple sliding paths 22 on the triangular pyramid, the free mobility of the triangular pyramid along the edges of the adjacent triangular pyramid in multiple directions is ensured, providing an angle for the adjustment of the relative position between two adjacent triangular pyramids.

[0083] The adsorption round head 702 is spherical. The diameter of the cylindrical sliding path 22 is larger than the diameter of the adsorption round head 702, and the cylindrical sliding path 22 is provided with an opening, and the width of the opening is smaller than the diameter of the adsorption round head 22, so as to ensure that the adsorption round head 702 can always slide in the cylindrical sliding path 22 and will not fall off from the cylindrical sliding path 22.

[0084] When adjusting the relative position of the triangular pyramid through the nanofiber part, first make the connecting part in a disconnected state, control the adsorption round head 702 to slide in the sliding path 22 through the control component, and cooperate with the rotation of the triangular pyramid with its own tip as the center to adjust the posture, so as to realize the movement and relative position adjustment of the nanofiber 701 driving the triangular pyramid along the sliding path 22 of the adjacent triangular pyramid.

[0085] When the device completes the water environment monitoring action, the five parts in the device are independently unfolded, and each part is connected by the nanofiber part 7 and stabilized by the connecting part 6, ensuring the relevance and independence between two adjacent triangular pyramids. By the tip 9 of the triangular pyramid sliding along the sliding path 22 of the adjacent triangular pyramid, a great degree of relative position freedom is given between two adjacent triangular pyramids.

[0086] The tip 9 at the vertex of each triangular pyramid can exert forces in all directions with the complex terrain as the fulcrum. The connecting part 6 is used to conduct the force, providing torsional force and bending deformation force for the whole device during the forward process in the complex terrain, providing the possibility for in-depth detection of the narrow and complex water environment.

[0087] The propulsion turbine 19 at the tail end 5 can rotate forward and backward, providing a small thrust for the whole device.

[0088] Embodiment 2

[0089] As Figure 5 shown, the deformed device completes the rapid forward movement through the direction converter and the propulsion turbine.

[0090] At this time, the entire device is deformed and assembled into a flying saucer shape, which conforms to the high-speed forward shape of fluid dynamics. The connecting part connecting two adjacent triangular pyramids is disconnected, and the tip of the triangular pyramid moves along the sliding path under the drag of the nanofiber until the triangular surfaces of each triangular pyramid fit together. Figure 6 As shown, at this time, the propeller 8 is located at the front center of the device, and the triangular side surface of the head end provided with the direction-changing converter 12 is adjacent to the triangular side surface of the tail end provided with the propulsion turbine 19.

[0091] like Figure 7 As shown, the direction-changing converter 12 includes a rotating handle 1201 and a water baffle 1202. One end of the rotating handle 1201 is rotatably connected to the inner wall of the groove, and the other end of the rotating handle 1201 is fixedly connected to the circular water baffle 1202. The rotating handle 1201 is T-shaped, and both ends of the T-shaped rotating handle are rotatably connected to the inner wall of the groove. A circular hole is provided in the center of the water baffle 1202. When the rotating handle 1201 drives the water baffle 1202 to rotate, the opening and folding of the direction-changing converter is realized. The direction of the water flow is changed by the direction-changing converter 12, and different water flow directions are realized by changing the rotation angle of the direction-changing converter.

[0092] The reversing converter 12 is unfolded from the groove. The reversing converter 12 is located above the propulsion turbine 19. When the high-speed water flow generated by the rotation of the propulsion turbine 19 flows upward to the reversing converter 12, the reversing converter 12 changes the direction of the high-speed water flow, and the high-speed water flow turns to move forward, so that the device completes the forward movement. Among them, the action of the propulsion turbine 19 provides forward power for the entire device, and the reversing converter 12 controls the forward direction of the entire device. The propulsion turbine 19 and the reversing converter 12 cooperate with each other to ensure that the entire device moves rapidly in the specified direction. At this time, the deformed device can move at high speed in an open water environment, so that the device can reach the specified position in a short time.

[0093] The rest is the same as in Example 1.

[0094] Example 3

[0095] like Figure 8 As shown, the deformed device completes underwater operation through a propeller, a sample collection mechanism, a charging plug, a wave accumulator, a manipulator, and a cone-tip probe.

[0096] At this time, the blades of the propeller 8 at the head end 1 are in an unfolded state. When the motor in the head end is activated, it drives the spiral head 801 to rotate, and at the same time, the control component controls the blades 802 to swing, so that the blades on the spiral head are unfolded. The rotation of the spiral head 801 drives the blades 802 to rotate, thereby realizing the upward movement of the head end. During navigation in a complex environment, if you encounter terrain that needs to be developed, you can use the propeller 8 at the head end 1 to excavate the development area under the fulcrum of the cone tip 9 to ensure the smooth conduction of the forward detection. In this process, the rigid structure of the connection part can be used to transmit the force.

[0097] The sample collection mechanism includes a sample collector and a sample collection chamber. Figure 9 As shown, in the first component 2, a sample collecting chamber is fixedly connected to the side of the triangular pyramid where the sample collector 14 is arranged, and the sample collector 14 is slidably arranged in the sample collecting chamber.

[0098] The sample collection chamber includes a central hole and several collection holes located outside the central inner hole, and the central hole is connected to the collection hole. The corresponding sample collector 14 includes a central guide column 1401 and several collection slots 1402, and several collection slots 1402 are arranged at intervals along the circumferential direction outside the central guide column 1401. The central guide column 1401 is slidably arranged in the central hole, and the collection slot 1402 is slidably arranged in the collection hole, and the collection slot and the collection hole are arranged correspondingly. One end of the collection slot 1402 can be slidably inserted into the collection hole, and the other end of the collection slot 1402 is fixed with a stopper 1403, and the stopper 1403 is fixedly connected to the central guide column 1401 at the same time. The size of the stopper 1403 is larger than the aperture of the sample collection chamber, and the stopper 1403 cannot be inserted into the sample collection chamber, so the stopper 1403 is always located outside the sample collection chamber, and the stopper 1403 plays a sealing role on the sample collection chamber. In this embodiment, the sample collector includes four collection slots 1402.

[0099] During the sample collection process, the sample collector 14 is first pulled out of the sample collection chamber, and the collected samples are placed in the collection slot 1402 in the sample collector. After the samples are filled, the sample collector 14 is pushed into the sample collection chamber. The baffle 1403 at the end of the sample collector is located outside the sample collection chamber, which seals the sample collection chamber. At this time, the collected samples are sealed and placed in the sample collection chamber.

[0100] like Figure 10As shown, when the second battery needs to be charged, the wave energy accumulator 17 is extended from the triangular pyramid through the control component. When the charging plug 15 is relatively fixedly connected to the hydroelectric charging cable 16, the wave energy accumulator 17 can convert wave energy into electrical energy in the water, thereby utilizing wave energy or water flow to complete the energy accumulation process, which plays a role in supplementing the electrical energy of the entire device. This ensures a reliable source of energy for the entire device and high efficiency of charging.

[0101] The manipulator 18 is in an unfolded state, and can perform related operations in a narrow and complex water environment, such as dredging, sampling, and removing roadblocks, and can also achieve underwater sampling. Since the triangular pyramid of the third component can be in multiple directions and angles, the manipulator can adjust the operating angle as the third component rotates, which has great flexibility. The samples collected by the manipulator can be directly placed in the sample collector, and the sample collector is pushed into the sample collection cabin, realizing the storage and recovery of the samples.

[0102] The control component controls the cone tip probe 21 to be pushed out from the triangular cone of the tail end 5. The cone tip probe 21 can penetrate the bottom layer and can conduct detection on terrains with various slopes. In the present application, since the movement angle of the tail end can be flexibly adjusted according to actual work needs, the reasonable penetration angle of the cone tip probe can be determined according to the position of the bottom of the water.

[0103] like Figure 11 As shown in FIG. 1 , when the water bottom is close to the flat bottom, the cone-tip probe 21 is vertically inserted into the flat bottom. Figure 12 As shown, when the bottom of the water is an inclined bottom, the cone-tip probe 21 is tilted and inserted vertically into the inclined bottom, ensuring the precise penetration of the cone-tip probe in various situations. The cone-tip probe at the tail end can play a role in bottom layer penetration. The cone-tip probe in this embodiment can increase the penetration force by means of the reaction force of the cone tip and the force conduction of the connector, solving the problem that the cone tip penetration is usually limited by the gravity of the device. At the same time, since the angle of the tail end is always adjustable, it can be ensured that the cone-tip probe can always penetrate in a direction perpendicular to the bottom, ensuring the precise penetration of the cone-tip probe in various situations, and enabling the device to conduct detection on terrains of various slopes.

[0104] In the detection device, the sample collection mechanism is not limited to being arranged on the triangular pyramid where the first component is located in the present embodiment. The charging plug and the wave accumulator are not limited to being arranged on the triangular pyramid where the second component is located in the present embodiment. The manipulator is not limited to being arranged on the triangular pyramid where the third component is located in the present embodiment. The cone-tip probe is not limited to being arranged on the triangular pyramid where the tail end portion is located in the present embodiment.

[0105] The rest is the same as in Example 1.

[0106] Example 4

[0107] As Figure 13 shown, the deformed device realizes long-term in-situ underwater monitoring actions through triangular pyramids stacked vertically.

[0108] As shown in Fig. 14(a), on the head end portion 1, a through hole is provided in the middle of the triangular side surface opposite to the propeller. Folding lines are provided between the through hole and the three vertices of the triangular surface, and the folding of this triangular side surface can be realized through the folding lines.

[0109] As shown in Fig. 14(b), three folding lines are provided on one side surface of the triangular pyramid of the first component 2. The three folding lines intersect at the midpoint of this triangular side surface, and the other ends of the folding lines are respectively connected to the three vertices of the triangular side surface. The foldability of this side surface is realized through the three folding lines.

[0110] As shown in Fig. 14(c), three folding lines are provided on one side surface of the triangular pyramid of the second component 3. The three folding lines intersect at the midpoint of this triangular side surface, and the other ends of the three folding lines are respectively connected to the three vertices of the triangle. The foldability of this side surface is realized through the three folding lines.

[0111] As shown in Fig. 14(e), three folding lines are provided on one side surface of the triangular pyramid of the third component 4. The three folding lines intersect at the midpoint of this triangular side surface, and the other ends of the three folding lines are respectively connected to the three vertices of the triangle. The foldability of this side surface is realized through the three folding lines.

[0112] As shown in Fig. 14(d), three folding lines are provided on one side surface of the triangular pyramid of the tail end portion 5. The three folding lines intersect at the midpoint of this triangular side surface, and the other ends of the three folding lines are respectively connected to the three vertices of the triangle. The foldability of this side surface is realized through the three folding lines.

[0113] At the same time, a fixed base 23 is also provided on the side surface of the triangular pyramid that pushes the turbine at the tail end portion. The pushing turbine and the fixed base 23 cooperate with each other to ensure the sitting posture of the device.

[0114] At this time, the connection parts and the nanofiber parts between adjacent triangular pyramids are all disconnected, and the relative positions of the triangular pyramids change: the pointed parts of the triangular pyramids are inserted into the folded surfaces of the adjacent triangular pyramids, and the triangular pyramids are stacked on top of each other in sequence to form a sitting bottom platform in the shape of a stacked tower.

[0115] In the stacked device, the tail end is located at the bottom of the entire device, the propulsion turbine is located on the bottom surface of the entire device, the head end is located at the top of the entire device, and the propeller is located at the top end of the entire device. The bottom end of the stacked device is fixed through the fixed base at the tail end, so that the deformed device can achieve long-term in-situ monitoring operation.

[0116] Others are the same as in Embodiment 1.

[0117] Embodiment 5

[0118] As Figure 15 shown, the deformed device completes the action of launching signals into the air through the propeller and the load-bearing end.

[0119] When the device encounters an emergency, the head end 1 and the first component 2 are separated from other triangular pyramids. Since the initially set buoyancy of the head end 1 and the first component 2 is greater than the gravity, the height positions of the above two triangular pyramids in the water gradually rise and gradually float to the water surface. The load-bearing end 13 of the first component is inserted into the through hole of the folding surface of the head end 1, the folding surface of the head end folds, the first component 2 is inserted into the head end 1, and the head end 1 above it is lifted to a position above the water surface. At this time, the blades 802 of the propeller 8 at the top of the head end 1 are opened. During the rotation of the propeller, the lift of the head end 1 gradually increases, the head end and the first component are separated, the head end 1 rises into the air, and signals are transmitted to the shore base in an area with good signals.

[0120] At this time, the device can complete data recovery and position feedback in case of emergency, ensuring timely rescue of the device while reducing losses.

[0121] Others are the same as in Embodiment 1.

[0122] The complex water environment multi-layer detection system provided by the present invention has been introduced in detail above. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention. It should be noted that for those of ordinary skill in the art of this technology, without departing from the principle of the present invention, several improvements and modifications can still be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention. The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for detecting a complex marine geological environment using a detection device, wherein the water environment detection device comprises at least two triangular pyramids, wherein a propeller is provided at the vertex of the triangular pyramid located at the front end, a direction-changing converter is provided at one side thereof, a propulsion turbine is provided at the side of the triangular pyramid located at the rear end, a plurality of vertices of the triangular pyramid are fixed with toggling cone tips, and a sliding path is provided at the edge of the triangular pyramid; The triangular pyramid is equipped with a battery, a sample collection mechanism, a manipulator, a cone-tip probe and a water environment monitoring mechanism. A charging plug for charging is provided at one vertex of the triangular pyramid. It is characterized in that Through the combination, connection and deformation of the triangular pyramids, water environment monitoring, rapid advancement, underwater operations, underwater in-situ long-term monitoring, and launch signal actions can be completed; Two adjacent triangular pyramids are connected via a connecting portion and a nanofiber portion; One end of the nanofiber portion is connected to the sliding path of the triangular pyramid, and the other end of the nanofiber portion is fixedly connected to the moving cone tip of the adjacent triangular pyramid; The connecting portion comprises: Two bearings, the bearings are rotatably connected to the moving cone tips of two adjacent triangular pyramids respectively; Conductive memory metal, the two bearings are connected by two symmetrical conductive memory metals, each conductive memory metal comprises a first section of conductive memory metal and a second section of conductive memory metal; A connecting ball, one end of the second section of conductive memory metal is fixedly connected to the bearing on one side, and the other end of the second section of conductive memory metal is fixedly provided with a connecting ball; A connecting buckle, one end of the first section of conductive memory metal is fixedly connected to the bearing on the other side, and the other end of the first section of conductive memory metal is fixedly provided with a connecting buckle, and the connecting buckle includes a plurality of buckle plates arranged at intervals along the circumferential direction, and the buckle plates are rotatably connected to the first section of conductive memory metal, and the buckle plates are covered on the outside of the connecting ball.

2. The method according to claim 1, characterized in that, When adjacent triangular pyramids of the detection device pass through the connecting portion and the nanofiber portion in sequence, and the side surfaces of the triangular pyramids are all in a planar state, the water environment monitoring action is completed through the water environment monitoring mechanism.

3. The method according to claim 1, wherein When the adjacent triangular pyramids of the detection device are connected in sequence through the connecting portion and the nanofiber portion, and: When the blades on the propeller are in the extended position; The sample collection mechanism includes a sample collector and a sample collection chamber fixed to the side of the triangular pyramid. When the sample collector is slid and pulled out of the sample collection chamber; When the charging plug is connected to the hydroelectric charging cable and the wave accumulator extends from the side of the triangular pyramid; When the manipulator extends from the side of the triangular pyramid and is in an unfolded state; When the cone tip probe is pushed out from the triangular pyramid; The underwater operation is completed through propellers, sample collection mechanisms, charging plugs, wave accumulators, manipulators, and cone-tipped probes.

4. The method according to claim 1, wherein The nanofiber portion comprises: The nanofiber has one end connected to the adsorption round head and the other end fixedly connected to the moving cone tip of the triangular pyramid; The round head is adsorbed and slidably arranged in the sliding path of the adjacent triangular pyramid.

5. The method according to claim 1, wherein The connection between two adjacent triangular pyramids is disconnected, and the tip of the triangular pyramid moves along the sliding path of the adjacent triangular pyramid under the drag of the nanofiber part until the triangular surfaces of each triangular pyramid fit together, and at this time the whole device is deformed into a flying saucer shape; The propeller is located at the front center of the device after deformation, the triangular side with the direction-changing converter and the triangular side with the propulsion turbine are adjacent to each other, and the direction-changing converter is located above the propulsion turbine; Forward motion is accomplished by means of a propulsion turbine and a direction-changing converter.

6. The method according to claim 1, characterized in that The connecting part and the nanofiber part between two adjacent triangular pyramids are disconnected, and one side surface of each triangular pyramid is a folded surface; The tip of the triangular pyramid is inserted into the folded surface of the adjacent triangular pyramid, and the triangular pyramids are stacked up and down in sequence to form a stacked tower-like bottom platform, wherein the triangular pyramid with the propeller is located at the top of the deformed device, the propeller is located at the top of the deformed device, and the side where the propulsion turbine is located is located at the bottom of the deformed device; Long-term in-situ monitoring is accomplished by stacking triangular pyramids.

7. The method according to claim 6, characterized in that A fixed base is provided on the side of the triangular pyramid where the propulsion turbine is located.

8. The method according to claim 1, wherein A load-bearing end is provided at the apex of one of the triangular pyramids, and the triangular pyramid with a propeller and the triangular pyramid with a load-bearing end are separated from the other triangular pyramids and gradually float to the water surface under the action of buoyancy; The connection part and the nanofiber part between the triangular pyramid with the propeller and the triangular pyramid with the load-bearing end are disconnected, and the load-bearing end is inserted into the through hole at the center of the folding surface of the triangular pyramid with the propeller, and the triangular pyramid where the load-bearing end is located lifts the triangular pyramid with the propeller to a position above the water surface; The propeller blades are opened. During the propeller rotation, the lift of the triangular pyramid connected to the propeller gradually increases. The two triangular pyramids are separated, and the triangular pyramid with the propeller rises into the air and sends a signal to the shore. The action of launching and transmitting signals is accomplished through a triangular pyramid with a propeller and a triangular pyramid with a load-bearing end.

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