Stratified sampling device based on injector and vibration sampler and acquisition method of deep sea stratified sample

Abstract

The invention discloses a deep sea stratified sampling device based on an injector and a vibration sampler, comprising: a main cabin comprising a housing, a frame and a bottom frame; the illumination camera system is arranged on the bottom frame; the sampling system comprises an array type deep sea water body sampling device and a vibration type deep sea sediment sampling device; the positioning system is used for positioning the device; the monitoring system is used for monitoring the accurate position of the device underwater, the acceleration of movement, the speed relative to the water bottom and the parameters of the environment where the device is located; the power supply system is used for providing a power source for the device; and the control cabin is used for controlling the system. The invention also discloses a method for collecting the deep sea layered sample by adopting the device. The device provided by the invention is a sample collection device integrating functions of deep-sea terrain high-definition detection, efficient sediment collection, vertical layered accurate sampling of a water body and synchronous monitoring of key parameters of the water body, and can realize more accurate positioning to different depths for layered sampling.

Description

Technical Field

[0001] The present invention belongs to the technical field of deep-sea sample collection under complex conditions, and in particular relates to a deep-sea stratified sampling device based on a syringe and a vibration sampler and a deep-sea stratified sample collection method. Background Art

[0002] Underwater sediments are an important part of water bodies in water sources such as the deep sea. The formation of sediments is a natural process, but it is often affected by various human activities such as mining, agricultural production, forestry production practices and road construction. Deep-sea sediments contain important information about the history of the earth, such as climate change and geological activities. Deep-sea samplers can be used to collect these sediment samples and infer changes in the history of the earth by analyzing the fossils, rocks and chemical composition in them. The characteristics of deep-sea water bodies are affected by factors such as depth, temperature, and salinity, which have an important impact on marine ecosystems and climate research. Deep-sea water sampling research includes the analysis of multiple parameters such as temperature, salinity, dissolved oxygen, and nutrients in deep-sea water bodies to gain a deep understanding of the physical and chemical properties of deep-sea water bodies. There are unique biological communities in deep-sea water bodies, including various microorganisms, benthic organisms, and migratory organisms. By collecting deep-sea water samples, scientists can study the distribution, ecological characteristics, and adaptation strategies of deep-sea organisms, providing important data for deep-sea ecology. The collection of deep-sea water samples is also used to monitor pollutants in the deep-sea environment, such as heavy metals and organic pollutants. Stratified sampling of sediment and water samples can obtain biological samples from different depths and different areas, which helps to reveal the types, distribution, ecological habits and evolutionary history of deep-sea organisms, and thus enhance the understanding of the earth's biodiversity, which is crucial for assessing the potential impact of human activities on deep-sea ecosystems.

[0003] The water environment is complex and changeable, including water flow, wind and waves, temperature, salinity and other factors that may affect the precise positioning of the stratified water sampling device. Some stratified water sampling devices have achieved intelligent control and can be operated through the deck control unit or remote control system. This intelligent control improves the efficiency and accuracy of sampling, but it is still difficult to achieve absolute precise positioning in a complex and changeable water environment.

[0004] For example, a Chinese patent with publication number CN114136709A discloses a seabed sampling device, which includes a water sampling cylinder and a mud sampling mechanism. The inner wall of the lower port of the water sampling cylinder is slidably matched with a counterweight column, and the mud sampling mechanism is installed at the bottom of the counterweight column. The mud sampling mechanism includes a mounting plate, and a triangular prism is fixed to the lower surface of the mounting plate. Strip mud collecting grooves are symmetrically provided on both sides of the triangular prism. The opposite end surfaces of the strip mud collecting groove are rotatably connected to the mud sampling cylinder through a rotating shaft. The peripheral side surface of the mud sampling cylinder is matched with the inner wall of the strip mud collecting groove, and the peripheral side surface of the mud sampling cylinder is provided with a mud inlet. This invention can collect mud and seawater samples on the seabed at the same time, thereby improving the efficiency of seabed sampling. For example, a Chinese patent with publication number CN107290182A discloses an automatic stratified water sample collector based on a syringe, which also includes a syringe. The trigger mechanism includes a waterproof servo motor arranged on the frame mechanism, a lever connected to the waterproof servo motor, an upper connecting platform, a support shaft and a column respectively connected to the upper connecting platform and the frame mechanism at both ends, a baffle connected to the support shaft, an intermediate plate connected to the column, and a spring sleeved on the column. The invention uses a syringe as a water sampling container, reduces cost and quality, and is suitable for occasions where the metal concentration in the water sample needs to be analyzed.

[0005] The seabed sampling device in the above-mentioned prior art can only obtain surface sediment samples when collecting sediments, and cannot obtain representative stratigraphic sediment samples. In addition, its sampling process will cause significant disturbance to the sediment samples, which brings inconvenience to subsequent sediment research. Summary of the invention

[0006] The purpose of the present invention is to provide a deep-sea stratified sampling device based on a syringe and a vibrating sampler and a method for collecting deep-sea stratified samples. The device provided by the present invention is an artificial intelligence sample collection device that integrates high-definition detection of deep-sea terrain, efficient sediment collection, precise sampling of vertical stratification of water bodies and simultaneous monitoring of key parameters, and can achieve more accurate positioning at different depths for stratified sampling.

[0007] The present invention provides the following technical solutions:

[0008] A deep-sea stratified sampling device based on a syringe and a vibrating sampler, the device comprising a main cabin, the main cabin comprising an outer shell, a frame arranged in the outer shell, and a bottom frame connected to the bottom of the outer shell; and arranged on the frame:

[0009] The lighting camera system, including lighting lamps and cameras, is arranged on the bottom frame;

[0010] The sampling system includes an array-type deep-sea water body sampling device and a vibrating deep-sea sediment sampling device, which are arranged at the upper part and the middle part of the frame, respectively, and are used for sampling deep-sea water bodies and deep-sea sediments, respectively;

[0011] A positioning system, arranged on the upper part of the frame, is used for positioning the device;

[0012] The monitoring system is arranged at the upper and lower parts of the frame and is used to monitor the precise position of the device underwater, the acceleration of the device movement, the speed of the device relative to the bottom of the water, and the parameters of the environment in which it is located;

[0013] The power supply system is arranged in the middle and lower parts of the frame and is used to provide a power source for the device;

[0014] The control cabin is located in the middle of the frame and is used to control the lighting and camera system, sampling system, positioning system, monitoring system and power supply system.

[0015] In the present invention, the outer shell is designed to be streamlined to reduce the resistance in water; the lighting camera system is used to screen the best sampling position in real time to avoid damage to the sampling device.

[0016] The vibrating deep-sea sediment sampling device comprises a sampling tube, a vibrating motor, a long guide rod, a base and an upper support, wherein the upper support is fixed on a frame, the long guide rod is fixed on the upper support and the bottom frame, the vibrating motor and the sampling tube are fixed on the base, and the base is sleeved on the long guide rod through a trimming flange. During operation, the entire device is suspended and placed at a target position on the seabed. After the entire device is stable, the vibrating deep-sea sediment sampling device is powered, the vibrating motor drives the sampling tube to vibrate at a high frequency, and the entire device is lowered at a certain speed. The vibrating deep-sea sediment sampling device uses its own weight as a vertical injection force. After completing the sampling of a specified length, the power supply is stopped, the device is lifted, and the sediment sampling is completed.

[0017] The array-type deep-sea water body sampling device comprises a rotating disk, a water sampler, a rotating motor, a lever and a locking rod. The rotating motor, the locking rod and the water sampler are fixed on the rotating disk, and the rotating motor drives the lever to rotate.

[0018] The water sampler comprises a syringe barrel, a syringe piston, a syringe top plate, a syringe bracket, a syringe bottom plate, a spring, a short guide rod and a linear bearing; the syringe bottom plate is fixed on a rotating disk, the syringe top plate and the syringe bracket are connected to the syringe piston, the syringe barrel is fixed on the syringe bottom plate, the upper end of the short guide rod is connected to the syringe top plate, the lower end of the short guide rod is fixed on the syringe bottom plate together with the linear bearing, the spring is sleeved on the short guide rod, and the linear bearing plays a guiding role. When working, the entire array deep-sea water body sampling device is first set to an initial state, the spring is compressed by the syringe top plate, and the syringe top plate is locked with a locking rod. At this time, the spring is in a compressed state, and there is no sample in the syringe barrel. After the entire device reaches the seabed target position, the array deep-sea water body sampling device is powered, the rotating motor drives the lever to rotate, the lever toggles the locking rod, and after the locking rod is removed, the spring in a compressed state drives the syringe top plate to move upward, thereby driving the syringe piston to move upward, sucking the deep-sea water body into the syringe barrel, and completing the deep-sea water body sampling.

[0019] Furthermore, the vibrating deep-sea sediment sampling device adopts a vibrating sampling method, which greatly reduces the friction between the inner wall of the sampling tube and the sediment, and the problems of sample compaction and bedding deformation are also solved. In addition, the sampling tube penetration method is a landmark-controllable uniform sinking, and the interface between water and sediment is also well preserved.

[0020] Furthermore, the array-type deep-sea water body sampling device includes 15 water samplers evenly distributed on the rotating disk, which can realize stratified sampling of deep-sea water bodies and effectively realize the research on deep-sea water body samples.

[0021] The positioning system includes a satellite antenna, GPS, radio frequency transmitter and stroboscopic observation device, which work together to transmit signals to the water workbench and satellite and perform wireless transmission, obtain and process positioning data, so as to achieve accurate positioning of the entire device. The entire system is controlled by the water intelligent operation interface and the control cabin, so as to achieve accurate positioning and efficient operation of the deep-sea stratified sampling device.

[0022] The monitoring system comprises:

[0023] Acoustic beacons, which emit sound pulses that return after hitting surrounding objects, accurately analyzing the device's exact location underwater;

[0024] gravimeter, which measures the acceleration of the device's motion;

[0025] Doppler velocimeter, used to measure the speed of the device relative to the bottom of the water;

[0026] Electromagnetic sensors measure parameters of the device's environment, including temperature, magnetic field, and water pressure.

[0027] In the present invention, the coordinated work of the acoustic beacon, the gravimeter, the Doppler velocimeter and the electromagnetic sensor ensures the safety of the device during sampling.

[0028] The monitoring system transmits sound wave pulses through acoustic beacons, which are converted into electrical signals by transducers and received by hydrophones deployed on the water surface. The received signals are calculated using a total least squares positioning algorithm based on Taylor series expansion to obtain the precise position of the underwater device.

[0029] Furthermore, when there are four hydrophones deployed on the water surface, the method for calculating the precise underwater position of the device by using the total least squares positioning algorithm based on Taylor series expansion is:

[0030] (1) Perform difference processing on the distance between the device under test and the buoy array where the four hydrophones are located on the water surface;

[0031] (2) constructing an augmented matrix for the difference processing, and using the singular value decomposition of the augmented matrix to obtain the least squares solution;

[0032] (3) The position of the device under test estimated by the least squares method in step (2) is used as the initial value point (x s ,y s ,z s ), Taylor series expansion is performed at the initial value point, and multiple weighted least squares iterative operations are used to complete the positioning of the device under test.

[0033] Specifically:

[0034] The distance between the target to be measured and the buoy array where the four hydrophones are located on the water surface can be expressed as:

[0035]

[0036] Among them, the coordinates of the i-th buoy are (x i ,y i ,z i ), the underwater position of the target to be measured is (x0, y0, z0), where t i is the time it takes for the sound wave pulse emitted by the underwater acoustic beacon to reach the buoy array where the i-th hydrophone is located, and c is the speed of sound wave propagation.

[0037] The difference processing can be obtained:

[0038]

[0039] Right now:

[0040]

[0041] in, r iis the distance from the i-th buoy to the coordinate origin.

[0042] The above formula can be expressed as: Ax = B

[0043]

[0044] Construct an augmented matrix D = [-B|A], and use the singular value decomposition of the augmented matrix to obtain the least squares solution. When there are both array element position errors and ranging errors, rank{D} = 4, so the singular value decomposition is performed to obtain:

[0045]

[0046] Where M, Q are the left and right singular matrices of the augmented matrix respectively; ∑ is a semi-positive definite diagonal matrix; m K and q K are the left and right singular vectors respectively; m K is the kth column of the matrix M; q K is the kth column of matrix Q; σ K is the singular value corresponding to D, and satisfies σ1≥σ2≥σ3≥σ4. When there is no measurement error, rank{D}=3, then σ4=0, and Ax=B has a unique solution; when there is a measurement error, rank{D}=4, then σ4≠0. However, when the measurement error is not very large, Ax=B has a unique total least squares algorithm solution:

[0047]

[0048] The position of the target to be measured estimated by the total least squares method is taken as the initial value (x s ,y s ,z s ), Taylor series expansion is performed at the initial value point, and multiple weighted least squares iterative operations are used to complete the target positioning.

[0049] make:

[0050]

[0051] For this formula in (x s ,y s ,z s ) and ignore the higher-order terms, then:

[0052]

[0053] make:

[0054]

[0055] Then the first-order term M nIt can be expressed as:

[0056]

[0057] Initial value (x s ,y s ,z s ) is the total least squares estimate, then the measured distance R from the target to the hydrophone array is n Then (Δx, Δy, Δz) can be obtained. The end judgment condition of this method can be expressed as:

[0058] |Δx|+|Δy|+|Δz|<ε

[0059] If the condition is met, the iteration ends; if the condition is not met, (x s +Δx,y s +Δy,z s +Δz) as the new initial coordinates for calculation until the iteration condition is met, then the coordinates are the results of the target to be measured.

[0060] The power supply system comprises a battery compartment and a seawater battery.

[0061] Furthermore, the present invention also includes an integrated artificial intelligence system, specifically, the entire device is equipped with an intelligent water operation interface, which is connected to the control cabin, effectively realizing intelligent setting, visual control and efficient and accurate in-situ collection during the sampling process, further improving the role of artificial intelligence technology in the present invention and enhancing the robustness of the sampling device.

[0062] The present invention also provides a method for collecting deep-sea stratified samples, using the above-mentioned deep-sea stratified sampling device based on a syringe and a vibration sampler, and the collection method comprises:

[0063] S1. The entire device is placed at a designated location (the control cabin is controlled by the intelligent operation interface on the water, and then the operation of the entire deep-sea stratified sampling device is controlled). During the placement process, the Doppler velocimeter is used to monitor the movement speed, and the gravimeter, lighting, camera and electromagnetic sensor work together to monitor the environment and environmental parameters in real time, as well as the specific location of the device underwater in real time;

[0064] S2. After the device is placed at the designated location, the vibrating deep-sea sediment sampling device starts to collect deep-sea sediments. The vibration motor drives the sampling tube to vibrate at a high frequency, and at the same time, the entire device is lowered at a certain speed. The vibrating deep-sea sediment sampling device uses its own weight as the vertical injection force. After completing the sampling of the specified length, the power supply is stopped, the device is lifted, and the sampling of deep-sea sediments is completed;

[0065] S3. When collecting deep sea water samples, the entire array deep sea water sampling device is in the initial state, the rotary motor drives the lever to rotate, the lever drives the lock rod, after the lock rod is moved away, the spring in the compressed state drives the top plate of the syringe to move upward, thereby driving the syringe piston to move upward, sucking the deep sea water into the syringe barrel, and realizing the deep sea water collection;

[0066] S4. After the collection is completed, the deep-sea environmental information transmitted back by the monitoring system is recorded, and the device is controlled to another water layer. The lever continues to rotate to collect deep-sea water samples again, thus realizing the stratified collection of deep-sea water samples;

[0067] S5. After completing the collection of deep-sea sediment samples and deep-sea water body samples, bring the device back to the water platform and transfer the samples safely to avoid changes in the properties of the samples and ensure the in-situ state and authenticity of the collected samples. This completes the stratified collection of deep-sea samples.

[0068] Compared with the prior art, the technical effects of the present invention are:

[0069] The present invention is an artificial intelligence sample collection device that integrates high-definition detection of deep-sea terrain, efficient sediment collection, precise sampling of vertical stratification of water bodies and simultaneous monitoring of key parameters. It has the advantages of no disturbance, high precision, high fidelity, high efficiency and low risk, and can achieve more accurate positioning at different depths for stratified sampling, providing strong technical support for further exploration of the deep-sea environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Figure 1 The general assembly diagram of a deep-sea stratified sampling device based on a syringe and a vibrating sampler provided by the present invention;

[0071] Figure 2 The internal structure diagram of a deep-sea stratified sampling device based on a syringe and a vibrating sampler provided by the present invention;

[0072] Figure 3 A structural diagram of the vibrating deep-sea sediment sampling device provided by the present invention;

[0073] Figure 4 A structural diagram of the array-type deep-sea water sampling device provided by the present invention;

[0074] Figure 5 A structural diagram of a water sampler provided by the present invention;

[0075] Figure 6 Schematic diagram of the deep-sea stratified sample collection method provided by the present invention. DETAILED DESCRIPTION

[0076] The content of the present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0077] Example 1

[0078] like Figure 1 , Figure 2 As shown, the deep-sea stratified sampling device based on a syringe and a vibration sampler provided in this embodiment is mainly composed of a main cabin, a lighting and camera system, a sampling system, a positioning system, a monitoring system, a power supply system and a control cabin.

[0079] In this embodiment, the main cabin body is composed of an outer shell 1, a metal frame 2 and a bottom frame 3, and all components are installed on the metal frame 2 and the bottom frame 3; the outer shell 1 is designed to be streamlined to reduce resistance in water.

[0080] In this embodiment, the lighting and video system includes an underwater lighting lamp 4 and an underwater camera 5, which are installed on the bottom frame 3; the optimal sampling position is screened in real time to avoid damage to the sampling device.

[0081] In this embodiment, the sampling system includes a vibrating deep-sea sediment sampling device 7 and an array-type deep-sea water body sampling device 8. The vibrating deep-sea sediment sampling device 7 is located in the middle part of the entire device, and the array-type deep-sea water body sampling device 8 is located in the upper part of the entire device.

[0082] In this embodiment, if Figure 3 As shown, the vibrating deep-sea sediment sampling device 7 includes a sampling tube 9, a vibration motor 10, a long guide rod 11, a base 12 and an upper support 13. The upper support 13 is fixed on the metal frame 2, the long guide rod 11 is fixed on the upper support 13 and the bottom frame 3, the vibration motor 10 and the sampling tube 9 are fixed on the base 12, and the base 12 is sleeved on the long guide rod 11 through a trimming flange. During operation, the entire device is suspended and placed at the target position on the seabed. After the entire device is stable, the vibrating deep-sea sediment sampling device 7 is powered, the vibration motor 10 drives the sampling tube 9 to vibrate at a high frequency, and the entire device is lowered at a certain speed. The vibrating deep-sea sediment sampling device 7 uses its own weight as the vertical injection force. After completing the sampling of the specified length, the power supply is stopped, the device is lifted, and the sediment sampling is completed.

[0083] In this embodiment, if Figure 4 As shown, the array-type deep-sea water body sampling device 8 includes a rotating disk 14, a water sampler 15, a rotating motor 16, a lever 17 and a locking rod 18. The rotating motor 16, the locking rod 18 and the water sampler 15 are fixed on the rotating disk 14, and the rotating motor 16 can drive the lever 17 to rotate.

[0084] In this embodiment, the vibrating deep-sea sediment sampling device 7 adopts a vibrating sampling method, which greatly reduces the friction between the inner wall of the sampling tube 9 and the sediment, and the problems of sample compaction and bedding deformation are also solved. Moreover, the penetration method of the sampling tube 9 is a landmark-controllable uniform sinking, and the interface between water and sediment is also well preserved.

[0085] In this embodiment, the array-type deep-sea water body sampling device 8 includes 15 water samplers 15 evenly distributed on the rotating disk 14, which can realize stratified sampling of deep-sea water bodies and effectively realize the research on deep-sea water body samples.

[0086] In this embodiment, if Figure 5 As shown, the water sampler 15 includes a syringe barrel 19, a syringe piston 20, a syringe top plate 21, a syringe bracket 22, a syringe bottom plate 23, a spring 24, a short guide rod 25 and a linear bearing 26. The syringe bottom plate 23 is fixed on the rotating disk 14, the syringe top plate 21 and the syringe bracket 22 are connected to the syringe piston 20, the syringe barrel 19 is fixed on the syringe bottom plate 23, the upper end of the short guide rod 25 is connected to the syringe top plate 21, the lower end of the short guide rod 25 and the linear bearing 26 are fixed on the syringe bottom plate 23, the spring 24 is sleeved on the short guide rod 25, and the linear bearing 26 plays a guiding role. During operation, the entire array-type deep-sea water body sampling device 8 is first set to an initial state, the spring 24 is compressed by the syringe top plate 21, and the syringe top plate 21 is locked with the locking rod 18. At this time, the spring 24 is in a compressed state, and there is no sample in the syringe barrel 19. After the entire device reaches the target position on the seabed, the array-type deep-sea water body sampling device 8 is powered, the rotating motor 16 drives the lever 17 to rotate, and the lever 17 drives the locking rod 18. After the locking rod 18 is removed, the spring 24 in a compressed state drives the syringe top plate 21 to move upward, thereby driving the syringe piston 20 to move upward, sucking the deep-sea water body into the syringe barrel 19, and completing the deep-sea water body sampling.

[0087] In this embodiment, the deep seawater layered sampling integrates an advanced positioning system. The system transmits acoustic pulses through the acoustic beacon 30, which are converted into electrical signals by the transducer and received by the hydrophone deployed on the water surface. The received signal is calculated by the total least squares positioning algorithm based on Taylor series expansion to obtain the precise position of the underwater device. The distance between the target to be measured and the buoy array where the four hydrophones on the water surface are located can be expressed as:

[0088]

[0089] Among them, the coordinates of the i-th buoy are (x i ,y i ,z i ), the underwater position of the target to be measured is (x0, y0, z0), where ti is the time it takes for the sound wave pulse emitted by the underwater acoustic beacon to reach the buoy array where the i-th hydrophone is located, and c is the speed of sound wave propagation.

[0090] The difference processing can be obtained:

[0091]

[0092] Right now:

[0093]

[0094] Ax=B

[0095] in, r i is the distance from the i-th buoy to the coordinate origin.

[0096]

[0097] Construct an augmented matrix D = [-B|A], and use the singular value decomposition of the augmented matrix to obtain the least squares solution. When there are both array element position errors and ranging errors, rank{D} = 4, so the singular value decomposition is performed to obtain:

[0098]

[0099] Where M, Q are the left and right singular matrices of the augmented matrix respectively; ∑ is a semi-positive definite diagonal matrix; m K and q K are the left and right singular vectors respectively; m K is the kth column of the matrix M; q K is the kth column of matrix Q; σ K is the singular value corresponding to D, and satisfies σ1≥σ2≥σ3≥σ4. When there is no measurement error, rank{D}=3, then σ4=0, and Ax=B has a unique solution; when there is a measurement error, rank{D}=4, then σ4≠0. However, when the measurement error is not very large, Ax=B has a unique total least squares algorithm solution:

[0100]

[0101] The position of the target to be measured estimated by the total least squares method is taken as the initial value (x s ,y s ,z s ), Taylor series expansion is performed at the initial value point, and multiple weighted least squares iterative operations are used to complete the target positioning.

[0102] make:

[0103]

[0104] For this formula in (x s ,y s ,z s ) and ignore the higher-order terms, then:

[0105]

[0106] make:

[0107]

[0108] Then the first-order term M n It can be expressed as:

[0109]

[0110] Initial value (x s ,y s ,z s ) is the total least squares estimate, then the measured distance R from the target to the hydrophone array is n Then (Δx, Δy, Δz) can be obtained. The end judgment condition of this method can be expressed as:

[0111] |Δx|+|Δy|+|Δz|<ε,

[0112] If the condition is met, the iteration ends; if the condition is not met, (x s +Δx,y s +Δy,z s +Δz) as the new initial coordinates for calculation until the iteration condition is met, then the coordinates are the results of the target to be measured.

[0113] In this embodiment, the positioning system also includes a satellite antenna 27, a GPS 28, a radio frequency transmitter and a stroboscope 29. The satellite antenna 27, the GPS 28, the radio frequency transmitter and the stroboscope 29 work together to transmit signals to the water workbench and the satellite and perform wireless transmission, obtain and process the positioning data, thereby achieving accurate positioning of the entire device. The entire system is controlled by the water intelligent operation interface, and the control cabin 36 is operated to achieve accurate positioning and efficient operation of the deep sea water layered sampling device.

[0114] In this embodiment, the monitoring system includes an acoustic beacon 30, a gravimeter 31, a Doppler velocimeter 32 and an electromagnetic sensor 33. The acoustic beacon 30 can emit sound wave pulses, which will return after hitting surrounding objects, accurately analyzing the environment in which the entire device is located; the gravimeter 31 is used to measure the acceleration of the movement of the entire device; the Doppler velocimeter 32 is a sonar device used to measure the speed of the device relative to the bottom of the water; the electromagnetic sensor 33 can accurately measure the temperature, magnetic field, water pressure and other parameters of the environment in which the device is located; the coordinated work of the acoustic beacon 30, the gravimeter 31, the Doppler velocimeter 32 and the electromagnetic sensor 33 ensures the safety of the device during sampling.

[0115] In this embodiment, the power supply system includes a battery compartment 34 and a seawater battery 35, which is the power source of the entire device.

[0116] In this embodiment, the control cabin 36 is used to control all other systems, including the lighting and imaging system, the sampling system, the positioning system, the monitoring system, and the power supply system.

[0117] In this embodiment, the integrated artificial intelligence system means that the entire device is equipped with an intelligent water operation interface, which is connected to the control cabin 36, effectively realizing intelligent setting, visual control and efficient and accurate in-situ collection during the sampling process, further improving the role of artificial intelligence technology in the present invention and enhancing the robustness of the sampling device.

[0118] Example 2

[0119] like Figure 6 As shown, the method for collecting deep-sea layered samples using the device provided in Example 1, the principle of sample collection is as follows:

[0120] S1. The entire device is placed at a designated location, and the control cabin 36 is controlled by the water intelligent operation interface to control the operation of the entire deep-sea stratified sampling device;

[0121] S2. During the launch process, the Doppler velocimeter 32 monitors the movement speed, and the gravimeter 31, underwater lighting 4, underwater camera 5 and electromagnetic sensor 33 work together to present the environment and environmental parameters of the device on the water intelligent operation interface to ensure the safety of the device launch;

[0122] S3. After the device is placed at the designated location, the vibrating deep-sea sediment sampling device 7 starts to collect deep-sea sediments. The vibrating motor 10 drives the sampling tube 9 to vibrate at a high frequency, and at the same time lowers the entire device at a certain speed. The vibrating deep-sea sediment sampling device 7 uses its own weight as the vertical injection force. After completing the sampling of the specified length, the power supply is stopped, the device is lifted, and the sediment sampling is completed;

[0123] S4. When collecting deep sea water samples, the entire array deep sea water sampling device 8 is in the initial state, the rotary motor 16 drives the lever 17 to rotate, the lever 17 drives the lock rod 18, and after the lock rod 18 is moved away, the spring 24 in the compressed state drives the syringe top plate 21 to move upward, thereby driving the syringe piston 20 to move upward, and the deep sea water is sucked into the syringe barrel 19, so as to realize the deep sea water collection;

[0124] S5. After the collection is completed, the deep-sea environmental information transmitted back by the monitoring system is recorded, and the device is controlled to another water layer. The lever continues to rotate to collect deep-sea water samples again, thus realizing the stratified collection of deep-sea water samples;

[0125] S6. After completing sample collection, bring the device back to the water platform and transfer the samples safely to avoid changes in the properties of the samples and ensure the in-situ state and authenticity of the collected samples. This completes the stratified collection of deep-sea samples.

Claims

1. A deep sea stratified sampling device based on a syringe and a vibrating sampler, characterized in that: The device comprises a main cabin, which comprises an outer shell, a frame arranged in the outer shell, and a bottom frame connected to the bottom of the outer shell; and arranged on the frame: The lighting camera system, including lighting lamps and cameras, is arranged on the bottom frame; The sampling system includes an array-type deep-sea water body sampling device and a vibrating deep-sea sediment sampling device, which are arranged at the upper part and the middle part of the frame, respectively, and are used for sampling deep-sea water bodies and deep-sea sediments, respectively; A positioning system, arranged on the upper part of the frame, is used for positioning the device; The monitoring system is arranged at the upper and lower parts of the frame and is used to monitor the precise position of the device underwater, the acceleration of the device movement, the speed of the device relative to the bottom of the water, and the parameters of the environment in which it is located; The power supply system is arranged in the middle and lower parts of the frame and is used to provide a power source for the device; The control cabin is located in the middle of the frame and is used to control the lighting and camera system, sampling system, positioning system, monitoring system and power supply system.

2. The deep sea stratified sampling device based on a syringe and a vibrating sampler according to claim 1, characterized in that: The vibrating deep-sea sediment sampling device comprises a sampling tube, a vibrating motor, a long guide rod, a base and an upper support, wherein the upper support is fixed on a frame, the long guide rod is fixed on the upper support and the bottom frame, the vibrating motor and the sampling tube are fixed on the base, and the base is sleeved on the long guide rod through a trimming flange.

3. The deep sea stratified sampling device based on a syringe and a vibrating sampler according to claim 1, characterized in that: The array-type deep-sea water body sampling device comprises a rotating disk, a water sampler, a rotating motor, a lever and a locking rod. The rotating motor, the locking rod and the water sampler are fixed on the rotating disk, and the rotating motor drives the lever to rotate.

4. The deep sea stratified sampling device based on a syringe and a vibrating sampler according to claim 3, characterized in that: The water sampler includes a syringe barrel, a syringe piston, a syringe top plate, a syringe bracket, a syringe bottom plate, a spring, a short guide rod and a linear bearing; the syringe bottom plate is fixed on a rotating disk, the syringe top plate and the syringe bracket are connected to the syringe piston, the syringe barrel is fixed on the syringe bottom plate, the upper end of the short guide rod is connected to the syringe top plate, the lower end of the short guide rod and the linear bearing are fixed to the syringe bottom plate together, the spring is sleeved on the short guide rod, and the linear bearing plays a guiding role.

5. The deep sea stratified sampling device based on a syringe and a vibrating sampler according to claim 1, characterized in that: The positioning system includes a satellite antenna, GPS, a radio frequency transmitter and a stroboscope. The satellite antenna, GPS, a radio frequency transmitter and a stroboscope work together to transmit signals to the water workbench and the satellite and perform wireless transmission, obtain and process positioning data, thereby achieving accurate positioning of the entire device.

6. The deep sea stratified sampling device based on a syringe and a vibrating sampler according to claim 1, characterized in that: The monitoring system comprises: Acoustic beacons, which emit sound pulses that return after hitting surrounding objects, analyzing the precise location of the device underwater; gravimeter, which measures the acceleration of the device's motion; Doppler velocimeter, used to measure the speed of the device relative to the bottom of the water; Electromagnetic sensors measure parameters of the device's environment, including temperature, magnetic field, and water pressure.

7. The deep sea stratified sampling device based on a syringe and a vibrating sampler according to claim 6, characterized in that: The monitoring system transmits sound wave pulses through acoustic beacons, which are converted into electrical signals by transducers and received by hydrophones deployed on the water surface. The received signals are calculated using a total least squares positioning algorithm based on Taylor series expansion to obtain the precise position of the underwater device.

8. The deep sea stratified sampling device based on a syringe and a vibrating sampler according to claim 7, characterized in that: When there are four hydrophones deployed on the water surface, the method for calculating the precise underwater position of the device using the total least squares positioning algorithm based on Taylor series expansion is: (1) Perform difference processing on the distance between the device under test and the buoy array where the four hydrophones are located on the water surface; (2) constructing an augmented matrix for the difference processing, and using the singular value decomposition of the augmented matrix to obtain the least squares solution; (3) The position of the device under test estimated by the least squares method in step (2) is used as the initial value point (x s ,y s ,z s ), Taylor series expansion is performed at the initial value point, and multiple weighted least squares iterative operations are used to complete the positioning of the device under test.

9. The deep sea stratified sampling device based on a syringe and a vibrating sampler according to claim 1, characterized in that: The power supply system comprises a battery compartment and a seawater battery.

10. A method for collecting deep-sea stratified samples, characterized in that: Using the deep-sea stratified sampling device based on a syringe and a vibrating sampler according to any one of claims 1 to 9, the collection method comprises: S1. The entire device is placed at a designated location. During the placement process, the Doppler velocimeter is used to monitor the movement speed, and the gravimeter, lighting, camera and electromagnetic sensor work together to monitor the environment and environmental parameters in real time, as well as the specific location of the device underwater in real time; S2. After the device is placed at the designated location, the vibrating deep-sea sediment sampling device starts to collect deep-sea sediments. The vibration motor drives the sampling tube to vibrate at a high frequency, and at the same time, the entire device is lowered at a certain speed. The vibrating deep-sea sediment sampling device uses its own weight as the vertical injection force. After completing the sampling of the specified length, the power supply is stopped, the device is lifted, and the sampling of deep-sea sediments is completed; S3. When collecting deep sea water samples, the entire array deep sea water sampling device is in the initial state, the rotary motor drives the lever to rotate, the lever drives the lock rod, after the lock rod is moved away, the spring in the compressed state drives the top plate of the syringe to move upward, thereby driving the syringe piston to move upward, sucking the deep sea water into the syringe barrel, and realizing the deep sea water collection; S4. After the collection is completed, the deep-sea environmental information transmitted back by the monitoring system is recorded, and the device is controlled to another water layer. The lever continues to rotate to collect deep-sea water samples again, thus realizing the stratified collection of deep-sea water samples; S5. After completing the collection of deep-sea sediment samples and deep-sea water body samples, bring the device back to the water platform and transfer the samples safely to avoid changes in the properties of the samples and ensure the in-situ state and authenticity of the collected samples. This completes the stratified collection of deep-sea samples.

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