Crawler-type robot for collecting hydrate reservoir gas sample by using probe rod

Abstract

The invention relates to the technical field of seabed gas sampling, in particular to a tracked robot for collecting hydrate reservoir gas samples through a probe rod. Comprising a detection and collection module, the detection and collection module comprises a collection part and a collection probe rod, and the upper end of the collection probe rod is connected with the collection part; the collecting probe rod comprises a telescopic outer sleeve and a center sleeve, the center sleeve is located in the outer sleeve, a gas channel is formed between the center sleeve and the outer sleeve, a plurality of gas collecting windows are formed in the annular outer wall face of the center sleeve at intervals along the same circumferential face, and the gas collecting windows are communicated with the gas channel. A heating chamber is arranged in the central sleeve; the outer sleeve is provided with a plurality of communicating grooves corresponding to the gas collecting windows respectively, and when the outer sleeve rotates till the communicating grooves right face the gas collecting windows, gas collection is achieved. According to the method, in-situ exploration can be carried out on the hydrate reservoir, the helium content in the hydrate is determined, and a basis is provided for development of helium resources.

Description

Technical Field

[0001] The invention relates to the technical field of seabed gas sampling, in particular to a crawler robot for collecting hydrate reservoir gas samples by using a probe rod. Background Art

[0002] As a by-product, the development and utilization of helium is currently mainly concentrated in traditional natural gas mines, where helium is collected as a by-product during natural gas extraction. Helium is divided into mantle-derived helium and crust-derived helium. After it is formed, helium will be adsorbed by organic matter such as methane in natural gas along the structure or groundwater migration channel. Therefore, in helium exploration, it is necessary to measure the existing natural gas to determine the helium content in the natural gas. Currently, the means of exploring helium are relatively limited.

[0003] In terms of marine geology, natural gas mainly exists in the form of hydrates in the sedimentary layers of the seabed. Currently, there is a lack of methods for exploring helium in the ocean. At present, there are technical means to collect helium from seawater, but the helium collected from seawater is only the helium that overflows from the decomposition of hydrates or through the seabed fracture structure, which cannot achieve effective exploration and subsequent utilization of helium in the ocean. Summary of the invention

[0004] The purpose of the present invention is to overcome the above-mentioned defects of the prior art and propose a crawler robot that uses a probe rod to collect hydrate reservoir gas samples. The robot can realize in-situ exploration of hydrate reservoirs, determine the helium content in hydrates, and provide a basis for the development of helium resources.

[0005] The technical solution of the present invention is: a crawler robot for collecting hydrate reservoir gas samples using a probe, comprising a detection and collection module, wherein the detection and collection module comprises a collection part and a collection probe, and the upper end of the collection probe is connected to the collection part;

[0006] The collection probe includes a retractable outer sleeve and a central sleeve. The central sleeve is located inside the outer sleeve. A gas channel is formed between the central sleeve and the outer sleeve. A plurality of gas collection windows are provided on the annular outer wall surface of the central sleeve and along the same circumferential surface. The gas collection windows are connected to the gas channel. A heating chamber is provided inside the central sleeve.

[0007] The outer sleeve is provided with a plurality of connecting grooves corresponding to the gas collection windows respectively. When the outer sleeve is rotated until the connecting grooves face the gas collection windows, gas collection is achieved.

[0008] In the present invention, the external sleeve comprises an external outer tube and an external inner tube, and the inner wall surface of the lower end of the external outer tube is connected to the external inner tube through a spline seal;

[0009] The central sleeve comprises a central outer tube and a central inner tube, and the inner wall surface of the lower end of the central outer tube is slidably and sealedly connected to the central inner tube;

[0010] The outer outer tube is connected to a rotating motor, and the rotating motor is actuated to drive the outer outer tube and the outer inner tube spline-connected to the outer outer tube to rotate;

[0011] The outer inner tube and the central inner tube are respectively connected to the control motor, and the control motor moves to drive the outer inner tube and the central inner tube to perform axial reciprocating movement.

[0012] A gas channel is formed between the annular outer wall of the central inner tube and the annular inner wall of the outer inner tube, and a gas flow channel is correspondingly provided in the central outer tube. The gas channel is communicated with the gas flow channel, and the gas flow channel is connected to the collecting part.

[0013] The bottoms of the outer inner tube and the central inner tube are fixedly connected to the joint, and the bottom surface of the joint is provided with a high-pressure water jet and a chemical probe;

[0014] A hollow tube is provided at the axial center of the central inner tube, the hollow tube is fixedly connected to the joint, and the bottom end of the hollow tube is connected to the high-pressure water jet port, and the compressor provides high-pressure water flow into the hollow tube through the water pipe.

[0015] A heating chamber is formed between the annular outer wall surface of the hollow tube and the annular inner wall surface of the central inner tube, and a plurality of electric heating rings are arranged in the heating chamber along the axial direction thereof.

[0016] A plurality of grooves are provided at intervals on the annular outer wall surface of the central inner tube, and the gas collection windows are provided in the grooves;

[0017] The gas collection window includes a permeable stone and activated carbon located above the permeable stone. A porous plastic film layer is provided on the annular outer surface of the permeable stone, and a gas-water separation membrane is provided between the permeable stone and the activated carbon.

[0018] The collecting part includes a vacuum machine and a multi-way gas valve, and the upper end of the air flow channel is connected to the vacuum machine and the multi-way gas valve respectively;

[0019] The air flow channel is connected to several gas storage cylinders through a multi-way gas valve.

[0020] It also includes a chassis module, which includes a chassis and synchronous toothed tracks located on both sides of the chassis symmetrically. The synchronous toothed tracks on both sides are connected by a connecting rod, and a horizontal propeller and a vertical propeller are provided on the chassis.

[0021] It also includes a robot body, which is arranged on the chassis module, and the detection and collection module is connected to the robot body;

[0022] The robot body includes a control module and an observation module. The observation module includes a camera, a searchlight and a sensor cabin. The camera is installed on the front side of the middle part of the robot body, the searchlight is installed on the front end of the chassis, and the sensor cabin is equipped with a gyroscope, a posture sensor and a depth gauge.

[0023] The control module includes a control cabin, a battery cabin and a communication cabin. The communication cabin is equipped with a carrier communication unit and a beacon. The battery cabin is equipped with a lithium-ion battery pack and a power supply control unit. The control cabin is equipped with a control system, which is respectively connected to the detection and collection module, chassis module and observation module.

[0024] The beneficial effects of the present invention are:

[0025] (1) The robot adopts a crawler-type walking mechanism, which can collect gas samples from multiple locations within a certain hydrate reservoir range, thus improving the collection efficiency;

[0026] (2) During the sampling process, the hydrate reservoir is heated in a small area on the seabed, so that the hydrate near the probe is decomposed into gas. At the same time, the negative pressure environment formed in the probe is used to collect the gas produced by the decomposition of the hydrate;

[0027] (3) Selective sample acquisition is achieved by providing a gas collection window and a rotatable external sleeve;

[0028] (4) The high-pressure water ejected from the bottom of the joint can be used to spray the sediment below the collection probe and clear the high-pressure water flow; the detection of seabed hydrates is achieved through the chemical probe, enabling the robot to accurately collect seabed hydrate gas. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 It is a three-dimensional structural schematic diagram of the present invention;

[0031] Figure 3 It is a structural diagram of the chassis module;

[0032] Figure 4 It is a schematic diagram of the structure of the detection and collection module;

[0033] Figure 5 It is a schematic diagram of the local structure at the gas collection window;

[0034] Figure 6 It is a schematic diagram of the local structure of the joint;

[0035] Figure 7 It is a schematic diagram of the structure of the outer inner tube.

[0036] In the figure: 1 chassis module; 101 synchronous toothed track; 102 connecting rod; 103 horizontal thruster; 104 vertical thruster; 2 camera; 3 lighting lamp; 4 sensor cabin; 5 gyroscope; 6 attitude sensor; 7 depth gauge; 8 control cabin; 9 battery cabin; 10 communication cabin; 11 carrier communication unit; 12 beacon; 13 counterweight; 14 external outer tube; 15 external inner tube; 16 central outer tube; 17 central inner tube; 18 joint; 19 hollow tube; 20 heating chamber; 21 electric heating coil; 22 gas collection window; 23 permeable stone; 24 activated carbon layer; 25 porous plastic film layer; 26 gas-water separation membrane; 27 gas channel; 28 gas flow channel; 29 vacuum machine; 30 multi-way gas valve; 31 gas storage bottle; 32 connecting groove; 33 high-pressure water jet outlet; 34 water pipe; 35 collection probe. DETAILED DESCRIPTION

[0037] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0038] In the following description, specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in a variety of other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0039] like Figure 1 and Figure 2 As shown, the crawler robot for collecting hydrate reservoir gas samples using a probe rod according to the present invention includes a detection and collection module, a chassis module and a robot body. The robot body and the detection and collection module are both arranged on the chassis module. The chassis module supports the robot body and the detection and collection module, and the chassis module can drive the robot body and the detection and collection module to run to a designated area. The robot body includes a control module and an observation module: the observation module is used to observe the working environment around the robot and monitor the robot's motion parameters in real time; the control module is used to control the actions of the detection and collection module and the robot's motion state.

[0040] like Figure 3 As shown, the chassis module 1 includes a chassis and synchronous toothed tracks 101 located on both sides of the chassis symmetrically. The synchronous toothed tracks on both sides are connected by a connecting rod 102, and the synchronous action between the synchronous toothed tracks on both sides is achieved through the connecting rod 102.

[0041] There are several horizontal thrusters and several vertical thrusters on the chassis. The horizontal thrusters can not only realize the horizontal movements of the robot, such as forward and backward, but also realize the steering of the robot through the cooperation between the several horizontal thrusters; the vertical thrusters can realize the sinking and rising movements of the robot.

[0042] In this embodiment, the chassis module includes four horizontal thrusters 103 and two vertical thrusters 104. The chassis in this embodiment is in the shape of a quadrilateral, and two horizontal thrusters 103 are respectively arranged on the sides along the length direction of the chassis, and the horizontal thrusters on the two sides are symmetrically arranged. A vertical thruster 104 is respectively arranged on the sides along the width direction of the chassis.

[0043] Since each horizontal propeller and vertical propeller can generate forward thrust and reverse thrust by forward rotation and reverse rotation, the floating motion state of the robot in the seawater can be completely realized by the thrust generated by the horizontal propeller and the vertical propeller respectively cooperating with each other. In this embodiment, the robot realizes the horizontal motion of five degrees of freedom, namely, forward, backward, lateral movement, steering, snorkeling, and heeling, through the above-mentioned four horizontal propellers 103 and two vertical propellers 104. After the robot lands on the seabed, the robot walks on the seabed through the cooperation of the synchronous toothed track 101 and the horizontal propeller.

[0044] The robot body includes a control module and an observation module. The observation module includes a camera 2, a searchlight 3 and a sensor cabin 4. The searchlight is installed at the front end of the chassis for underwater lighting. The camera 2 is installed on the front side of the middle part of the robot body. When the robot is in the water, the underwater environment of the robot is monitored in real time through the camera.

[0045] The sensor cabin 4 is arranged at the front of the robot body. A gyroscope 5, a posture sensor 6, and a depth gauge 7 are arranged in the sensor cabin 4. The gyroscope 5 is used to monitor and provide the control module with the horizontal state of the underwater robot, the posture sensor 6 is used to monitor and provide the deck personnel with the posture information of the underwater robot through the carrier communication unit 11, and the depth gauge 7 is used to monitor and provide the control module with the depth information of the underwater robot during navigation.

[0046] The control module is located in the middle of the robot body, including a control cabin 8, a battery cabin 9 and a communication cabin 10. The communication cabin 10 is arranged at the front of the robot body, and a carrier communication unit 11 and a beacon 12 are installed in the communication cabin 10. The carrier communication unit 11 realizes the wireless connection and information transmission between the underwater robot and the deck unit, and the beacon 12 sends the GPS information of the underwater robot to the deck unit by wireless transmission.

[0047] The battery compartment 9 is provided with a lithium-ion battery pack with a high energy-to-volume ratio and a power supply control unit. The power supply control unit controls the discharge of the lithium-ion battery pack through a cable, and provides electrical energy for the movement of the underwater robot through the lithium-ion battery pack.

[0048] A control system is provided in the control cabin 8, and the control system is connected to the detection and collection module, the chassis module, and the observation module respectively. Through the control system, the travel mode of the entire underwater robot and the control of the probe action in the detection and collection module are realized.

[0049] The robot body also includes a counterweight. In this embodiment, two counterweights 13 are symmetrically arranged in the middle of the robot body. The counterweight increases the gravity of the underwater robot and enhances the stability of the underwater robot when working on the seabed. When the underwater robot completes the last collection, the underwater robot can float up by discarding the counterweight. The release mechanism of the counterweight can adopt an existing release structure, so it will not be described here.

[0050] The battery compartment, sensor compartment, control compartment, and communication compartment are all independent sealed compartments, which are respectively fixed on the chassis, and the compartments are connected by radially pre-tightened screws.

[0051] The detection and collection module includes a collection probe rod 35 and a collection part, and the collection part is located above the collection probe rod. The collection part is arranged on the robot body, the upper end of the collection probe rod is connected to the robot body, the lower end of the collection probe rod is located below the robot body, and the upper end of the collection probe rod is connected to the collection part.

[0052] like Figure 4 As shown, the acquisition probe includes an outer sleeve and a central sleeve, and the central sleeve is arranged on the inner side of the outer sleeve. The outer sleeve includes an outer outer tube 14 and an outer inner tube 15, and the outer inner tube 15 is located on the inner side of the outer outer tube 14. The upper end of the outer outer tube 14 is rotatably connected to the robot body, and the inner wall of the outer outer tube 14 and the outer wall of the outer inner tube 15 are sealed and slidably connected. In this embodiment, the outer outer tube 14 and the outer inner tube 15 are splined, that is, there is axial relative sliding between the outer outer tube 14 and the outer inner tube 15, and the outer inner tube 15 is driven to rotate during the rotation of the outer outer tube 14.

[0053] The central sleeve includes a central outer tube 16 and a central inner tube 17, and the central inner tube 17 is located on the inner side of the central outer tube 16. The upper end of the central outer tube 16 is rotatably connected to the robot body, the inner wall of the central outer tube 16 and the outer wall of the central inner tube 17 are in sealed sliding connection, and the outer wall surface of the central outer tube 16 is in sealed contact with the inner wall surface of the outer inner tube 15. The bottom ends of the outer inner tube 15 and the central inner tube 17 are fixedly connected to the joint 18.

[0054] In this embodiment, the outer inner tube 15 and the central inner tube 17 are connected to the control motor respectively. During the operation of the control motor, the outer inner tube 15 and the central inner tube 17 can be driven to move axially. In this embodiment, when the control motor rotates forward, the outer inner tube 15 and the central inner tube 17 are driven to move axially downward, and the collection probe rod gradually extends; when the control motor rotates reversely, the outer inner tube 15 and the central inner tube 17 are driven to move axially upward, and the collection probe rod gradually shrinks, thereby realizing the extension and retraction of the control motor.

[0055] The outer outer tube 14 is connected to the rotating motor. When the rotating motor is in operation, the outer outer tube 14 is driven to rotate, and the outer inner tube 15 is driven to rotate at the same time through the spline connection between the outer outer tube 14 and the outer inner tube 15.

[0056] like Figure 4 and Figure 5 As shown, a hollow tube 19 is provided at the axial center of the central inner tube 17, and the bottom end of the hollow tube 19 is fixedly connected to the joint 18. The hollow tube 19 is a high-pressure water flow channel and a line channel, that is, the high-pressure water flows in the hollow tube, and the line is also arranged in the hollow tube, and the outer wall of the line is wrapped with waterproof material. There is an annular gap between the outer wall surface of the hollow tube 19 and the inner wall surface of the central inner tube 17, and the annular gap forms a heating chamber 20. A plurality of annular electric heating coils 21 are arranged in the heating chamber 20. In this embodiment, a plurality of electric heating coils 21 are arranged in the heating chamber 20 along its axial direction.

[0057] The electric heating ring 21 is used to heat the location of the collection probe, thereby increasing the temperature of the hydrate around the collection probe and promoting the transformation of the hydrate from solid to gas, so that the collection part can collect the gas.

[0058] Several gas collection windows 22 are provided at intervals along the same circumferential surface on the annular outer wall surface of the central inner tube 17, that is, the gas collection windows 22 are located at the same circumferential surface. In this embodiment, four gas collection windows 22 are provided on the central inner tube 17. Grooves are provided on the annular outer wall surface of the central inner tube 17, and the gas collection windows 22 are respectively arranged in these grooves.

[0059] The gas collection window 22 includes an annular permeable stone 23 and an annular activated carbon layer 24 located above the permeable stone. A porous plastic film layer 25 is provided on the annular outer side of the permeable stone 23. The porous plastic film layer 25 plays a role in solid-liquid separation, which can prevent external solid sediments from entering the interior of the probe rod and only allow water and gas to enter the permeable stone 23. Through the permeable stone 23, solid sediments in water and gas can be further filtered, which plays a purification role. A gas-water separation membrane 26 is provided between the permeable stone 23 and the activated carbon layer 24. The gas-water separation membrane is a nanoporous structure, and its pore size only allows gas molecules to pass through, but not water molecules to pass through, which plays a role in gas-water separation. Therefore, the gas-water separation membrane 26 filters the water and gas in the permeable stone 23 and only allows gas to enter the activated carbon layer 24. After the gas enters the activated carbon layer 24, the activated carbon layer adsorbs impurities such as water in the gas.

[0060] There is an annular gap between the outer wall of the central inner tube 17 and the inner wall of the outer inner tube 15, and the annular gap forms a gas channel 27, and the gas flowing out of the activated carbon layer 24 directly enters the gas channel 27. An annular gas flow channel 28 is provided in the central outer tube 16, and the lower end of the gas flow channel 28 is connected to the gas channel 27, and the upper end of the gas flow channel 28 is connected to the collection part. That is to say, the seabed gas is separated and filtered by the gas collection window, and then enters the collection part through the gas channel 27 and the gas flow channel 28 in sequence.

[0061] like Figure 7 As shown, a plurality of connecting grooves 32 are arranged on the annular wall surface of the outer inner tube 15 and are located on the same circumferential surface. The position and number of the connecting grooves 32 correspond to the plurality of gas collection windows on the central inner tube 17. A sealing ring is arranged between the connecting groove 32 and the central inner tube 17. The sealing ring can effectively prevent the solid sediment, seawater and liquid in the connecting groove from entering the probe rod. When the probe rod is in the extended state, firstly, the connecting groove on the outer inner tube 15 and the gas collection window on the central inner tube 17 are ensured to be located on the same horizontal plane. Then, the rotating motor is activated to drive the outer outer tube 14 to rotate. The outer inner tube 15 rotates simultaneously with the outer outer tube 14. When the outer inner tube 15 rotates to the position where its connecting groove is directly opposite to the gas collection window on the central inner tube 17, the external seawater, solid sediment, etc. enter the connecting groove and contact the gas collection window. At this time, the gas can be collected. When the rotating motor rotates to the point where the connecting groove leaves the gas collection window, the outer inner tube blocks the gas collection window, and the gas collection is stopped at this time.

[0062] The collection unit includes a plurality of gas cylinders and a vacuum machine. The upper end of the gas flow channel 28 is connected to the vacuum machine 29 and the multi-way gas valve 30 respectively. Through the connection between the vacuum machine 29 and the gas flow channel 28, a negative pressure environment can be formed in the gas flow channel 28, which is convenient for the collection unit to collect gas and discharge the remaining gas in the probe rod after an exploration is completed. The multi-way gas valve 30 is generally integrated above the gas flow channel 28 and connected to the gas flow channel. The multi-way gas valve 30 is respectively connected to each gas cylinder 31 through several gas hoses, and the gas collected during one collection process is stored in one of the gas cylinders. After one gas collection process is completed, the gas collected during the next collection process is stored in another gas cylinder, that is to say, the gas from different sampling locations is stored in different gas collection cylinders.

[0063] In this embodiment, the joint 18 is fixedly connected to the outer inner tube 15 and the central inner tube 17 by threaded connection. Figure 4 and Figure 6 As shown, the bottom surface of the joint 18 is provided with a high-pressure water jet port 33, and the hollow tube 19 located at the center of the central inner tube is connected to the high-pressure water jet port 33. The upper end of the hollow tube 19 is connected to the pressurizer through a water pipe 34, and the high-pressure water generated by the pressurizer is injected into the hollow tube 19 through the water pipe 34, and flows to the high-pressure water jet port 33 at the bottom of the joint 18. The high-pressure water ejected from the high-pressure water jet port 33 can be used to high-pressure spray and remove the sediment under the collection probe. A chemical probe 35 is also fixed on the bottom surface of the joint 18. The chemical probe is used to detect chemical indicators that are characteristic of hydrates, such as measuring the chloride ion concentration. The pore water content is significantly less than 19.8‰ of seawater, which can be used to determine whether the hydrate reservoir has been reached.

[0064] The working process of the robot is as follows. First, the underwater robot is placed in the water through a special deployment slide rail or a ship deployment boom. After the power is turned on, the observation module starts to start, and then the vertical propeller 104 and the horizontal propeller 103 of the underwater robot start to work, and a slow, short-distance navigation in a horizontal posture is carried out underwater, the purpose is to perform the initial calibration of its own posture and position, and the initial position is transmitted back to the deck unit through the beacon 12 for the personnel of the offshore control center to ensure that the system is normal. After confirmation, the navigation path is set for the aircraft. After the setting is completed, the control system adjusts the propulsion direction of the propeller to a certain diving depth, and controls the underwater robot to approach the exploration target area in a horizontal posture. During the diving process, the aircraft will collect data from the beacon 12, the depth gauge 7, the gyroscope 5, and the attitude sensor 6, and generate the position coordinates and attitude of the underwater robot in the ocean in real time, and provide the attitude information of the underwater robot to the deck personnel through the carrier communication unit 11 until it reaches the exploration area. After reaching the target area, the underwater robot dives in a posture parallel to the seabed. At this time, the vertical thruster 104 reverses the thrust to slow down the diving speed. The control system controls the underwater robot to reach the seabed surface, and then synchronizes the toothed track 101 and the horizontal thruster 103 to drive the underwater robot to the exploration area.

[0065] After reaching the calibration area, the compressor and vacuum machine 29 start working. After the compressor absorbs the nearby seawater, it is transported to the lower end of the collection probe through the water pipe 34 after being pressurized, and sprayed out through the high-pressure water jet port 33 at the bottom of the collection probe to clean up the sediment under the collection probe. When the vacuum machine 29 works, a low-pressure environment is formed in the gas channel 27 and the gas flow channel 28 inside the collection probe.

[0066] The external sleeve and the central sleeve are extended and retracted by controlling the motor. During the extension of the external sleeve and the central sleeve, the collection probe is penetrated. As the collection probe penetrates, when the chemical probe 35 at the bottom of the collection probe detects an abnormal indicator, the probe needs to continue to extend. After the position of the gas collection window is extended to the depth where the chemical probe detects the abnormal indicator, the collection probe stops penetrating, the electric heating ring 21 starts heating, and the rotating motor drives the external outer tube and the external inner tube to rotate. When the connecting groove on the external inner tube rotates to face the gas collection window of the central inner tube, the gas collection window is connected with the outside.

[0067] Under the conditions of heating and low pressure, the decomposition of hydrates around the probe is promoted, thereby realizing the in-situ collection of hydrate gas samples. The collection of relatively pure hydrate gas samples is achieved through the porous plastic film, permeable stone, gas-water separation membrane, and activated carbon at the gas collection window. The collected gas sample reaches the multi-way gas valve 30 along the gas channel 27 and the gas flow channel 28. Under the control of the multi-way gas valve 30, the collected gas is quantitatively stored in one of the gas storage bottles 31. After the gas collection is completed, the external sleeve is rotated to seal the gas collection window and close the multi-way gas valve; the pressurizer and the electric heating ring stop working, and the vacuum machine stops working after clearing the sample gas inside the gas channel, and the collection probe shrinks, and a collection activity ends.

[0068] The underwater robot can collect helium samples in hydrates under the premise of in-situ measurement; at the same time, the underwater robot can collect samples multiple times within a certain range in one dive, obtaining rich marine geological data in the area. After determining the helium content in the hydrate reservoir using the gas collected by the underwater robot, subsequent development work can be carried out as needed.

[0069] After the first acquisition is completed, the synchronous toothed track or propeller drives the underwater robot to the next location for the next exploration. After the acquisition is completed, the counterweight block 13 falls off, and the vertical propeller 104 starts working, so that the underwater robot returns to the sea surface, and the beacon 12 sends the GPS position to realize the recovery of the underwater robot.

[0070] The crawler robot for collecting hydrate reservoir gas samples using a probe provided by the present invention is introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention. The above description of the disclosed embodiments enables professional and technical personnel in this field to implement or use the present invention. Various modifications to these embodiments will be obvious to professional and technical personnel in this field, and the general principles defined in this article can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown in this article, but will conform to the widest scope consistent with the principles and novel features disclosed in this article.

Claims

1. A crawler robot for collecting hydrate reservoir gas samples using a probe rod, comprising a detection and collection module, It is characterized in that The detection and collection module includes a collection part and a collection probe rod, and the upper end of the collection probe rod is connected to the collection part; The collection probe includes a retractable outer sleeve and a central sleeve. The central sleeve is located inside the outer sleeve. A gas channel is formed between the central sleeve and the outer sleeve. A plurality of gas collection windows are provided on the annular outer wall surface of the central sleeve and along the same circumferential surface. The gas collection windows are connected to the gas channel. A heating chamber is provided inside the central sleeve. The outer sleeve is provided with a plurality of connecting grooves corresponding to the gas collection windows respectively. When the outer sleeve is rotated until the connecting grooves face the gas collection windows, gas collection is achieved.

2. The crawler robot for collecting hydrate reservoir gas samples using a probe rod according to claim 1, It is characterized in that The external sleeve comprises an external outer tube and an external inner tube, and the inner wall surface of the lower end of the external outer tube is connected to the external inner tube through a spline seal; The central sleeve comprises a central outer tube and a central inner tube, and the inner wall surface of the lower end of the central outer tube is slidably and sealedly connected to the central inner tube; The outer outer tube is connected to a rotating motor, and the rotating motor is actuated to drive the outer outer tube and the outer inner tube spline-connected to the outer outer tube to rotate; The outer inner tube and the central inner tube are respectively connected to the control motor, and the control motor moves to drive the outer inner tube and the central inner tube to perform axial reciprocating movement.

3. The crawler robot for collecting hydrate reservoir gas samples using a probe rod according to claim 2, It is characterized in that A gas channel is formed between the annular outer wall of the central inner tube and the annular inner wall of the outer inner tube, and a gas flow channel is correspondingly provided in the central outer tube. The gas channel is communicated with the gas flow channel, and the gas flow channel is connected to the collecting part.

4. The crawler robot for collecting hydrate reservoir gas samples using a probe rod according to claim 2, It is characterized in that The bottoms of the outer inner tube and the central inner tube are fixedly connected to the joint, and the bottom surface of the joint is provided with a high-pressure water jet and a chemical probe; A hollow tube is provided at the axial center of the central inner tube, the hollow tube is fixedly connected to the joint, and the bottom end of the hollow tube is connected to the high-pressure water jet port, and the compressor provides high-pressure water flow into the hollow tube through the water pipe.

5. The crawler robot for collecting hydrate reservoir gas samples using a probe rod according to claim 4, It is characterized in that A heating chamber is formed between the annular outer wall surface of the hollow tube and the annular inner wall surface of the central inner tube, and a plurality of electric heating rings are arranged in the heating chamber along the axial direction thereof.

6. The crawler robot for collecting hydrate reservoir gas samples using a probe rod according to claim 2, It is characterized in that A plurality of grooves are provided at intervals on the annular outer wall surface of the central inner tube, and the gas collection windows are provided in the grooves; The gas collection window includes a permeable stone and activated carbon located above the permeable stone. A porous plastic film layer is provided on the annular outer surface of the permeable stone, and a gas-water separation membrane is provided between the permeable stone and the activated carbon.

7. The crawler robot for collecting hydrate reservoir gas samples using a probe rod according to claim 3, It is characterized in that The collecting part includes a vacuum machine and a multi-way gas valve, and the upper end of the air flow channel is connected to the vacuum machine and the multi-way gas valve respectively; The air flow channel is connected to several gas storage cylinders through a multi-way gas valve.

8. The crawler robot for collecting hydrate reservoir gas samples using a probe rod according to claim 1, It is characterized in that It also includes a chassis module, which includes a chassis and synchronous toothed tracks located on both sides of the chassis symmetrically. The synchronous toothed tracks on both sides are connected by a connecting rod, and a horizontal propeller and a vertical propeller are provided on the chassis.

9. The crawler robot for collecting hydrate reservoir gas samples using a probe rod according to claim 8, It is characterized in that It also includes a robot body, which is arranged on the chassis module, and the detection and collection module is connected to the robot body; The robot body includes a control module and an observation module. The observation module includes a camera, a searchlight and a sensor cabin. The camera is installed on the front side of the middle part of the robot body, the searchlight is installed on the front end of the chassis, and the sensor cabin is equipped with a gyroscope, a posture sensor and a depth gauge. The control module includes a control cabin, a battery cabin and a communication cabin. The communication cabin is equipped with a carrier communication unit and a beacon. The battery cabin is equipped with a lithium-ion battery pack and a power supply control unit. The control cabin is equipped with a control system, which is respectively connected to the detection and collection module, chassis module and observation module.

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