A multifunctional sampling device for seabed sandy sediments

Abstract

The present invention discloses a multifunctional sampling device for seabed sandy sediments, including a body, a grab assembly, two hydraulic telescopic rods, a mounting seat, a collection tube, an electromagnet, and a magnet. The body has a vertically arranged mounting hole, the mounting seat is slidably assembled in the mounting hole, the collection tube is detachably mounted on the mounting seat, the free end of the collection tube passes through a through hole preset on the grab assembly and extends out of the grab assembly, the electromagnet is mounted on the top wall of the mounting hole, the magnet is mounted on the top of the mounting seat, and changing the current direction of the electromagnet can drive the collection tube to slide back and forth along the axis of the mounting hole; the collection tube includes a tube body and a plurality of blades of the same type. The collection tube of the sampling device of the present invention is located in the grab, and can sample the same sampling point simultaneously. While obtaining a large number of samples, the longitudinal distribution of the samples can be collected, which can effectively preserve the integrity of the sample data and improve the reference value of the samples.

Description

Technical Field

[0001] The invention relates to the field of marine sample collection, and in particular to a multifunctional sampling device applied to seabed sandy sediments. Background Art

[0002] Seabed sand is an important mineral resource in the ocean that is relatively easy to mine. Seabed sand refers to sandy sediments developed in the marine environment, including gravel sand, sand, silty sand and clay sand. It is a secondary enriched deposit formed by the aggregation of mineral debris driven by geological external forces, also known as "sea sand". Sea sand is an industrial raw material, from which useful metals or non-metallic components can be extracted. The main minerals with industrial value that have been proven are ilmenite, rutile, magnetite, titanomagnetite, cassiterite, zircon, monazite, yttrium, columbite-tantalite, gold, platinum, quartz sand, gravel, shells, diamonds and amber. Sea sand is used as an engineering construction material, and coarse sand and medium sand particle sizes can be selected to form construction sand.

[0003] Based on the above economic value of seabed sandy sediments, my country has also started to study the exploration and mining of seabed sandy sediments. For seabed sampling equipment, there are two commonly used equipment at this stage. One is the grab sampling equipment, which has the advantage of large collection volume and is widely used in the collection of seabed sandy sediments. However, the grab will destroy the longitudinal distribution of the sample during sample collection, and cannot obtain the true longitudinal composition of the sample well, affecting the accuracy of the analysis of seabed sand sample data; the other is the sampling drill, which drills and coring the seabed purposefully to obtain the desired sample data, but due to the small sampling volume, it is mainly used for core sampling.

[0004] The prior art patent number is 202210045649.X, and the name is an invention patent for an integrated seabed drilling and grab sampling system. The rotary drilling system and the mechanical hydraulic grab are installed on the base and the protective frame to achieve autonomous drilling of seabed rock formations and autonomous grabbing of seabed block rocks. However, when the sampling system is used, only drilling or grabbing rocks can be selected at the same sampling point at a time, and it is not possible to achieve simultaneous drilling and grabbing of the same sampling point. Summary of the invention

[0005] The technical problem to be solved by the present invention is how to solve the technical defect that the existing sampling equipment cannot drill and grab at the same sampling point at the same time, and provide a multifunctional sampling device for seabed sandy sediments.

[0006] The present invention solves the above technical problems through the following technical solutions. The present invention provides a multifunctional sampling device for seabed sandy sediments, including a body, a grab assembly, and two hydraulic telescopic rods. The grab assembly is installed at the bottom of the body, and the two hydraulic telescopic rods are symmetrically assembled on both sides of the body. The two hydraulic telescopic rods are rotatably installed on both sides of the grab assembly, and when the two hydraulic telescopic rods are synchronously extended and retracted, the grab assembly is opened or closed;

[0007] It also includes a mounting seat, a collection tube, an electromagnet, and a magnet. The body has a vertically arranged mounting hole. The mounting seat is slidably assembled in the mounting hole. The collection tube is detachably mounted on the mounting seat, and the outer diameter of the collection tube is adapted to the inner diameter of the mounting hole. The free end of the collection tube passes through a through hole preset on the grab bucket assembly and extends out of the grab bucket assembly. The electromagnet is mounted on the top wall of the mounting hole, and the magnet is mounted on the top of the mounting seat. Changing the current direction of the electromagnet can drive the collection tube to slide back and forth along the axis of the mounting hole.

[0008] The collection tube comprises a tube body and a plurality of blades of the same type. The free end of the tube body is evenly provided with a plurality of embedding grooves penetrating the bottom end surface of the tube body. The blade comprises a mounting portion and a cutting portion. The plurality of mounting portions are rotatably mounted in the plurality of embedding grooves in a one-to-one correspondence. When the tube body is vertically stationary, the side walls of the mounting portions are fitted on the bottom walls of the embedding grooves, and the radial dimension of the embedding grooves along the tube body is larger than the radial dimension of the mounting portions along the tube body. When the bottom wall of the mounting portion is fitted on the bottom wall of the embedding grooves, the inner wall and the outer wall of the cutting portion close to the tube body are smoothly transitioned and connected with the inner wall and the outer wall of the tube body respectively. Along the circumference of the tube body, two adjacent cutting portions are overlapped end to end in sequence to form the collection end of the collection tube, and the inner diameter of the collection end of the collection tube gradually increases in the direction away from the embedding grooves.

[0009] Preferably, the mounting seat has two sliders arranged opposite to each other, the side wall of the mounting hole has two slide grooves arranged opposite to each other, the two sliders are assembled in the two slide grooves one by one, the two slide grooves are arranged longitudinally and tilted so that the collection tube rotates when it slides back and forth in the axial direction of the mounting hole, the cutting part has a blade part, the blade part is arranged in the rotation direction of the collection tube during the extension process, and the blade surface of the blade part is located on the inner wall of the cutting part, the collection tube has a drainage hole, the body has a drainage groove connecting the inside and outside of the mounting hole, the drainage groove is arranged along the path of the groove, and when the slider is at both ends of the groove, the drainage hole is located outside the drainage groove.

[0010] When the slider is at the top of the chute, the through hole on the grab assembly is located between the top wall of the embedded groove and the bottom end surface of the tube body. When the slider is at the bottom of the chute, the extension distance of the collection end of the collection tube is less than the excavation depth of the grab assembly.

[0011] Preferably, the sampling device also includes a plurality of impeller assemblies evenly arranged around the body, the impeller assembly including an impeller, an impeller driver, an impeller brake, and a mounting portion, the impeller is rotatably assembled on the mounting portion, and the impeller brake and impeller driver are both mounted on the impeller.

[0012] Preferably, the sampling device also includes a main control box, multiple fill light assemblies, multiple camera assemblies, and an inclination detection assembly. The preprocessing module, data processing module, control module, execution module, battery, and inclination detection assembly are all installed in the main control box, and the multiple fill light assemblies and multiple camera assemblies are respectively installed on the mounting part.

[0013] Preferably, the multifunctional sampling device further comprises a control system, which comprises a data acquisition module, a preprocessing module, a data processing module, a service platform module, a control module and an execution module;

[0014] The data acquisition module transmits the real-time data of the seabed environment to the pre-processing module;

[0015] The preprocessing module processes and enhances the real-time data, obtains the real-time data information and outputs it to the data processing module and the service platform module;

[0016] The data processing module compares the real-time data information output by the receiving pre-processing module with the parameter information and standard data information output by the database module, analyzes the real-time data information, obtains the operating status of the multifunctional sampling device and the safety of the seabed collection area, and generates control instructions;

[0017] The control module receives the control instruction and controls the execution module to perform actions according to the control instruction;

[0018] The service platform module receives the real-time data information output by the preprocessing module and exchanges information with the data processing module to obtain real-time data information and control instructions of the seabed environment, intervene in the work of the control module, and control the actions of the execution module through the control module.

[0019] The data acquisition module includes a fill light component, a camera component and a tilt detection component.

[0020] The execution module includes an impeller driver, an impeller brake, a telescopic rod controller, an electromagnet controller, a fill light controller, and a camera controller.

[0021] Preferably, the real-time data includes real-time image data and real-time inclination data, the standard data information includes sample data information, and the specific processing process of the data processing module is:

[0022] The control instructions include balance control instructions and transfer control instructions;

[0023] The generation process of the balance control instruction is as follows:

[0024] Obtain real-time inclination data of the sampling device as it descends;

[0025] When the inclination α> the preset threshold W1, the inclination direction is obtained and a balance control instruction is generated;

[0026] The generation process of the transfer control instruction is as follows:

[0027] Collect real-time image data of the seabed and import sample data information;

[0028] Compare the real-time image data with the sample data information to select the sample collection area;

[0029] In the acquisition area, multiple reference points A1, A2, A3, ..., A are randomly selected. n ;

[0030] Get the height dimension information H1, H2, H3, ..., H of each reference point respectively n , calculate the average height size of the reference point ; and calculate the deviation P of the height direction of the nth reference point, the calculation process of the deviation P is:

[0031] ;

[0032] When the deviation P>preset threshold W2, the reference point is marked;

[0033] Obtaining data C1 of marking reference points and a total number C2 of reference points;

[0034] Calculate the proportion K of the marked points. The specific calculation process is:

[0035] K = C1 / C2;

[0036] When the proportion of the marking points K> the preset threshold W3, it indicates that the flatness of the acquisition area is insufficient, and a transfer control instruction is generated.

[0037] Preferably, the parameter information includes size information of the sampling device. When the proportion of the marking points K≤preset threshold W3, the generation process of the transfer control instruction further includes:

[0038] Import parameter information and obtain the maximum size L of the grab opening in the sampling device;

[0039] Get the maximum height of the marker reference point ;

[0040] Estimate the inclination β of the sampling device in the collection area. The specific estimation process of the inclination β is:

[0041] ;

[0042] When the inclination β>preset threshold W4, a transfer control instruction is generated.

[0043] The multifunctional sampling device of the present invention comprises a grab bucket and a collection tube. The collection tube is located in the grab bucket and can sample the same sampling point simultaneously. While obtaining a large number of samples, the longitudinal distribution of the samples can be collected, which can effectively preserve the integrity of the sample data, improve the reference value of the samples, and thus further improve the accuracy of mineral processing.

[0044] The control system of the multifunctional sampling device of the present invention collects the diving data of the equipment and the environmental data in the sea in real time, controls the diving state of the equipment to prevent the equipment from tilting and affecting the collection of samples, and screens the collection area of ​​the samples, further improving the success rate and effectiveness of sample collection. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is an overall structural diagram of a sampling device according to an embodiment of the present invention;

[0046] Figure 2 is a schematic diagram of the structure of a collection tube in a sampling device according to an embodiment of the present invention;

[0047] Figure 3 is a structural diagram of a blade in a sampling device according to an embodiment of the present invention;

[0048] Figure 4 is a schematic diagram of the position of the chute in the sampling device according to an embodiment of the present invention;

[0049] Figure 5 is a schematic structural diagram of an impeller assembly in a sampling device according to an embodiment of the present invention;

[0050] Figure 6 is a circuit schematic diagram of a control system according to an embodiment of the present invention;

[0051] Figure 7 It is a schematic diagram of the principle of the data acquisition module of an embodiment of the present invention;

[0052] Figure 8 It is a schematic diagram of the principle of the execution module of the embodiment of the present invention. DETAILED DESCRIPTION

[0053] The following is a detailed description of an embodiment of the present invention. This embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation method and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiment.

[0054] Reference Figure 1The present invention provides a multifunctional sampling device for seabed sandy sediments, which is used for collecting seabed sandy sediments. The sampling device 1 includes a body 11, a grab assembly 12, and two hydraulic telescopic rods 13. The grab assembly 12 is installed at the bottom of the body 11. Two hydraulic telescopic tubes 13 are symmetrically assembled on both sides of the body 11. The two hydraulic telescopic rods 13 are rotatably installed on both sides of the grab assembly 12. When the two hydraulic telescopic rods 13 are synchronously extended and retracted, the grab assembly 12 is opened or closed. The sampling device of the present invention includes a grab and a collection tube. The collection tube is located in the grab, and can sample the same sampling point synchronously. While obtaining a large number of samples, the longitudinal distribution of the samples can be collected, which can effectively preserve the integrity of the sample data, improve the reference value of the samples, and further improve the accuracy of mineral processing.

[0055] It should be noted that the grab assembly 12 includes two grabs of the same type. Two hydraulic telescopic rods 13 are rotatably connected to the two grabs respectively. When sampling on the seabed, the two grabs are driven to rotate by the hydraulic telescopic rods 13 to grab the sandy sediments on the seabed.

[0056] In order to avoid the destruction of the longitudinal distribution data of the sample when the grab assembly 12 grabs the sample, the following solution is proposed:

[0057] Reference Figure 2 The multifunctional sampling device 1 also includes a mounting seat 14, a collection tube 15, an electromagnet 16, and a magnet 17. A vertically arranged mounting hole 111 is provided in the body 11. The mounting seat 14 is slidably assembled in the mounting hole 111. The collection tube 15 is detachably mounted on the mounting seat 14, and the outer diameter of the collection tube 15 is adapted to the inner diameter of the mounting hole 111. The free end of the collection tube 15 passes through a through hole preset on the grab assembly 12 and extends out of the grab assembly 12. The electromagnet 16 is mounted on the top wall of the mounting hole 111, and the magnet 17 is mounted on the top of the mounting seat 14. Changing the current direction of the electromagnet 16 can drive the collection tube 15 to slide back and forth along the axis of the mounting hole 111.

[0058] When this preferred solution is implemented, after the sampling device 1 enters the collection area and lands completely, the impeller assembly 18 is driven to rotate, applying downward pressure to the sampling device 1, changing the current direction of the electromagnet 16, so that the attractive force between the electromagnet 16 and the magnet 17 becomes a repulsive force, so that the collection tube 15 quickly extends out of the body 11 and enters the sample to collect the sample.

[0059] Reference Figure 2 and Figure 3The collection tube 15 includes a tube body 151 and a plurality of blades 152 of the same type. The free end of the tube body 151 is evenly provided with a plurality of embedded grooves 1511 penetrating the bottom end surface of the tube body 151. The blade 152 includes a mounting portion 1521 and a cutting portion 1522. The plurality of mounting portions 1521 are rotatably mounted in the plurality of embedded grooves 1511 in a one-to-one correspondence. When the tube body 151 is vertically stationary, the side wall of the mounting portion 1521 is attached to the bottom wall of the embedded groove 1511, and the embedded groove 1511 is along the tube body 151. The radial dimension is larger than the radial dimension of the mounting portion 1521 along the tube body 151. When the bottom wall of the mounting portion 1521 fits into the bottom wall of the embedding groove 1511, the inner wall and outer wall of the cutting portion 1522 close to the tube body 151 are smoothly transitioned and connected with the inner wall and outer wall of the tube body 151 respectively. Along the circumference of the tube body 151, two adjacent cutting portions 1522 are overlapped end to end in sequence to form the collecting end of the collecting tube 15. The inner diameter of the collecting end of the collecting tube 15 gradually increases in the direction away from the embedding groove 1511.

[0060] In this embodiment, the multiple cutting parts 1522 are arranged in a manner of overlapping each other end to end. When the grab assembly 12 is working, the samples will gather inward, giving the cutting parts 1522 an inward thrust. Due to the arrangement of the multiple cutting blades, the thrust will spread to all the cutting parts 1522, so that the multiple blades 152 on the collection tube 15 rotate inward and aggregate to seal the sample in the collection tube 15; at the same time, the inner diameter of the collection end of the collection tube 15 gradually increases in the direction away from the embedding groove 1511. When the collection tube 15 is extended and enters the sample, the seawater and the sample will give the multiple cutting parts 1522 an outward thrust, thereby preventing the multiple blades 152 from buckling inward when the collection tube 15 is collecting samples, affecting the collection of samples.

[0061] Reference Figure 2 and Figure 4 Furthermore, the mounting seat 14 has two sliders 141 arranged opposite to each other, and the side wall of the mounting hole 111 has two slide grooves 1111 arranged opposite to each other. The two sliders 141 are assembled in the two slide grooves 1111 one by one. The two slide grooves 1111 are arranged longitudinally and tilted so that the collection tube 15 rotates when it slides back and forth in the axial direction of the mounting hole 111. The cutting portion 1522 has a blade portion 1523, which is arranged in the rotation direction of the collection tube 15 during the extension process, and the blade surface of the blade portion 1523 is located on the inner wall of the cutting portion 1522. The collection tube 15 has a drainage hole 153, and the body 11 has a drainage groove connecting the inside and outside of the mounting hole 111. The drainage groove is arranged along the path of the slide groove 1111, and when the slider 141 is at both ends of the slide groove, the drainage hole 153 is located outside the drainage groove.

[0062] When this further embodiment is implemented, it can effectively enhance the success rate and speed of the collection tube 15 entering the sample, thereby improving the efficiency of sample collection.

[0063] In a further embodiment, when the slider 141 is at the top of the slide 1111, the through hole on the grab assembly 12 is located between the top wall of the embedding groove 1511 and the bottom end surface of the tube body 151, and when the slider 141 is at the bottom of the slide 1111, the extension distance of the collection end of the collection tube 15 is less than the excavation depth of the grab assembly 12.

[0064] When the collection tube 15 is located in the body 11, the mounting portions 1521 of the plurality of blades 152 can be housed in the grab assembly 12 to prevent the blades 152 from buckling inwards due to seawater fluctuations during the descent of the equipment; when the collection tube 15 is fully extended, the collection end of the collection tube 15 is located inside the two grabs, and can provide a lateral component of force to buckle the blades 152 inwards when the grabs are closed.

[0065] Reference Figure 1 and Figure 5 The sampling device 1 also includes a plurality of impeller assemblies 18 evenly arranged around the body 11, the impeller assembly 18 includes an impeller 181, an impeller driver, an impeller brake, and a mounting portion 182, the impeller 181 is rotatably assembled on the mounting portion, and the impeller brake and the impeller driver are both mounted on the impeller 181; the sampling device 1 also includes a main control box 19, a plurality of fill light assemblies 2, a plurality of camera assemblies 3, and an inclination detection assembly, the preprocessing module, the data processing module, the control module, the execution module, the battery, and the inclination detection assembly are all installed in the main control box 19, and the plurality of fill light assemblies 2 and the plurality of camera assemblies 3 are respectively mounted on the mounting portion 182.

[0066] It should be noted that an independent battery can be installed in the device to provide power to the device during the sampling process.

[0067] like Figure 6 As shown, the control system of the visual sampling device includes a data acquisition module, a preprocessing module, a data processing module, a service platform module, a control module and an execution module.

[0068] The data acquisition module is used to collect real-time data of the seabed environment. Figure 7 ,The data acquisition module includes a fill light component, a camera component and a tilt detection component.

[0069] The preprocessing module is used to process and enhance real-time data and obtain real-time data information;

[0070] The database module is used to store parameter information and standard data information of the sampling device 1;

[0071] The data processing module is used to receive real-time data information, analyze the real-time data in combination with the parameter information and standard data information of the sampling device, obtain the operating status of the sampling device 1 and the safety of the seabed collection area, and generate control instructions;

[0072] The service platform module is used to obtain real-time data information and control instructions of the seabed environment, intervene in the work of the control module, and control the actions of the execution module through the control module;

[0073] The control module is used to receive control instructions and control the execution module to perform actions according to the control instructions;

[0074] The execution module is a plurality of driving components installed on the sampling device 1, which is used to control the operation of the sampling device 1. Figure 8 ,The execution module includes an impeller driver, an impeller brake, a telescopic rod controller, an electromagnet controller, a fill light controller, and a camera controller.

[0075] It should be noted that the preprocessing module is used to process and enhance real-time data in order to obtain clear real-time data information. It is a prior art and is not the core content of the present invention, so it will not be described in detail here.

[0076] The service platform module can issue execution instructions to the control module and control the operation of the device through the control module.

[0077] Reference Figure 6 ,The data acquisition module transmits the real-time data of the seabed environment to the pre-processing module;

[0078] The preprocessing module processes and enhances the real-time data, obtains the real-time data information and outputs it to the data processing module and the service platform module;

[0079] The data processing module compares the real-time data information output by the receiving pre-processing module with the parameter information and standard data information output by the database module, analyzes the real-time data information, obtains the operating status of the multifunctional sampling device and the safety of the seabed collection area, and generates control instructions;

[0080] The control module receives the control instruction and controls the execution module to perform actions according to the control instruction;

[0081] The service platform module receives the real-time data information output by the preprocessing module and exchanges information with the data processing module to obtain real-time data information and control instructions of the seabed environment, intervene in the work of the control module, and control the actions of the execution module through the control module.

[0082] The control system can collect the equipment's diving data and sea environment data in real time, control the equipment's diving status, prevent the equipment from tilting and affecting sample collection, and screen the sample collection area to further improve the success rate and effectiveness of sample collection.

[0083] Among them, the real-time data includes real-time image data and real-time inclination data, the standard data information includes sample data information, and the specific processing process of the data processing module is:

[0084] Control instructions include balance control instructions and transfer control instructions;

[0085] The generation process of balance control instructions is as follows:

[0086] Obtain real-time inclination data of the sampling device as it descends;

[0087] When the inclination α> the preset threshold W1, the inclination direction is obtained and a balance control instruction is generated;

[0088] The generation process of transfer control instructions is as follows:

[0089] Collect real-time image data of the seabed and import sample data information;

[0090] Compare the real-time image data with the sample data information to select the sample collection area;

[0091] In the acquisition area, multiple reference points A1, A2, A3, ..., A are randomly selected. n ;

[0092] Get the height dimension information H1, H2, H3, ..., H of each reference point respectively n , calculate the average height size of the reference point ; and calculate the deviation P of the height direction of the nth reference point. The calculation process of the deviation P is:

[0093] ;

[0094] When the deviation P>preset threshold W2, the reference point is marked;

[0095] Obtaining data C1 of marking reference points and a total number C2 of reference points;

[0096] Calculate the proportion K of the marked points. The specific calculation process is:

[0097] K=C1 / C2

[0098] When the proportion of the marking points K> the preset threshold W3, it indicates that the flatness of the acquisition area is insufficient, and a transfer control instruction is generated.

[0099] During the sinking process of the equipment, the inclination of the equipment is collected. When the inclination is greater than a certain degree, the balance of the equipment is controlled. At the same time, data information of the seabed landing point is collected, the flatness of the collection area is analyzed, and the state of the equipment during sampling is predicted. When the equipment state is not suitable, the collection position is changed, which can improve the efficiency and quality of sample collection by the equipment.

[0100] Furthermore, the parameter information includes the size information of the sampling device 1. When the proportion of the marking points K≤the preset threshold W3, the generation process of the transfer control instruction further includes:

[0101] Import parameter information and obtain the maximum size L of the grab opening in the sampling device;

[0102] Get the maximum height of the marker reference point ;

[0103] Estimate the inclination β of the sampling device in the collection area. The specific estimation process of the inclination β is:

[0104] ;

[0105] When the inclination β>preset threshold W4, a transfer control instruction is generated.

[0106] Through the above-mentioned means, possible tilt conditions of the equipment can be eliminated, thereby further avoiding the occurrence of collection accidents and improving the reliability of the use of the equipment.

[0107] Working process of the multifunctional sampling device:

[0108] When the present invention is in use, the current direction of the electromagnet 16 is first controlled to make the electromagnet 16 and the magnet 17 attract each other, and the multiple blades 152 are stored in the installation hole 111, and the grab in the grab assembly 12 is fully opened; during the descent of the equipment, the control module controls the fill light assembly 2 and the multiple camera assemblies 3 to start real-time monitoring of the environment in which the equipment is sinking, and at the same time collects the inclination of the equipment and obtains the inclination direction. When the inclination exceeds the preset value and there is a safety hazard in the equipment, the rotation speed of the four impellers 181 is controlled by the impeller brake. The change in the rotation speed of the impeller 181 can change its descent resistance, so as to balance the equipment; when the collection area is selected and landed safely, the rotation direction of the impeller 181 is controlled by the impeller driver to provide downward pressure on the equipment, change the direction of the current of the electromagnet 16, and make the electromagnet 16 and the magnet 17 repel each other. At this time, the collection tube 15 extends out. During the extension of the collection tube, the collection tube rotates due to the limitation of the slide slot. During the descent of the collection tube 15, the blades 15 2 is thinner and thinner downward, and the blade 1523 is arranged on the inner wall of the cutting portion 1522, so that the seawater and the sample give the blade 152 an outward thrust, which can prevent the blade 152 from buckling inward during the process; when the collection tube 15 completes the collection action, the two hydraulic telescopic rods 13 are controlled to work synchronously, so that the grab bucket in the grab bucket assembly 12 is closed. During the closing process of the grab bucket, the sample in the grab bucket assembly 12 will squeeze the cutting portion 1522 of the blade 152, and at this time the blade 152 starts to buckle inward. When it has been running for a period of time and is not completely closed, the current direction of the electromagnet 16 is controlled to store the collection tube 15. During this process, the mounting portion 1521 of the blade 152 is blocked by the sample, causing the blade 152 to continue to fold inward, thereby sealing the sample in the collection tube 15 until the mounting portion 1521 is abutted against the bottom wall of the grab bucket assembly 12 to be fixed. When the grab bucket assembly 12 completes the collection, the multiple impeller assemblies 18 are controlled to rotate to float the equipment. The equipment can also be pulled up by a rope to complete the collection work.

[0109] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0110] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0111] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A multifunctional sampling device for seabed sandy sediments, characterized in that: The machine comprises a body (11), a grab assembly (12), and two hydraulic telescopic rods (13), wherein the grab assembly (12) is mounted at the bottom of the body (11), the two hydraulic telescopic rods (13) are symmetrically mounted on both sides of the body (11), and the two hydraulic telescopic rods (13) are rotatably mounted on both sides of the grab assembly (12), and when the two hydraulic telescopic rods (13) are synchronously extended and retracted, the grab assembly (12) is opened or closed; It also includes a mounting seat (14), a collection tube (15), an electromagnet (16), and a magnet (17); a vertically arranged mounting hole (111) is provided in the body (11); the mounting seat (14) is slidably mounted in the mounting hole (111); the collection tube (15) is detachably mounted on the mounting seat (14); the outer diameter of the collection tube (15) is adapted to the inner diameter of the mounting hole (111); the free end of the collection tube (15) passes through a through hole preset on the grab bucket assembly (12) and extends out of the grab bucket assembly (12); the electromagnet (16) is mounted on the top wall of the mounting hole (111); the magnet (17) is mounted on the top of the mounting seat (14); and changing the current direction of the electromagnet (16) can drive the collection tube (15) to slide back and forth along the axis of the mounting hole (111); The collection tube (15) comprises a tube body (151) and a plurality of blades (152) of the same type. The free end of the tube body (151) is evenly provided with a plurality of embedding grooves (1511) penetrating the bottom end surface of the tube body (151). The blade (152) comprises a mounting portion (1521) and a cutting portion (1522). The plurality of mounting portions (1521) are rotatably mounted in the plurality of embedding grooves (1511) in a one-to-one correspondence. When the tube body (151) is placed vertically, the side walls of the mounting portions (1521) are attached to the bottom walls of the embedding grooves (1511), and the embedding grooves (1511) are arranged along the tube body (151). The radial dimension of the mounting portion (1521) is larger than the radial dimension of the tube body (151); when the bottom wall of the mounting portion (1521) fits the bottom wall of the embedding groove (1511), the inner wall and outer wall of the cutting portion (1522) close to the tube body (151) are smoothly transitioned and connected with the inner wall and outer wall of the tube body (151), respectively; along the circumference of the tube body (151), two adjacent cutting portions (1522) overlap in sequence end to end to form a collection end of the collection tube (15); and the inner diameter of the collection end of the collection tube (15) gradually increases in a direction away from the embedding groove (1511); The mounting seat (14) has two sliders (141) arranged opposite to each other, and the side wall of the mounting hole (111) has two sliders (1111) arranged opposite to each other. The two sliders (141) are mounted in the two sliders (1111) in a one-to-one correspondence. The two sliders (1111) are arranged longitudinally and tilted so that the collection tube (15) rotates when sliding back and forth in the axial direction of the mounting hole (111). The cutting portion (1522) has a blade portion (1523). The blade portion (1523) is arranged in the rotation direction of the collection tube (15) during its extension, and the blade surface of the blade portion (1523) is located on the inner wall of the cutting portion (1522). The collection tube (15) has a drainage hole (153), and the body (11) has a drainage groove connected to the inside and outside of the installation hole (111). The drainage groove is arranged along the path of the slide groove (1111), and when the slider (141) is at both ends of the slide groove, the drainage hole (153) is located outside the drainage groove; when the slider (141) is at the top of the slide groove (1111), the through hole on the grab assembly (12) is located between the top wall of the embedded groove (1511) and the bottom end surface of the tube body (151); when the slider (141) is at the bottom of the slide groove (1111), the extension distance of the collection end of the collection tube (15) is less than the excavation depth of the grab assembly (12); When the grab assembly (12) is working, the sample will gather inwards, giving the cutting portion (1522) a thrust to converge inwards. Due to the arrangement of the multiple cutting blades, the thrust will spread to all the cutting portions (1522), thereby causing the multiple blades (152) on the collection tube (15) to rotate inwards and converge to seal the sample in the collection tube (15).

2. The multifunctional sampling device according to claim 1, characterized in that: The device also includes a plurality of impeller assemblies (18) evenly arranged around the body (11). The rotation direction of the impeller assemblies (18) is changed to apply downward pressure to the multifunctional sampling device or to cause it to float. The impeller assemblies (18) include an impeller (181), an impeller driver, an impeller brake, and a mounting portion (182). The impeller (181) is rotatably mounted on the mounting portion, and the impeller brake and the impeller driver are both mounted on the impeller (181).

3. The multifunctional sampling device according to claim 2, characterized in that: The main control box (19), a plurality of fill light components (2), a plurality of camera components (3), and an inclination detection component are also included. The battery and the inclination detection component are installed in the main control Inside the box (19), a plurality of fill light assemblies (2) and a plurality of camera assemblies (3) are respectively mounted on the mounting portion (182).

4. The multifunctional sampling device according to claim 1, characterized in that: It also includes a control system, which includes a data acquisition module, a preprocessing module, a data processing module, a service platform module, a control module and an execution module; The data acquisition module transmits the real-time data of the seabed environment to the pre-processing module; The preprocessing module processes and enhances the real-time data, obtains the real-time data information and outputs it to the data processing module and the service platform module; The data processing module compares the real-time data information output by the receiving pre-processing module with the parameter information and standard data information output by the database module, analyzes the real-time data information, obtains the operating status of the multifunctional sampling device and the safety of the seabed collection area, and generates control instructions; The control module receives the control instruction and controls the execution module to perform actions according to the control instruction; The service platform module receives the real-time data information output by the preprocessing module and exchanges information with the data processing module to obtain real-time data information and control instructions of the seabed environment, intervene in the work of the control module, and control the actions of the execution module through the control module.

5. The multifunctional sampling device according to claim 4, characterized in that: The real-time data includes real-time image data and real-time inclination data, the standard data information includes sample data information, and the control instructions include balance control instructions and transfer control instructions; The generation process of the balance control instruction is as follows: Obtain real-time inclination data of the sampling device as it descends; When the inclination α >Preset threshold W1 , obtain the tilt direction and generate balance control instructions; The generation process of the transfer control instruction is as follows: Collect real-time image data of the seabed and import sample data information; Compare the real-time image data with the sample data information to select the sample collection area; Randomly select multiple reference points in the collection area A 1 , A 2 , A 3 ,..., A n ; Get the height dimension information of each reference point separately H 1 , H 2 , H 3 ,..., H n , calculate the average height size of the reference point ; and calculate the n The deviation in height direction of the reference point P , the deviation P The calculation process is: ； When the deviation P >Preset threshold W2 When the reference point is marked; Get the number of marker reference points C1 and the total number of reference points C2 ; Calculate the proportion of marked points K , the specific calculation process is: K = C1 / C2 When the proportion of marked points K >Preset threshold W3 When , it indicates that the flatness of the acquisition area is insufficient, and a transfer control instruction is generated.

6. The multifunctional sampling device according to claim 5, characterized in that: The parameter information includes the size information of the sampling device, the proportion of the marking point K ≤ preset threshold W3 When the transfer control instruction is generated, the process also includes: Import parameter information to obtain the maximum size of the grab opening in the sampling device L ; Get the maximum height of the marker reference point ; Estimate the inclination of the sampling device in the collection area β , inclination β The specific estimation process is: ； When the inclination β >Preset threshold W4 When a transfer control instruction is generated.

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