Tracked robot for collecting gas samples from hydrate reservoirs using a probe rod

Abstract

The present invention relates to the technical field of undersea gas sampling, in particular to a crawler robot for collecting gas samples from hydrate reservoirs using a probe rod. It includes a detection and collection module, which includes a collection part and a collection probe rod. The upper end of the collection probe rod is connected to the collection part; the collection probe rod includes a telescopic outer sleeve and a central sleeve. The central sleeve is located inside the outer sleeve, and a gas channel is formed between the central sleeve and the outer sleeve. A plurality of gas collection windows are arranged at intervals along the same circumferential surface on the annular outer wall surface of the central sleeve. The gas collection windows are communicated with the gas channel, and a heating chamber is arranged inside the central sleeve; the outer sleeve is provided with a plurality of communication grooves corresponding to the above-mentioned gas collection windows respectively. When the outer sleeve rotates to make the communication grooves face the gas collection windows, gas collection is realized. It can realize in-situ exploration of hydrate reservoirs, determine the helium content in hydrates, and provide a basis for the development of helium resources.

Description

Technical Field

[0001] The present invention relates to the technical field of subsea gas sampling, in particular to a tracked robot for collecting gas samples from hydrate reservoirs using a probe rod. Background Art

[0002] As an associated substance, the current development and utilization methods of helium mainly focus on traditional natural gas mines, where helium is collected as a by-product during the natural gas extraction process. Helium is divided into mantle-derived helium and crust-derived helium. After helium is formed, it will be adsorbed by organic substances such as methane in natural gas along tectonic or groundwater migration channels. Therefore, in helium exploration, it is necessary to measure the existing natural gas to determine the helium content in the natural gas. Currently, the exploration means for helium are relatively limited.

[0003] For marine geology, natural gas mainly exists in the form of hydrates in the sediment layers on the seabed. Currently, there is a lack of exploration methods for helium in the ocean. Currently, there are technical means for collecting helium from seawater, but the helium collected from seawater is only the helium released by the decomposition of hydrates or overflowing through submarine fracture structures, and it is impossible to effectively explore and subsequently utilize the helium in the ocean. Summary of the Invention

[0004] The purpose of the present invention is to overcome the above-mentioned defects existing in the prior art, and propose a tracked robot for collecting gas samples from hydrate reservoirs using a probe rod, which 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 tracked robot for collecting gas samples from hydrate reservoirs using a probe rod, including a detection and collection module. Among them, 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;

[0006] The collection probe rod includes a telescopic outer casing and a central casing. The central casing is located inside the outer casing, and a gas channel is formed between the central casing and the outer casing. A plurality of gas collection windows are arranged at intervals along the same circumferential surface on the annular outer wall surface of the central casing, and the gas collection windows are communicated with the gas channel. A heating chamber is arranged inside the central casing;

[0007] The outer casing is provided with a plurality of communication grooves corresponding to the above-mentioned gas collection windows respectively. When the outer casing rotates so that the communication grooves are aligned with the gas collection windows, gas collection is realized.

[0008] In the present invention, the outer casing includes an outer outer tube and an outer inner tube, and the inner wall surface at the lower end of the outer outer tube is hermetically connected to the outer inner tube through a spline;

[0009] The central sleeve includes a central outer tube and a central inner tube. A sliding and sealed connection is formed between the inner wall surface at the lower end of the central outer tube and the central inner tube.

[0010] The outer outer tube is connected to a rotating motor. When the rotating motor operates, it drives the outer outer tube and the outer inner tube splined to the outer outer tube to rotate.

[0011] The outer inner tube and the central inner tube are respectively connected to a control motor. When the control motor operates, it drives the outer inner tube and the central inner tube to make axial reciprocating movements.

[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. Correspondingly, a gas flow channel is 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 collection part.

[0013] The bottoms of the outer inner tube and the central inner tube are fixedly connected to a joint. The bottom surface of the joint is provided with a high-pressure water flow 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 communicated with the high-pressure water flow jet. A pressurizer provides high-pressure water flow into the hollow tube through a water delivery 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. Several electric heating coils are arranged at intervals along the axial direction in the heating chamber.

[0016] Several grooves are arranged at intervals on the annular outer wall surface of the central inner tube. The gas collection window is arranged in the groove.

[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 collection part includes a vacuum machine and a multi-way gas valve. The upper ends of the air flow channels are respectively connected to the vacuum machine and the multi-way gas valve.

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

[0020] It further includes a chassis module. The chassis module includes a chassis and synchronous toothed tracks located on both symmetric sides of the chassis. The two synchronous toothed tracks are connected by a connecting rod. A horizontal thruster and a vertical thruster are provided on the chassis.

[0021] It further includes a robot body. The robot body 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 at the front end of the chassis, and the sensor cabin is provided with a gyroscope, an attitude sensor, and a depth gauge;

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

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

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

[0026] (2) During the sampling process, a small area of the hydrate reservoir is heated on the seabed, causing the hydrate near the sampling rod to decompose into gas. At the same time, using the negative pressure environment formed inside the sampling rod, the gas generated by the decomposition of the hydrate is collected;

[0027] (3) By setting a gas collection window and a rotatable outer sleeve, selective acquisition of samples is achieved;

[0028] (4) The high-pressure water ejected from the bottom of the joint can perform high-pressure jetting on the sediment below the sampling rod and clear the high-pressure water flow; through the chemical probe, the detection of submarine hydrates is realized, enabling the robot to accurately collect submarine hydrate gas. Description of the Drawings

[0029] Figure 1 is the overall structural schematic diagram of the present invention;

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

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

[0032] Figure 4 is the structural schematic diagram of the detection and collection module;

[0033] Figure 5 is the partial structural schematic diagram at the gas collection window;

[0034] Figure 6 is the partial structural schematic diagram at the joint;

[0035] Figure 7 is the structural schematic diagram 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 machine; 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 path; 29 vacuum machine; 30 multi-way gas valve; 31 gas storage cylinder; 32 communication groove; 33 high-pressure water jet orifice; 34 water delivery pipe; 35 collection probe rod. Detailed implementation manners

[0037] In order to make the above objects, features and advantages of the present invention more obvious and understandable, the following will describe the detailed implementation manners of the present invention in conjunction with the accompanying drawings.

[0038] In the following description, specific details are set forth in order to provide a thorough understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific implementation manners disclosed below.

[0039] As Figure 1 and Figure 2 shown, the tracked robot for collecting gas samples from hydrate reservoirs 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. Through the chassis module, the support for the robot body and the detection and collection module is realized, and at the same time, 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: through the observation module, the observation of the working environment around the robot and the real-time monitoring of the motion parameters of the robot are realized; through the control module, the control of the actions of the detection and collection module and the control of the motion state of the robot are realized.

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

[0041] The chassis is provided with several horizontal thrusters and several vertical thrusters. Through the horizontal thrusters, not only can the robot perform actions in the horizontal direction such as moving forward and backward, but also through the cooperation between several horizontal thrusters, the robot can be steered; through the vertical thrusters, the robot can perform sinking and rising actions.

[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 tetrahedron. Two horizontal thrusters 103 are respectively provided at the side edges on both sides along the length direction of the chassis, and the horizontal thrusters on both side edges are symmetrically arranged. One vertical thruster 104 is respectively provided at the side edges along the width direction of the chassis.

[0043] Since each horizontal thruster and vertical thruster can generate positive thrust and reverse thrust through forward rotation and reverse rotation, the floating motion state of the robot in seawater can be completely realized by the mutual cooperation of the thrusts generated by the horizontal thrusters and vertical thrusters respectively. In this embodiment, through the above four horizontal thrusters 103 and two vertical thrusters 104, the robot realizes five degrees of freedom of horizontal motion, namely moving forward, backward, lateral movement, steering, snorkeling, and rolling. 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 thrusters.

[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 water, the underwater environment where the robot is located is monitored in real time through the camera.

[0045] The sensor cabin 4 is arranged at the front part of the robot body. The sensor cabin 4 is provided with a gyroscope 5, an attitude sensor 6, and a depth gauge 7. Among them, the gyroscope 5 is used to monitor and provide the control module with the horizontal state of the underwater robot, the attitude sensor 6 is used to monitor and provide the deck personnel with the attitude 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 during the navigation of the horizontal robot.

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

[0047] Inside the battery compartment 9, there is 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 cables and provides electrical energy for the operation of the underwater robot through the lithium-ion battery pack.

[0048] Inside the control compartment 8, there is a control system. The control system is respectively connected to the detection and collection module, the chassis module, and the observation module. Through the control system, the control of the traveling mode of the entire underwater robot and the control of the movement of the probe rod in the detection and collection module are realized.

[0049] The robot body also includes counterweights. In this embodiment, two counterweights 13 are symmetrically arranged in the middle of the robot body. The gravity of the underwater robot is increased through the counterweights, and the stability of the underwater robot when working on the seabed is enhanced. When the underwater robot completes the last collection, the underwater robot can achieve floating by discarding the counterweights. The release mechanism of the counterweights can adopt existing release structures, so it will not be elaborated here.

[0050] The above-mentioned 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. 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 communicated with the collection part.

[0052] As Figure 4 shown, the collection probe rod includes an outer sleeve and a central sleeve. The central sleeve is arranged inside the ring of the outer sleeve. The outer sleeve includes an outer outer tube 14 and an outer inner tube 15. The outer inner tube 15 is located inside the ring 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 in sealed sliding connection. In this embodiment, the outer outer tube 14 and the outer inner tube 15 are in spline connection, that is, there is an axial relative sliding between the outer outer tube 14 and the outer inner tube 15. When the outer outer tube 14 rotates, it drives the outer inner tube 15 to rotate.

[0053] The central sleeve includes a central outer tube 16 and a central inner tube 17. The central inner tube 17 is located inside the ring 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 and the inner wall surface of the outer inner tube 15 are in sealed contact. 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 respectively connected to a control motor. 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 downward along the axis, and at this time, the acquisition probe gradually extends; when the control motor rotates reversely, the outer inner tube 15 and the central inner tube 17 are driven to move upward along the axis, and at this time, the acquisition probe gradually contracts, thereby realizing the telescopic movement of the control motor.

[0055] The outer outer tube 14 is connected to a rotating motor. During the operation of the rotating motor, the outer outer tube 14 is driven to rotate, and through the spline connection between the outer outer tube 14 and the outer inner tube 15, the outer inner tube 15 is also driven to rotate.

[0056] As Figure 4 and Figure 5 shown, a hollow tube 19 is provided at the axial center of the central inner tube 17. 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, high-pressure water flows in the hollow tube, and the lines are also arranged in the hollow tube. The outer walls of the lines are all wrapped with waterproof materials. 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 this annular gap forms a heating chamber 20. Several annular electric heating coils 21 are provided in the heating chamber 20. In this embodiment, several electric heating coils 21 are arranged at intervals along the axis in the heating chamber 20.

[0057] Through the electric heating coils 21, the position where the acquisition probe is located is heated, the temperature of the hydrate around the acquisition probe is increased, and the hydrate is promoted to change from a solid state to a gaseous state, so as to facilitate the collection part to collect the gas.

[0058] Several gas collection windows 22 are arranged at intervals on the annular outer wall surface of the central inner tube 17 and along the same circumferential surface, that is to say, the gas collection windows 22 are located at the positions on 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 outer annular 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 inside of the probe rod and only allows water and gas to enter the permeable stone 23. Through the permeable stone 23, solid sediments in water and gas can be further filtered, playing 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 has a nano-porous structure, and its pore size only allows gas molecules to pass through and does not allow water molecules to pass through, playing 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, impurities such as water in the gas are adsorbed by the activated carbon layer.

[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 this annular gap forms a gas channel 27. The gas flowing out from 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. The lower end of the gas flow channel 28 is communicated with 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 gas on the seabed enters the collection part through the gas channel 27 and the gas flow channel 28 in sequence after being separated and filtered by the gas collection window.

[0061] As Figure 7 shown, several communication grooves 32 are provided at intervals on the annular wall surface of the outer inner tube 15 and on the same circumferential plane. The positions and quantities of the communication grooves 32 are in one-to-one correspondence with several gas collection windows on the central inner tube 17. A sealing ring is provided between the communication groove 32 and the central inner tube 17. Through the sealing ring, solid sediments, seawater, and liquid in the communication groove can be effectively prevented from entering the probe rod. After the probe rod is in the extended state, first ensure that the communication groove on the outer inner tube 15 and the gas collection window on the central inner tube 17 are on the same horizontal plane. Then, the rotation motor operates to drive the outer outer tube 14 to rotate, and 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 communication groove is directly opposite to the gas collection window on the central inner tube 17, external seawater, solid sediments, etc. enter the communication groove and contact the gas collection window, and at this time, gas collection can be realized. When the rotation motor rotates until the communication groove leaves the gas collection window, the outer inner tube plays a blocking role for the gas collection window, and at this time, the gas collection stops.

[0062] The collection unit includes multiple gas storage cylinders and a vacuum machine. The upper ends of the gas flow channels 28 are respectively connected to the vacuum machine 29 and the multi-way gas valve 30. By connecting the vacuum machine 29 to the gas flow channel 28, a negative pressure environment can be formed within the gas flow channel 28, facilitating the collection of gas by the collection unit and discharging the remaining gas in the exploration rod after one exploration is completed. The multi-way gas valve 30 is integrally assembled above the gas flow channel 28 and is connected to the gas flow channel. The multi-way gas valve 30 is respectively connected to each gas storage cylinder 31 through several gas hoses. The gas collected during one collection process is stored in one of the gas storage cylinders. After one gas collection process ends, the gas collected during the next collection process is stored in another gas storage cylinder, that is, the gases from different sampling locations are stored in different collection cylinders respectively.

[0063] In this embodiment, the joint 18 is fixedly connected to the external inner tube 15 and the central inner tube 17 by means of threaded connection. As Figure 4 and Figure 6 shown, a high-pressure water jet orifice 33 is provided on the bottom surface of the joint 18. The hollow tube 19 located at the center of the central inner tube is in communication with the high-pressure water jet orifice 33. The upper end of the hollow tube 19 is connected to a pressurizer through a water delivery pipe 34. The high-pressure water generated by the pressurizer is injected into the hollow tube 19 through the water delivery pipe 34 and flows to the high-pressure water jet orifice 33 at the bottom of the joint 18. The high-pressure water jet ejected from the high-pressure water jet orifice 33 can perform high-pressure jetting and removal of the sediment below the collection exploration rod. A chemical probe 35 is also fixed on the bottom surface of the joint 18. The chemical probe is used to detect the chemical indicators characteristic of hydrates, such as measuring the chloride ion concentration. Whether the hydrate reservoir is reached can be determined by the content of the pore water rate being significantly less than 19.8‰ of seawater.

[0064] The working process of the robot is described as follows. First, the underwater robot is put into the water through a dedicated laying slide rail or a marine laying jib. After powering on, the observation module starts, and then the vertical thruster 104 and the horizontal thruster 103 of the underwater robot start to work. It sails slowly and for a short distance in a horizontal attitude underwater, aiming to perform initial calibration of its own attitude and position, and transmit the initial position back to the deck unit through the beacon 12 for the personnel in the offshore control center to ensure the normal operation of the system. After confirmation, a navigation path is set for the vehicle. After the setting is completed, the control system adjusts the propulsion direction of the thrusters. After reaching a certain diving depth, the underwater robot is controlled to approach the exploration target area in a horizontal attitude. During the diving process, the vehicle will collect data from the beacon 12, depth gauge 7, gyroscope 5, and attitude sensor 6, 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 an attitude parallel to the seabed surface. At this time, the vertical thruster 104 provides reverse thrust to slow down the diving speed. The control system controls the underwater robot to reach the seabed surface, and then the synchronous toothed track 101 and the horizontal thruster 103 drive the underwater robot to walk to the exploration area.

[0065] After reaching the calibration area, the pressure booster and vacuum pump 29 start to work. After the pressure booster absorbs the nearby seawater, it is pressurized and then transported through the water delivery pipe 34 to the lower end of the sampling probe, and is ejected through the high-pressure water jet port 33 at the bottom of the sampling probe to clean the sediment under the sampling probe. The vacuum pump 29 works to create a low-pressure environment in the gas channels 27 and gas flow paths 28 inside the sampling probe.

[0066] The telescoping of the outer sleeve and the central sleeve is realized by controlling the motor. During the extension of the outer sleeve and the central sleeve, the penetration of the sampling probe is achieved. As the sampling probe penetrates, when the chemical probe 35 at the bottom of the sampling probe monitors an abnormal index, the probe needs to continue to extend. After the position of the gas collection window is extended to the depth where the chemical probe monitors the abnormal index, the sampling probe stops further penetration, and the electric heating coil 21 starts to heat. The rotating motor drives the outer outer tube and the outer inner tube to rotate. When the communication groove on the outer inner tube rotates to face the gas collection window of the central inner tube, the gas collection window communicates with the outside.

[0067] Under the conditions of heating and low pressure, the decomposition of hydrates around the probe rod is promoted, thereby achieving in-situ collection of hydrate gas samples. Through the porous plastic film, water-permeable stone, gas-water separation membrane, and activated carbon at the gas collection window, the collection of relatively pure hydrate gas samples is realized. The collected gas samples reach 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 cylinders 31. After the gas collection is completed, the outer sleeve is rotated to seal the gas collection window, and the multi-way gas valve is closed; the pressurizer and the electric heating coil stop working. After the vacuum machine clears the sample gas inside the gas channel, it stops working, and the collection probe shrinks, ending one collection activity.

[0068] Using this underwater robot can ensure the collection of helium samples in hydrates on the premise of in-situ measurement; at the same time, the underwater robot can be launched once and can collect samples multiple times within a certain range to obtain rich marine geological data in this area. After determining the helium content in the hydrate reservoir using the gas collected by this underwater robot, subsequent development work can be carried out as needed.

[0069] After the first collection is completed, the synchronous toothed track or the thruster drives the underwater robot to the next location for the next exploration. After the collection is completed, the counterweight 13 falls off, and at the same time, the vertical thruster 104 starts to work to make the underwater robot return to the sea surface. The beacon 12 sends the GPS position to achieve the recovery of this underwater robot.

[0070] The above has introduced in detail the tracked robot for collecting hydrate reservoir gas samples using a probe rod provided by the present invention. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention. It should be noted that for those of ordinary skill in the art of this technology, without departing from the principle of the present invention, several improvements and modifications can still be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention. The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown in this article, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A crawler robot for collecting hydrate reservoir gas samples using a probe, comprising a detection and collection module, 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. When the outer sleeve is rotated until the connecting grooves face the gas collection windows, gas collection is achieved. The outer sleeve includes an outer outer tube and an outer inner tube, the central sleeve includes a central outer tube and a central inner tube, 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, a gas flow channel is correspondingly provided in the central outer tube, the gas channel is communicated with the gas flow channel, the gas flow channel is connected to the collecting part, and the bottoms of the outer inner tube and the central inner tube are fixedly connected to the joint; A hollow tube is provided at the axial center of the central inner tube, 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 provided in the heating chamber at intervals along the axial direction thereof; 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. A gas-water separation membrane is provided between the permeable stone and the activated carbon. The gas flowing out of the activated carbon layer directly enters the gas channel. The gas on the seabed is separated and filtered by the gas collection window, and then enters the collection part through the gas channel and the gas flow channel.

2. The crawler robot for collecting hydrate reservoir gas samples using a probe rod according to claim 1, characterized in that: The inner wall surface of the lower end of the outer outer tube is connected to the outer inner tube through a spline seal; 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.

3. The crawler robot for collecting hydrate reservoir gas samples using a probe rod according to claim 2, characterized in that: The bottom surface of the joint is provided with a high-pressure water jet port and a chemical probe; The hollow tube is fixedly connected to the joint, and the bottom end of the hollow tube is communicated with the high-pressure water jet port, and the pressurizer provides high-pressure water flow into the hollow tube through the water pipe.

4. The crawler robot for collecting hydrate reservoir gas samples using a probe rod according to claim 1, 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.

5. The crawler robot for collecting hydrate reservoir gas samples using a probe rod according to claim 1, 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.

6. The crawler robot for collecting hydrate reservoir gas samples using a probe rod according to claim 5, 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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