Flexible self-propelled ocean static penetrometer system and method of use thereof

Abstract

This invention discloses a flexible self-propelled marine static cone penetration test system and its usage method. The flexible self-propelled marine static cone penetration test system mainly includes a hydrodynamic self-propelled probe device, a main frame, a powered track, a protective cover, a controllable slide rail, a clamp, a reaction force sensing frame, a winch, a first pulley group, a second pulley group, and a water pump. The powered track, the controllable slide rail, the winch, the first pulley group, and the water pump are all mounted on the main frame. The protective cover is connected to the controllable slide rail. The second pulley group, the clamp, and the reaction force sensing frame are all mounted on the protective cover. The hydrodynamic self-propelled probe device passes through the first and second pulley groups, is wound around the winch, and is connected to the water pump. Compared with the prior art, the flexible self-propelled marine static cone penetration test system prepared by this invention has advantages such as probe miniaturization and maintaining the vertical stability of the hydrodynamic self-propelled probe device.

Description

Technical Field

[0001] This invention relates to the field of static cone penetration testing technology in engineering surveys, and particularly to a flexible self-propelled marine static cone penetration testing system and its application method. Background Technology

[0002] Marine static cone penetration testing (SPT) is a technique used to obtain information about seabed geology and soil properties. It infers seabed geological characteristics, including sediment type, thickness, and density, by measuring changes in underwater hydrostatic pressure. This technology has wide applications in marine engineering, marine geology, and marine resource development. Currently, marine static cone penetration testing technology is relatively mature both domestically and internationally, with well-developed equipment. It enables static cone penetration testing under various geological conditions. There are three relatively mature construction techniques for static cone penetration testing in marine soil layers, namely platform type, seabed type, and downhole type. Based on these techniques, three corresponding penetration devices have been developed: (1) The main feature of the platform type is that the penetration device is installed on a fixed platform. During the penetration operation, the probe rod needs to pass through the water layer from the platform deck before penetrating the seabed strata; (2) The main feature of the seabed type is that the penetration device is stably supported on the seabed surface. The probe is directly and continuously penetrated into the seabed to obtain the stratum stress detected by the probe; (3) The main feature of the downhole type is a cyclic penetration method that combines drilling and static cone penetration. During the penetration operation, the penetration device is set inside the drill rod and the probe is penetrated into the seabed strata from the bottom of the drill rod through the drill bit. The drilling is mainly responsible for clearing the strata that have been penetrated to start the next cycle of penetration operation.

[0003] In existing technologies, a common problem with static cone penetration testing (CPPT) in practice is the cumbersome assembly process of rigid probes, the need for large equipment, and the complexity that arises in the unique underwater environment. While a continuous penetration method using flexible probes involves the flexible probes wound around a winch and then vertically driven in after being straightened and guided by rollers, this method requires high-quality materials, resulting in high costs. Repeated bending of the probes can lead to residual stress and errors after repeated penetration tests. Furthermore, the flexible probes themselves lack sufficient rigidity; as the penetration depth increases, the slenderness ratio of the probes gradually increases, and the weak lateral constraints of the marine soil environment make the flexible probes prone to instability and lateral bending, leading to data distortion.

[0004] Therefore, how to provide a flexible, self-propelled marine static cone penetration test system that can ensure continuous penetration and maintain the stability of the flexible cone penetration rod during operation is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of the problems existing in the prior art, such as the inability to miniaturize and simplify the penetration testing equipment and the instability of the flexible penetration rod while ensuring continuous penetration of the probe, the technical problem to be solved by the present invention is to provide a flexible self-propelled marine static penetration testing system that enables the miniaturization and simplification of the probe, while ensuring continuous penetration and maintaining the stability of the flexible penetration rod during operation.

[0006] To achieve the above objectives, the present invention provides a flexible self-propelled marine static cone penetration test system. The flexible self-propelled marine static cone penetration test system includes: a hydrodynamic self-propelled probe device, which includes a water supply data transmission pipe and a power nozzle device, the water supply data transmission pipe being connected to the power nozzle device; a body frame, which includes a main support platform frame and a secondary platform frame, the main support platform frame being positioned above the powered tracks; a protective cover, which is mounted on the main support platform frame via a controllable slide rail; a clamp, which is positioned at the inner top of the protective cover; and a reaction force sensing frame, which is positioned at the inner top of the protective cover. The platform is surrounded by the clamp; a winch is located on the upper part of one side of the main support platform frame, and the water supply data transmission pipe is wound around the winch; an adjustable speed pulley group includes a first pulley group and a second pulley group, the first pulley group is fixed to the top of the secondary platform frame, and the second pulley group is located on the side of the protective cover near the winch; the water supply data transmission pipe passes through the first pulley group and the second pulley group and is wound around the winch; a water pump is located, one end of which is connected to seawater through a water pumping pipe, and the other end of which is connected to the water supply data transmission pipe; wherein, the winch and the water pump are both located on the main support platform frame.

[0007] In the first aspect, the flexible self-propelled marine static cone penetration test system further includes: a centralized control module, which is electrically connected to the water supply data transmission pipe, the powered track, the controllable slide rail, the gripper, the reaction force sensing frame, the winch, the first pulley group, the second pulley group, and the water pump; and a power supply module, which is electrically connected to the centralized control module; wherein, both the centralized control module and the power supply module are mounted on the main support platform frame.

[0008] In the first aspect, the water supply data transmission conduit includes: a water supply pipe, one end of which is connected to the other end of the water pump, and the other end of which is connected to the power nozzle device; and a data transmission cable, one end of which is electrically connected to the central control module.

[0009] In the first aspect, the hydrodynamic self-propelled probe device further includes: an electrical control module, which is disposed below the power nozzle device and electrically connected to the other end of the data transmission cable; wherein the electrical control module is electrically connected to the power nozzle device, and both the electrical control module and the power nozzle device are disposed within the body of the first probe device.

[0010] In the first aspect, the hydrodynamic self-propelled probe device further includes: a sensor module electrically connected to the electronic control module, the sensor module being disposed within the body of the second probe device; a probe, the upper end of which is symmetrically provided with two friction sensors, and the lower end of which is symmetrically provided with two first pressure sensors; a counterweight chamber disposed between the body of the second probe device and the probe; wherein each of the friction sensors and each of the first pressure sensors is electrically connected to the electronic control module; the body of the second probe device, the counterweight chamber, and the probe are integrally formed; the body of the first probe device and the body of the second probe device are connected by threads.

[0011] In the first aspect, the sensor module includes an attitude sensor, a speed sensor, and a trajectory detector, all of which are electrically connected to the electronic control module.

[0012] In the first aspect, the power nozzle device has a chamber with a plurality of adjustable nozzles disposed above the chamber; the gripper includes four steel claws.

[0013] In the first aspect, the winch is provided with a bearing at its bottom and is made of steel; both the first pulley group and the second pulley group are provided with a rotary electric actuator, and each of the rotary electric actuators is electrically connected to the central control module.

[0014] In the first aspect, the reaction force sensing frame has a steel platform with a transmission hole in the middle, and a second pressure sensor is provided on the side of the steel platform near the power nozzle device.

[0015] This invention also provides a method for using a flexible self-propelled marine static cone penetration test system. The method, specifically, includes: assembly and seabed preparation: using a control module to control the powered tracks to transport the flexible self-propelled marine static cone penetration test system to a designated location, and then using the control module to control a controllable slide rail to lower the protective cover to the seabed surface; attitude adjustment: using the control module to control a water pump to pump water into the powered nozzle device, opening the nozzle of the powered nozzle device, and using a reaction sensor to detect the recoil force of the water ejected from the nozzle of the powered nozzle device to determine whether the powered nozzle device is operating normally. Simultaneously, adjusting the nozzle valve of the powered nozzle device controls the flow of water into the nozzle. The magnitude of the recoil force from the ejected water adjusts the hydrodynamic self-propelled probe system to a vertical orientation; self-propelled penetration: once the hydrodynamic self-propelled probe system maintains a stable vertical orientation, the control module controls the gripper to open, simultaneously controlling the winch to rotate and the speed of the adjustable pulley system to allow the hydrodynamic self-propelled probe system to penetrate the seabed soil layer at a uniform speed perpendicular to the ground plane for probing; recovery: after probing is completed, the control module controls the water pump to stop working, then controls the winch and the adjustable pulley system to rotate to recover the hydrodynamic self-propelled probe system. The control module then controls the gripper to fix the hydrodynamic self-propelled probe system in place, and finally controls the powered tracks to move to the next probing position.

[0016] Beneficial effects:

[0017] In operation, the flexible self-propelled marine static cone penetration test system of this invention utilizes powered tracks to move the entire system, allowing it to be moved to the designated location for penetration testing, thus reducing sinking errors. Upon reaching the designated location, the protective cover, mounted on the main support platform frame via controllable rails, is lowered to contact the seabed by controlling these rails. The lower opening of the protective cover is a thin steel cylindrical component, protecting the hydrodynamic self-propelled probe from water flow affecting the penetration angle before penetration. During the process of lowering the protective cover, the winch begins operation. The first pulley group is fixed to the top of the secondary platform frame, and its position does not change as the protective cover is lowered, while the second pulley group remains fixed... Fixed on the protective cover, the second pulley group moves downward as the protective cover is lowered, but this does not change the linear velocity of the water supply data transmission pipe. Then, a water pump draws seawater into the power nozzle device through the water supply data transmission pipe. The power nozzle device then sprays water outward through nozzles. The sprayed water has a recoil force acting on the reaction force sensing frame. The reaction force sensing frame detects the recoil force, proving that the power nozzle device is operating normally. The sensor module measures the water flow velocity and the attitude of the hydrodynamic self-driven probe device. The sensor module's data is then used to adjust the size of the nozzle valve of the power nozzle device to control the attitude of the hydrodynamic self-driven probe device, ensuring its vertical stability and the proper functioning of the probe. The penetration speed is controlled to ensure more accurate probe penetration angle data. Then, the clamp is opened, and the hydrodynamic self-propelled probe device, under the recoil force of the water ejected from the power nozzle device, vertically and stably penetrates downwards into the soil layer, completing the penetration test. During this process, the water pump continuously pumps water to the power nozzle device. Simultaneously, the first and second pulley groups and the winch rotate at a constant speed. The penetration speed of the hydrodynamic self-propelled probe device is further controlled by the rotation speed of the first pulley group, the second pulley group, and the winch, which is more precise than traditional hydraulic cylinder control and allows for a longer continuous penetration time. The probe of the flexible self-propelled marine static cone penetration test system of this invention is mounted on the hydrodynamic self-propelled probe device, and the probe moves vertically and stably downwards into the soil layer under the recoil force of the water ejected from the power nozzle device, completing the penetration test. During the penetration phase, the system directly utilizes the counter-impact force of seawater as its power source, eliminating the need for hydraulic cylinders to provide penetration force. This reduces energy consumption, making it environmentally friendly and preventing data distortion caused by excessively long and bent probes. Furthermore, by adjusting the counter-impact force of the seawater to maintain the vertical orientation of the hydrodynamic self-driven probe device, the system avoids probe instability caused by weak lateral constraints at excessive penetration depths, effectively increasing the penetration depth. In addition, the system allows for monitoring of the penetration trajectory of both the hydrodynamic self-driven probe device and the probe itself. The water supply and data transmission pipe on the hydrodynamic self-driven probe device has a small volume, replacing the traditional probe, thus reducing the overall size of the hydrodynamic self-driven probe device and increasing the penetration depth.In this invention, the flexible self-propelled marine static cone penetration test system is easy to assemble and disassemble, facilitating component replacement and maintenance. Furthermore, the flexible self-propelled marine static cone penetration test system of this invention can be replicated industrially multiple times. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this specification or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of a flexible self-propelled marine static cone penetration test system according to the present invention;

[0020] Figure 2 This is a structural schematic diagram of a hydrodynamic self-driven probe device for a flexible self-propelled marine static cone penetration test system according to the present invention.

[0021] Explanation of reference numerals in the attached figures:

[0022] 1. Hydrodynamic self-driven probe device; 101. Water supply data transmission pipe; 102. Power nozzle device; 103. Electrical control module; 104. Sensor module; 105. Probe; 106. Friction sensor; 107. First pressure sensor; 108. Counterweight chamber; 109. Thread; 2. Body frame; 201. Main load-bearing platform frame; 202. Secondary platform frame; 3. Power track; 4. Protective cover; 5. Controllable slide rail; 6. Clamp; 7. Reaction force sensing frame; 8. Winch; 9. Adjustable speed pulley block; 901. First pulley block; 902. Second pulley block; 10. Water pump; 11. Pumping pipe; 12. Centralized control module; 13. Power supply module. Detailed Implementation

[0023] The technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments in this specification are within the scope of protection of this invention.

[0024] Example 1

[0025] like Figures 1-2As shown, this embodiment provides a flexible self-propelled marine static cone penetration test system. The flexible self-propelled marine static cone penetration test system includes: a hydrodynamic self-propelled probe device 1, which includes a water supply data transmission pipe 101 and a power nozzle device 102, the water supply data transmission pipe 101 being connected to the power nozzle device 102; a body frame 2, which includes a main support platform frame 201 and a secondary platform frame 202, the main support platform frame 201 being disposed above the powered track 3; a protective cover 4, which is disposed on the main support platform frame 201 via a controllable slide rail 5; a clamp 6, which is disposed at the inner top of the protective cover 4; and a reaction force sensing frame 7, which is disposed at the inner top of the protective cover 4 and surrounded by the clamp 6. A winch 8 is disposed on the upper part of one side of the main support platform frame 201, and the water supply data transmission pipe 101 is wound around the winch 8; an adjustable speed pulley group 9 is disposed on the side of the protective cover 4 near the winch 8, comprising a first pulley group 901 and a second pulley group 902, the first pulley group 901 being fixed to the top of the secondary platform frame 202 and the second pulley group 902 being disposed on the side of the protective cover 4 near the winch 8; the water supply data transmission pipe 101 passes through the first pulley group 901 and the second pulley group 902 and is wound around the winch 8; a water pump 10 is disposed on the main support platform frame 201, one end of which is connected to seawater through a water pumping pipe 11 and the other end of which is connected to the water supply data transmission pipe 101; wherein, both the winch 8 and the water pump 10 are disposed on the main support platform frame 201.

[0026] In operation, the flexible self-propelled marine static cone penetration test system of this invention utilizes powered tracks to move the entire system, allowing it to be moved to the designated location for penetration testing, thus reducing sinking errors. Upon reaching the designated location, the protective cover, mounted on the main support platform frame via controllable rails, is lowered to contact the seabed by controlling these rails. The lower opening of the protective cover is a thin steel cylindrical component, protecting the hydrodynamic self-propelled probe from water flow affecting the penetration angle before penetration. During the process of lowering the protective cover, the winch begins operation. The first pulley group is fixed to the top of the secondary platform frame, and its position does not change as the protective cover is lowered, while the second pulley group remains fixed... Fixed on the protective cover, the second pulley group moves downward as the protective cover is lowered, but this does not change the linear velocity of the water supply data transmission pipe. Then, a water pump draws seawater into the power nozzle device through the water supply data transmission pipe. The power nozzle device then sprays water outward through nozzles. The sprayed water has a recoil force acting on the reaction force sensing frame. The reaction force sensing frame detects the recoil force, proving that the power nozzle device is operating normally. The sensor module measures the water flow velocity and the attitude of the hydrodynamic self-driven probe device. The sensor module's data is then used to adjust the size of the nozzle valve of the power nozzle device to control the attitude of the hydrodynamic self-driven probe device, ensuring its vertical stability and the proper functioning of the probe. The penetration speed is controlled to ensure more accurate probe penetration angle data. Then, the clamp is opened, and the hydrodynamic self-propelled probe device, under the recoil force of the water ejected from the power nozzle device, vertically and stably penetrates downwards into the soil layer, completing the penetration test. During this process, the water pump continuously pumps water to the power nozzle device. Simultaneously, the first and second pulley groups and the winch rotate at a constant speed. The penetration speed of the hydrodynamic self-propelled probe device is further controlled by the rotation speed of the first pulley group, the second pulley group, and the winch, which is more precise than traditional hydraulic cylinder control and allows for a longer continuous penetration time. The probe of the flexible self-propelled marine static cone penetration test system of this invention is mounted on the hydrodynamic self-propelled probe device, and the probe moves vertically and stably downwards into the soil layer under the recoil force of the water ejected from the power nozzle device, completing the penetration test. During the penetration phase, the system directly utilizes the counter-impact force of seawater as its power source, eliminating the need for hydraulic cylinders to provide penetration force. This reduces energy consumption, making it environmentally friendly and preventing data distortion caused by excessively long and bent probes. Furthermore, by adjusting the counter-impact force of the seawater to maintain the vertical orientation of the hydrodynamic self-driven probe device, the system avoids probe instability caused by weak lateral constraints at excessive penetration depths, effectively increasing the penetration depth. In addition, the system allows for monitoring of the penetration trajectory of both the hydrodynamic self-driven probe device and the probe itself. The water supply and data transmission pipe on the hydrodynamic self-driven probe device has a small volume, replacing the traditional probe, thus reducing the overall size of the hydrodynamic self-driven probe device and increasing the penetration depth.In this invention, the flexible self-propelled marine static cone penetration test system is easy to assemble and disassemble, facilitating component replacement and maintenance. Furthermore, the flexible self-propelled marine static cone penetration test system of this invention can be replicated industrially multiple times.

[0027] In some possible implementations, the flexible self-propelled marine static cone penetration test system further includes: a central control module 12, which is electrically connected to the water supply data transmission pipe 101, the powered track 3, the controllable slide rail 5, the clamp 6, the reaction force sensing frame 7, the winch 8, the first pulley block 901, the second pulley block 902, and the water pump 10; and a power supply module 13, which is electrically connected to the central control module 12; wherein, both the central control module 12 and the power supply module 13 are mounted on the main support platform frame 201.

[0028] Specifically, the centralized control module is the main control module of the flexible self-propelled marine static cone penetration test system of the present invention. It is responsible for controlling and processing the electrical signals of the water supply data transmission pipe, the powered track, the controllable slide rail, the gripper, the reaction force sensing frame, the winch, the first pulley group, the second pulley group, and the water pump. At the same time, the centralized control module is electrically connected to the power supply module, which supplies power to the centralized control module. While controlling and processing the electrical signals of the water supply data transmission pipe, the powered track, the controllable slide rail, the gripper, the reaction force sensing frame, the winch, the first pulley group, the second pulley group, and the water pump, the centralized control module also realizes the power transmission of the water supply data transmission pipe, the powered track, the controllable slide rail, the gripper, the reaction force sensing frame, the winch, the first pulley group, the second pulley group, and the water pump.

[0029] In some possible implementations, the water supply data transmission pipe 101 includes: a water supply pipe, one end of which is connected to the other end of the water pump 10, and the other end of which is connected to the power nozzle device 102; and a data transmission cable, one end of which is electrically connected to the central control module 12.

[0030] Specifically, the water supply data transmission pipe consists of a water supply pipe and a data transmission cable. The water supply pipe wraps around the data transmission cable in a concentric circle. At the water pump, the water supply pipe and the data transmission cable separate. The water supply pipe delivers water to the power nozzle device, while one end of the data transmission cable is connected to the central control module. The central control module controls and processes the electrical signals transmitted from the data transmission cable and enables the central control module to input power to the data transmission cable.

[0031] In some possible implementations, the hydrodynamic self-driven probe device 1 further includes: an electrical control module 103, which is disposed below the power nozzle device 102 and electrically connected to the other end of the data transmission cable; wherein the electrical control module 103 is electrically connected to the power nozzle device 102, and both the electrical control module 103 and the power nozzle device 102 are disposed within the body of the first probe device.

[0032] Specifically, the electronic control module is electrically connected to the central control module via a data transmission cable. The central control module is responsible for controlling and processing the data of the electronic control module and supplying power to the electronic control module. The electronic control module is electrically connected to the power nozzle device. The electronic control module controls the magnitude of the recoil force of the sprayed water by controlling the opening or closing of the valve of the power nozzle device, thereby controlling the attitude of the hydrodynamic self-driven probe device. At the same time, the electronic control module also supplies power to the power nozzle device.

[0033] In some possible implementations, the hydrodynamic self-propelled probe device 1 further includes: a sensor module 104 electrically connected to the electronic control module 103, the sensor module 104 being disposed within the body of the second probe device; a probe 105, with two friction sensors 106 symmetrically arranged at the upper end of the probe 105 and two first pressure sensors 107 symmetrically arranged at the lower end of the probe 105; a counterweight chamber 108 disposed between the body of the second probe device and the probe 105; wherein each of the friction sensors 106 and each of the first pressure sensors 107 is electrically connected to the electronic control module 103; the body of the second probe device, the counterweight chamber 108, and the probe 105 are integrally formed; the body of the first probe device and the body of the second probe device are connected by threads 109.

[0034] Specifically, the electronic control module is responsible for controlling, collecting, and processing data signals from the sensor module, friction sensor, and first pressure sensor, and for supplying power to these components. The sensor module monitors the water flow velocity and the attitude and penetration trajectory of the hydrodynamic self-propelled probe. The friction sensor detects the geological characteristics of the soil layer. The first pressure sensor monitors water pressure changes during penetration, and, in conjunction with the sensor module, monitors the penetration trajectory of the hydrodynamic self-propelled probe. The counterweight chamber is a reserved attitude stabilization chamber, on which are installed... A small, sealable window is provided. When the stability of the hydrodynamic self-driven probe device is poor, the auxiliary power nozzle device controls the attitude of the hydrodynamic self-driven probe device. By filling the counterweight chamber with high-density material, the gravity of the hydrodynamic self-driven probe device is increased, making the center of gravity of the hydrodynamic self-driven probe device smaller, less prone to tipping over, and easier to maintain a vertical and stable attitude. The first probe device body and the second probe device body are connected by threads, making the hydrodynamic self-driven probe device detachable. The probe is located on one side of the second probe device body. The size of the probe can be changed by adjusting and replacing relevant structural dimensions, thereby adapting to the requirements of different soil layers.

[0035] In some possible implementations, the sensor module 104 includes an attitude sensor, a speed sensor, and a trajectory detector, all of which are electrically connected to the electronic control module 103.

[0036] Specifically, the attitude sensor is used to monitor the attitude of the hydrodynamic self-propelled probe device and determine whether it is in a stable vertical position; the velocity sensor is used to monitor the water flow velocity and adjust the spray speed of the power nozzle device to control the penetration speed of the hydrodynamic self-propelled probe device; the trajectory detector is used to locate the hydrodynamic self-propelled probe device and monitor its penetration trajectory; the electronic control module is responsible for controlling and processing the data from the attitude sensor, velocity sensor, and trajectory detector, and also provides power to these sensors.

[0037] In some possible implementations, the power nozzle device 102 has a chamber with a plurality of adjustable nozzles disposed above the chamber; the gripper 6 includes four steel claws.

[0038] Specifically, the chamber of the power nozzle device is used to receive water input from the water supply pipe. Several adjustable nozzles are provided above the chamber, through which water can be sprayed outward. Each adjustable nozzle contains a control valve. By adjusting the size of the control valve, the spraying speed of the adjustable nozzle is controlled, thereby adjusting the attitude stability and penetration speed of the hydrodynamic self-propelled probe device. The four steel claws of the gripper are used to clamp the hydrodynamic self-propelled probe device before it begins penetration and to clamp it during retrieval.

[0039] In some possible implementations, the bottom of the winch 8 is provided with a bearing, and the winch 8 is made of steel; the first pulley group 901 and the second pulley group 902 are each provided with a rotary electric actuator, and each of the rotary electric actuators is electrically connected to the central control module 12.

[0040] Specifically, the winch is used to collect water supply data pipes and avoid clutter. The bearings on the winch rotate to ensure its normal operation. The rotary electric actuators on the first and second pulley groups control their rotation.

[0041] In some possible implementations, the reaction force sensing frame 7 has a steel platform with a transmission hole in the middle, and a second pressure sensor is provided on the side of the steel platform near the power nozzle device 102.

[0042] Specifically, a transmission hole is set in the middle of the steel platform for the water supply data transmission pipe to pass through, and a second pressure sensor is set to monitor the back impact force of the water sprayed by the nozzle power unit to determine whether the nozzle power unit is operating normally.

[0043] Example 2

[0044] Embodiment 2 of the present invention provides a method for using a flexible self-propelled marine static cone penetration test system. The method is used to implement the flexible self-propelled marine static cone penetration test system described in Embodiment 1. The method specifically includes: assembly and seabed preparation: using a central control module to control the powered tracks to transport the flexible self-propelled marine static cone penetration test system to a designated location, and then using the central control module to control a controllable slide rail to lower the protective cover to the seabed contact plane; attitude adjustment: using the central control module to control a water pump to pump water into the powered nozzle device, opening the nozzle of the powered nozzle device, and using a reaction sensing frame to detect the recoil force of the water ejected from the nozzle of the powered nozzle device to determine whether the powered nozzle device is operating normally. Simultaneously, the method controls the operation of the powered nozzle device by adjusting the nozzle valve. The magnitude of the recoil force of the water ejected from the nozzle adjusts the hydrodynamic self-propelled probe system to a vertical orientation; self-propelled penetration: once the hydrodynamic self-propelled probe system maintains a stable vertical orientation, the control module controls the gripper to open, simultaneously controls the winch to rotate, and controls the speed of the adjustable pulley system, allowing the hydrodynamic self-propelled probe system to penetrate the seabed soil layer at a uniform speed perpendicular to the ground plane for probing; recovery: after probing is completed, the control module controls the water pump to stop working, then controls the winch and adjustable pulley system to rotate to recover the hydrodynamic self-propelled probe system, then controls the gripper to fix the hydrodynamic self-propelled probe system, and finally controls the powered tracks to move to the next probing position.

[0045] Specifically, a second pressure sensor is installed on the reaction sensing frame to monitor the counter-impact force of the water sprayed by the nozzle power unit and determine whether the nozzle power unit is operating normally. The power nozzle device is equipped with several adjustable nozzles, each of which contains a control valve. By adjusting the size of the control valve, the water spraying speed of the adjustable nozzle is controlled, thereby adjusting the attitude stability of the hydrodynamic self-driven probe device and keeping the hydrodynamic self-driven probe device in a stable vertical attitude.

[0046] It should be noted that the method of using a flexible self-propelled marine static cone penetration test system described in Embodiment 2 applies to the flexible self-propelled marine static cone penetration test system in Embodiment 1. Therefore, the performance principle of the flexible self-propelled marine static cone penetration test system will not be repeated here, and the undescribed parts can be referred to Embodiment 1.

[0047] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A flexible self-propelled seabed penetrometer system, characterized in that, The flexible self-propelled marine static cone penetration test system includes: A hydrodynamic self-driven probe device (1) includes a water supply data transmission pipe (101) and a power nozzle device (102), wherein the water supply data transmission pipe (101) is connected to the power nozzle device (102); The main body frame (2) includes a main load-bearing platform frame (201) and a secondary platform frame (202), wherein the main load-bearing platform frame (201) is disposed above the powered track (3); A protective cover (4) is mounted on the main load-bearing platform frame (201) via a controllable slide rail (5); A clamp (6) is disposed at the top inside the protective cover (4); The reaction force sensing frame (7) is located at the top inside the protective cover (4) and is surrounded by the clamp (6); A winch (8) is located on the upper part of one side of the main bearing platform frame (201), and the water supply data transmission pipe (101) is wound around the winch (8). An adjustable speed pulley assembly (9) is provided, comprising a first pulley assembly (901) and a second pulley assembly (902). The first pulley assembly (901) is fixed to the top of the secondary platform frame (202), and the second pulley assembly (902) is disposed on the side of the protective cover (4) near the winch (8). The water supply data transmission pipe (101) passes through the first pulley assembly (901) and the second pulley assembly (902) and is wound around the winch (8). A water pump (10) is provided, one end of which is connected to seawater via a water pumping pipe (11), and the other end of which is connected to the water supply data transmission pipe (101). The winch (8) and the water pump (10) are both mounted on the main support platform frame (201).

2. The flexible self-propelled ocean static cone penetration system of claim 1, wherein, The flexible self-propelled marine static cone penetration test system also includes: The centralized control module (12) is electrically connected to the water supply data transmission pipe (101), the power track (3), the controllable slide rail (5), the clamp (6), the reaction force sensing frame (7), the winch (8), the first pulley group (901), the second pulley group (902), and the water pump (10). A power supply module (13) is electrically connected to the central control module (12); The central control module (12) and the power supply module (13) are both mounted on the main bearing platform frame (201).

3. The flexible self-propelled ocean static cone penetration system of claim 2, wherein, The water supply data transmission pipe (101) includes: A water supply pipe, one end of which is connected to the other end of the water pump (10), and the other end of which is connected to the power nozzle device (102); A data transmission cable, one end of which is electrically connected to the central control module (12).

4. The flexible self-propelled ocean static cone penetration system of claim 3, wherein, The hydrodynamic self-propelled probe device (1) also includes: An electronic control module (103) is disposed below the power nozzle device (102) and is electrically connected to the other end of the data transmission cable. The electronic control module (103) is electrically connected to the power nozzle device (102), and both the electronic control module (103) and the power nozzle device (102) are located within the body of the first probe device.

5. The flexible self-propelled ocean static penetrometer system of claim 4, wherein, The hydrodynamic self-propelled probe device (1) also includes: A sensor module (104) is electrically connected to the electronic control module (103), and the sensor module (104) is disposed in the body of the second probe device; The probe (105) has two friction sensors (106) symmetrically arranged at its upper end and two first pressure sensors (107) symmetrically arranged at its lower end. A counterweight chamber (108) is disposed between the second probe device body and the probe (105); Each of the friction sensors (106) and each of the first pressure sensors (107) are electrically connected to the electronic control module (103); the second probe device body, the counterweight chamber (108) and the probe (105) are integrally formed; the first probe device body and the second probe device body are connected by threads (109).

6. The flexible self-propelled ocean static cone penetration system of claim 5, wherein: The sensor module (104) includes an attitude sensor, a speed sensor, and a trajectory detector, all of which are electrically connected to the electronic control module (103).

7. The flexible self-propelled ocean static cone penetration system of claim 6, wherein: The power nozzle device (102) has a chamber with several adjustable nozzles arranged above the chamber; the gripper (6) includes four steel claws.

8. The flexible self-propelled marine static cone penetration test system as described in claim 7, characterized in that: The bottom of the winch (8) is provided with a bearing, and the winch (8) is made of steel; the first pulley group (901) and the second pulley group (902) are each provided with a rotary electric drive, and each of the rotary electric drives is electrically connected to the central control module (12).

9. The flexible self-propelled marine static cone penetration test system as described in claim 8, characterized in that: The reaction force sensing frame (7) has a steel platform with a transmission hole in the middle and a second pressure sensor on the side of the steel platform near the power nozzle device (102).

10. A method of using a flexible self-propelled marine static cone penetration test system, the method being used with the flexible self-propelled marine static cone penetration test system as described in any one of claims 1 to 9, the method specifically comprising: Assembly and preparation for sinking: The flexible self-propelled marine static cone penetration test system is transported to the designated location by the power track controlled by the central control module, and then the protective cover is lowered to the seabed surface by the controllable slide rail controlled by the central control module. Attitude adjustment: The water pump is controlled by the central control module to pump water into the power nozzle device, and the nozzle of the power nozzle device is opened. The reaction sensor is used to detect the recoil force of the water sprayed from the nozzle of the power nozzle device to determine whether the power nozzle device is operating normally. At the same time, the hydrodynamic self-driven probe system is adjusted to a vertical attitude by adjusting the nozzle valve of the power nozzle device to control the magnitude of the recoil force of the water sprayed from the nozzle of the power nozzle device. Self-driven penetration: When the hydrodynamic self-driven probe system maintains a vertical and stable attitude, the clamp is opened by the control module, the winch is rotated, and the speed of the adjustable pulley group is controlled so that the hydrodynamic self-driven probe system penetrates the seabed soil layer at a uniform speed in a state perpendicular to the ground plane for probing. Recovery: After the probe is completed, the water pump is stopped by the control module, and then the winch and the adjustable speed pulley block are rotated by the control module to recover the hydrodynamic self-propelled probe system. Then, the clamp is fixed by the control module, and finally the powered track is moved to the next probe position by the control module.

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