Acoustic in-situ measurement device and method for submarine sediments

Abstract

The invention discloses a submarine sediment acoustic in-situ measurement device and method, and belongs to the field of submarine sediment acoustic in-situ measurement, and the submarine sediment acoustic in-situ measurement device comprises a main frame, a lifting type measurement sampling mechanism integrated in the main frame, and an obstacle crossing type walking mechanism arranged at the bottom end of the main frame, the obstacle crossing type walking mechanism comprises split type elastic telescopic wheels rotationally arranged at the four corners of the bottom end of the main frame, each split type elastic telescopic wheel comprises a hub motor, a rotating cylinder connected with the output end of the hub motor, an elastic unit and an arc-shaped wheel unit, the elastic units and the arc-shaped wheel units are arranged in the rotating cylinders, and mode switching units are arranged between the elastic units and the arc-shaped wheels. The switching mechanism is used for switching the split type elastic telescopic wheel to walk in an obstacle crossing walking mode or a flat ground walking mode; the drum is rotationally connected with the bottom end of the main frame. According to the acoustic in-situ measurement device and method for the seabed sediments, the obstacle crossing type walking mechanism is arranged, so that walking on the uneven seabed is realized, the measurement range is widened, and the measurement efficiency is improved.

Description

Technical Field

[0001] The invention relates to the field of acoustic in-situ measurement of seabed sediments, and in particular to a device and method for acoustic in-situ measurement of seabed sediments. Background Art

[0002] Acoustic in-situ measurement of seafloor sediments is an in-situ technology that uses the propagation characteristics of sound waves to measure and analyze the properties of seafloor sediments. It can non-destructively obtain important information such as the thickness, structure, particle size distribution, and water content of the sediment layer.

[0003] The existing acoustic in-situ measurement devices for seabed sediments are as follows: CN201711426161.7 discloses an in-situ synchronous measurement device and method for acoustic and physical parameters of seabed sediments, which includes a deck display and control unit and an underwater measurement unit; the underwater measurement unit includes a first acoustic probe, a second acoustic probe, a third acoustic probe and a sampling rod; the acoustic probe and the sampling rod can penetrate into the sediment using the gravity of the underwater measurement unit, and use an acoustic transducer to complete the in-situ acoustic parameter measurement of the seabed sediment; the underwater measurement unit also includes a static sounding probe and a hydraulic control module. After the acoustic probe and the sampling rod are inserted into the sediment, the hydraulic control module is used to insert the static sounding probe into the sediment at a uniform speed to collect cone tip resistance and side wall friction data.

[0004] CN201611192968.4 discloses a device and method for acoustic in-situ measurement and synchronous sampling of seabed sediments, which includes a deck display and control unit and an underwater measurement unit. The two parts are powered and communicated through a coaxial cable or an optoelectronic composite cable, so that the deck display and control unit can display the real-time status of the underwater measurement unit and remotely control it. The device can perform acoustic in-situ measurement and sampling of seabed sediments in one operation; and the acoustic in-situ measurement of sediments by the device can be applied to two operation modes: lateral measurement and longitudinal measurement.

[0005] CN201821221834.5 discloses an in-situ fixed-point continuous measurement device for the acoustic properties and temperature profiles of seabed sediments, which comprises a carrying platform mechanism, a deploying mechanism, a recovery mechanism, a sediment in-situ acoustic measurement mechanism, and a sediment in-situ temperature profile measurement mechanism; the sediment in-situ acoustic measurement mechanism is capable of continuously and autonomously and synchronously observing the acoustic properties of multiple depth layers of seabed sediments; the temperature profile measurement mechanism comprises one or more identical temperature probes, which are capable of continuously and autonomously measuring the sediment temperatures at multiple depths.

[0006] It can be seen that the existing acoustic in-situ measurement device for seabed sediments has the defect of being immovable for measurement. Therefore, it can only measure the sediments within a specific range at one time. When it is necessary to measure different locations, it needs to be salvaged and carried to the next measurement area by ship and then deployed again, which increases the overall measurement cost and reduces the measurement efficiency. Summary of the invention

[0007] In order to solve the above problems, the present invention provides an acoustic in-situ measurement device and method for seabed sediments. By setting up an obstacle-crossing walking mechanism, it is possible to walk on the uneven seabed, broaden the measurement range, and improve the measurement efficiency.

[0008] To achieve the above-mentioned purpose, the present invention provides an acoustic in-situ measurement device for seabed sediments, comprising a main frame, a lifting measurement sampling mechanism integrated inside the main frame, and an obstacle-crossing walking mechanism arranged at the bottom of the main frame, wherein the obstacle-crossing walking mechanism comprises a split elastic telescopic wheel rotatably arranged at the four corners of the bottom of the main frame, the split elastic telescopic wheel comprises a hub motor, a rotating drum connected to the output end of the hub motor, an elastic unit and an arc wheel unit arranged inside the rotating drum, and a mode switching unit is arranged between the elastic unit and the arc wheel, for switching the split elastic telescopic wheel to walk in an obstacle-crossing walking mode or a flat-ground walking mode; The rotating drum is rotatably connected to the bottom end of the main frame.

[0009] Preferably, the elastic unit comprises a plurality of radial guide cylinders circumferentially arranged in the rotating cylinder, and a radial buffer spring fixed inside the radial guide cylinder; The mode switching unit comprises a mode switching cylinder which is vertically rotatably arranged in a rotating cylinder on the outer circumference side of the sex unit, and the circumference side of the mode switching cylinder is staggeredly provided with positioning grooves and insertion and exit holes, and the positioning groove is arranged on the side of the mode switching cylinder facing the arc wheel unit; The arc wheel unit comprises radial sliding rods radially slidingly arranged on the rotating cylinder in a circumferential array and an arc support block fixedly connected to an end of the radial sliding rod away from the mode switching cylinder; The diameter of the insertion and exit holes and the inner diameter of the radial guide cylinder are not less than the diameter of the radial sliding rod, and the radial sliding rod, the insertion and exit holes or the positioning grooves, and the radial guide cylinder are aligned one by one.

[0010] Preferably, the radial sliding rod passes through a through hole formed on the rotating drum and is rotatably connected to a rotating ball, and the rotating ball is rotatably connected to the positioning groove; An anti-drop plate is fixed to one end of the radial sliding rod close to the rotating ball, and a return spring is arranged between the anti-drop plate and the inner wall of the rotating drum; A sealed linear bearing is arranged between the radial sliding rod and the through hole.

[0011] Preferably, a gear ring is provided on the outer circumferential side of the mode switching cylinder, a first driving gear meshing with the gear ring is rotatably provided inside the rotating cylinder, and the first driving gear is connected to the output end of the mode switching driving servo motor fixed inside the rotating cylinder.

[0012] Preferably, the arc-shaped support block comprises a rigid arc-shaped block fixedly connected to the radial sliding rod and a flexible arc-shaped block fixedly connected to the rigid arc-shaped block; The rigid arc block, radial sliding rod, rotating cylinder, mode switching cylinder and radial guide cylinder are all made of stainless steel, and the flexible arc block is made of rubber.

[0013] Preferably, the lifting type measurement sampling mechanism comprises a lifting type high frequency measurement unit and a flip type low frequency measurement unit, and the lifting type high frequency measurement unit and the flip type low frequency measurement unit are connected via a linkage unit; The lifting high-frequency measuring unit includes a driving hydraulic cylinder fixed to the top of the main frame, a movable triangular plate connected to the bottom output end of the driving hydraulic cylinder, a sampling tube respectively fixed to the three corners of the bottom end of the movable triangular plate, a first probe rod and a second probe rod, the bottom ends of the first probe rod and the second probe rod are flush, and the bottom ends of the first probe rod and the second probe rod are respectively fixed with a high-frequency transmitting transducer and a high-frequency receiver; The flip-type low-frequency measuring unit comprises a T-shaped flip frame which is rotated on one side of the bottom end of the main frame via a rotating shaft, and a first low-frequency receiver, a low-frequency transmitting transducer and a second low-frequency receiver which are sequentially arranged on the top cross bar of the T-shaped flip frame, and the first low-frequency receiver and the second low-frequency receiver are symmetrically arranged about the low-frequency transmitting transducer; The linkage unit is provided with a driven sprocket on the rotating shaft, a driving sprocket connected to the driven gear via a transmission chain, and a second driving gear coaxially connected to the driving sprocket, and the second driving gear is meshed with a lifting rack fixed to the bottom end of the movable triangle plate; The second driving gear is rotatably arranged on the main frame via a rotating frame.

[0014] Preferably, the lifting type measurement sampling mechanism further comprises sampling storage compartments arranged at the four corners inside the main frame, the four sampling storage compartments are connected to the sampling tube via the sampling tube and the five-way tube in sequence, a mud pump is arranged inside the sampling tube, and the four mud pumps are connected to a synchronization valve; The interior of the sampling storage cabin is divided into multiple storage chambers by a flexible partition plate. One side of the storage chamber is connected to the sampling tube via a feed branch pipe, and the other side of the storage chamber is connected to a discharge branch pipe. Electric switching valves are provided in the discharge branch pipe and the feed branch pipe.

[0015] Preferably, a high-pressure chamber and a buoyancy regulating chamber are sequentially arranged at the bottom of the sampling storage chamber, the high-pressure chamber is connected to the top of the buoyancy regulating chamber via an air compression pump, and an angle valve is arranged at the bottom of the buoyancy regulating chamber.

[0016] Preferably, the remaining sides of the main frame are provided with turbine generators, which are electrically connected to the input end of the battery via a rectifier, and the output end of the battery is electrically connected to the hub motor, the mode switching drive servo motor, and the drive hydraulic cylinder via an inverter.

[0017] The method of the acoustic in-situ measurement device of seabed sediments comprises the following steps: S1. Turn on the mode switching drive servo motor, which drives the first drive bearing to rotate at a set angle, and then drives the mode switching cylinder to rotate at a set angle, so that the radial sliding rod is switched from a position aligned with the positioning groove to a position aligned with the penetration hole, so that the seabed sediment acoustic in-situ measurement device is in an obstacle-crossing walking mode; S2. After carrying the seabed sediment acoustic in-situ measuring device to the position to be measured by using the hull, the seabed sediment acoustic in-situ measuring device is deployed; S3. Open the angle valve to allow seawater to enter the buoyancy regulating cabin. At the same time, use the air compressor pump to extract the air inside the buoyancy regulating cabin and compress it into the high-pressure cabin until the buoyancy of the seabed sediment acoustic in-situ measuring device is less than the deadweight of the seabed sediment acoustic in-situ measuring device, and the seabed sediment acoustic in-situ measuring device contacts the seabed under the action of its own gravity. S4, driving the piston rod of the hydraulic pump to extend, driving the first probe rod, the second probe rod and the sampling tube to descend, until the first probe rod, the second probe rod and the sampling tube are all extended into the seabed sediment; At the same time, the lifting rack is driven down, driving the second driving gear to rotate, the second driving gear drives the driving sprocket to rotate synchronously, and the driven chain is driven to rotate through the transmission chain, and then the rotating shaft is driven to rotate, thereby driving the T-shaped flip frame to rotate downward until the first low-frequency receiver, the low-frequency transmitting transducer and the second low-frequency receiver are all in contact with the seabed sediment; S5, using a high-frequency transmitting transducer and a low-frequency transmitting transducer to transmit high-frequency ultrasonic waves and low-frequency ultrasonic waves to the seabed sediments in sequence, and then receiving them using a high-frequency receiver and a first low-frequency receiver and a second low-frequency receiver, respectively, to obtain an acoustic measurement result of the position to be measured; The mud pumps are turned on at the same time, and the seabed sediment samples enter the sampling tubes. Then, the four mud pumps turned on at the same time are used to evenly pump the seabed sediment samples in the sampling tubes into one of the storage chambers of the four sampling storage chambers. Drive the hydraulic cylinder to move in the reverse direction, driving the T-shaped flip frame and the movable triangle plate to reset; S6. Turn on the wheel hub motor, which drives the rotating drum to rotate, and then drives the arc wheel unit to rotate, and drives the seabed sediment acoustic in-situ measurement device to move. During the movement, if there is an obstacle, the obstacle presses the arc support block inward, driving the radial sliding rod to overcome the elastic force of the radial buffer spring and the return spring to extend into the radial guide cylinder, and after crossing the obstacle, it extends out under the action of the restoring force of the buffer spring and the return spring until it moves to the next measurement position, and repeats steps S4 and S5 until the measurement is completed; S7. Turn on the air compressor pump to inject air into the buoyancy regulating cabin and drain the water in the buoyancy regulating cabin until the buoyancy of the seabed sediment acoustic in-situ measuring device is greater than its own weight. The seabed sediment acoustic in-situ measuring device floats up until it floats out of the sea and is salvaged onto the hull deck. The reverse drive mode switching drives the servo motor. The mode switching drives the servo motor to drive the first drive bearing to rotate in the opposite direction at a set angle, thereby driving the mode switching cylinder to rotate in the opposite direction at a set angle, so that the radial sliding rod switches from a position aligned with the insertion and exit holes to a position aligned with the positioning groove, so that the seabed sediment acoustic in-situ measuring device is in a flat ground walking mode, and the hub motor is used to drive the seabed sediment acoustic in-situ measuring device to the laboratory, and the seabed sediment samples in each storage chamber are taken out in turn.

[0018] The present invention has the following beneficial effects: 1. By setting up an obstacle-crossing walking mechanism, it can walk on the uneven seabed, broaden the measurement range and improve the measurement efficiency; 2. By setting the mode switching unit, it can switch to the flat ground walking mode after salvaging, which increases the walking speed; 3. By setting up a turbine generator, it is convenient to use ocean currents to generate electricity, save energy and protect the environment, and increase the use time.

[0019] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of a device for acoustic in-situ measurement of seabed sediments of the present invention; Figure 2 It is a cross-sectional view of an obstacle-crossing walking mechanism of a seabed sediment acoustic in-situ measurement device of the present invention; Figure 3 This is a schematic diagram of a linkage unit of a device for acoustic in-situ measurement of seabed sediments according to the present invention; Figure 4 This is a layout diagram of a movable triangle plate of a seabed sediment acoustic in-situ measurement device of the present invention; Figure 5 This is a layout diagram of a sampling storage cabin of a seabed sediment acoustic in-situ measurement device of the present invention; Figure 6 The present invention is a cross-sectional view of a sampling storage cabin of a device for acoustic in-situ measurement of seabed sediments.

[0021] Among them: 1. Main frame; 2. Split elastic telescopic wheel; 21. Rigid arc block; 22. Flexible arc block; 23. Radial sliding rod; 24. Hub motor; 25. Radial buffer spring; 26. Mode switching cylinder; 27. Rotating cylinder; 28. Radial guide cylinder; 29. ​​Reset spring; 210. Rotating ball; 211. Insertion and exit hole; 212. Positioning groove; 213. First driving gear; 3. Lifting measurement sampling mechanism; 31. Lifting high-frequency measurement unit; 311. Driving hydraulic cylinder; 312. Active triangle plate; 313. First probe rod; 314. Second probe rod; 315. Sampling tube ; 32. Flip-type low-frequency measuring unit; 321. Top cross bar; 322. First low-frequency receiver; 323. Low-frequency transmitting transducer; 324. Second low-frequency receiver; 325. T-shaped flip frame; 33. Sampling storage cabin; 331. Storage chamber; 332. Flexible partition plate; 34. Linkage unit; 341. Lifting rack; 342. Second driving gear; 343. Driving sprocket; 344. Transmission chain; 345. Driven sprocket; 35. Five-way pipe; 36. Sampling tube; 37. Mud pump; 38. Feed branch pipe; 4. Turbine generator; 5. High-pressure cabin; 6. Buoyancy adjustment cabin. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical scheme and advantages disclosed in the embodiments of the present invention clearer, the embodiments of the present invention are further described in detail in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the embodiments of the present invention and are not intended to limit the embodiments of the present invention. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions.

[0023] It should be noted that the terms "include", "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or server comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products or devices.

[0024] Like reference numerals and letters denote similar items in the following drawings, and thus, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0025] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0026] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "setting", "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] like Figure 1-Figure 6 As shown, an acoustic in-situ measurement device for seabed sediments comprises a main frame 1 and a lifting measurement sampling mechanism 3 integrated in the main frame 1, and an obstacle-crossing walking mechanism arranged at the bottom end of the main frame 1, wherein the obstacle-crossing walking mechanism comprises a split elastic telescopic wheel 2 rotatably arranged at the four corners of the bottom end of the main frame 1, the split elastic telescopic wheel 2 comprises a hub motor 24, a rotating drum 27 connected to the output end of the hub motor 24, an elastic unit and an arc wheel unit arranged inside the rotating drum 27, a mode switching unit is arranged between the elastic unit and the arc wheel, and is used to switch the split elastic telescopic wheel 2 to walk in an obstacle-crossing walking mode or a flat-ground walking mode; the rotating drum 27 is rotatably connected to the bottom end of the main frame 1.

[0028] Specifically, the elastic unit includes a plurality of radial guide cylinders 28 circumferentially arranged in a rotating cylinder 27 and a radial buffer spring 25 fixed inside the radial guide cylinder 28; the mode switching unit includes a mode switching cylinder 26 vertically rotatably arranged in the rotating cylinder 27 on the outer circumferential side of the unit, and the circumferential side of the mode switching cylinder 26 is staggered with positioning grooves 212 and insertion and exit holes 211, and the positioning grooves 212 are opened on the side of the mode switching cylinder 26 facing the arc wheel unit; the arc wheel unit includes a radial sliding rod 23 radially slidingly arranged in a circular array on the rotating cylinder 27 and an arc support block fixedly connected to one end of the radial sliding rod 23 away from the mode switching cylinder 26; the aperture of the insertion and exit hole 211 and the inner diameter of the radial guide cylinder 28 are not less than the diameter of the radial sliding rod 23, and the radial sliding rod 23, the insertion and exit holes 211 or the positioning grooves 212, and the radial guide cylinder 28 are aligned one by one.

[0029] The radial sliding rod 23 passes through the through hole opened on the rotating drum 27 and is rotatably connected to the rotating ball 210. The rotating ball 210 is rotatably connected to the positioning groove 212. The positioning groove 212 is an arc groove adapted to the rotating ball 210; an anti-slip plate is fixed to the end of the radial sliding rod 23 close to the rotating ball 210, and a return spring 29 is arranged between the anti-slip plate and the inner wall of the rotating drum 27; a sealed linear bearing is arranged between the radial sliding rod 23 and the through hole.

[0030] A gear ring is disposed on the outer circumference of the mode switching cylinder 26 , and a first driving gear 213 meshing with the gear ring is rotatably disposed inside the rotating cylinder 27 . The first driving gear 213 is connected to the output end of the mode switching driving servo motor fixed inside the rotating cylinder 27 .

[0031] The arc support block includes a rigid arc block 21 fixedly connected to the radial sliding rod 23 and a flexible arc block 22 fixedly connected to the rigid arc block 21; the rigid arc block 21, the radial sliding rod 23, the rotating cylinder 27, the mode switching cylinder 26, and the radial guide cylinder 28 are all made of stainless steel, and the flexible arc block 22 is made of rubber.

[0032] The lifting type measurement sampling mechanism 3 comprises a lifting type high frequency measurement unit 31 and a flip type low frequency measurement unit 32, and the lifting type high frequency measurement unit 31 and the flip type low frequency measurement unit 32 are connected via a linkage unit 34; The lifting high-frequency measuring unit 31 includes a driving hydraulic cylinder 311 fixed to the top of the main frame 1, a movable triangular plate 312 connected to the bottom output end of the driving hydraulic cylinder 311, a sampling tube 315, a first probe rod 313 and a second probe rod 314 respectively fixed to the three corners of the bottom end of the movable triangular plate 312, and holes are provided at the bottom end of the main frame and at positions corresponding to the sampling tube 315, the first probe rod 313 and the second probe rod 314, the bottom ends of the first probe rod 313 and the second probe rod 314 are flush, and the bottom ends of the first probe rod 313 and the second probe rod 314 are respectively fixed with a high-frequency transmitting transducer and a high-frequency receiver; The flip-type low-frequency measuring unit 32 includes a T-shaped flip frame 325 which is rotatably arranged on one side of the bottom end of the main frame 1 via a rotating shaft, and a first low-frequency receiver 322, a low-frequency transmitting transducer 323 and a second low-frequency receiver 324 which are sequentially arranged on the top cross bar 321 of the T-shaped flip frame 325, and the first low-frequency receiver 322 and the second low-frequency receiver 324 are symmetrically arranged about the low-frequency transmitting transducer 323; the linkage unit 34 includes a driven sprocket 345 arranged on the rotating shaft, a driving sprocket 343 connected to the driven gear via a transmission chain 344, and a second driving gear 342 coaxially connected to the driving sprocket 343, and the second driving gear 342 is meshed with a lifting rack 341 fixed to the bottom end of the movable triangle plate 312; the second driving gear 342 is rotatably arranged on the main frame 1 via a rotating frame.

[0033] The lifting type measurement sampling mechanism 3 also includes sampling storage cabins 33 arranged at the four corners inside the main frame 1. The four sampling storage cabins 33 are connected to the sampling tube 315 through the sampling tube 36 and the five-way tube 35 in sequence. A mud pump 37 is arranged inside the sampling tube 36. The four mud pumps 37 are connected to a synchronization valve to realize the synchronous operation of the four mud pumps 37, so as to evenly distribute the sediment sample extracted once into the four sampling storage cabins 33 to maintain the overall balance. The interior of the sampling storage cabin 33 is divided into multiple storage chambers 331 by a flexible partition plate 332. The flexible partition plate 332 is used to fine-tune the volume of the storage chamber to adapt to the capacity of the internal sample. One side of the storage chamber 331 is connected to the sampling tube 315 via the feed branch pipe 38, and the other side of the storage chamber 331 is connected to the discharge branch pipe. Electric switching valves are provided in the discharge branch pipe and the feed branch pipe 38. In this embodiment, the electric switching valve is linked to the hub motor 24, that is, each time the hub motor 24 works, an electric switching valve is switched to act to feed each storage chamber 331 in turn, and the discharge can be carried out by an external pipeline.

[0034] The bottom end of the sampling storage cabin 33 is provided with a high-pressure cabin 5 and a buoyancy regulating cabin 6 in sequence. The high-pressure cabin 5 is connected to the top of the buoyancy regulating cabin 6 via an air compression pump. The bottom end of the buoyancy regulating cabin 6 is provided with an angle valve, which is more environmentally friendly than the traditional dumping method.

[0035] The remaining sides of the main frame 1 are all provided with turbine generators 4, which are electrically connected to the input end of the battery via a rectifier, and the output end of the battery is electrically connected to the hub motor 24, the mode switching drive servo motor, and the drive hydraulic cylinder 311 via an inverter. It should be noted that the above-mentioned electronic components are all mature products on the market. This embodiment only needs to purchase them and connect them according to the instructions, and no improvements are made to them, so their circuit structure and principles will not be repeated here.

[0036] The method of the acoustic in-situ measurement device of seabed sediments comprises the following steps: S1. Turn on the mode switching drive servo motor, which drives the first drive bearing to rotate a set angle, and then drives the mode switching cylinder 26 to rotate a set angle, so that the radial sliding rod 23 switches from a position aligned with the positioning groove 212 to a position aligned with the penetration hole 211, so that the seabed sediment acoustic in-situ measurement device is in an obstacle-crossing walking mode; S2. After carrying the seabed sediment acoustic in-situ measuring device to the position to be measured by using the hull, the seabed sediment acoustic in-situ measuring device is deployed; S3, open the angle valve, seawater enters the buoyancy regulating cabin 6, and at the same time uses the air compression pump to extract the air inside the buoyancy regulating cabin 6 and compress it into the high-pressure cabin 5, until the buoyancy of the seabed sediment acoustic in-situ measuring device is less than the deadweight of the seabed sediment acoustic in-situ measuring device, and the seabed sediment acoustic in-situ measuring device contacts the seabed under the action of its own gravity; S4, driving the piston rod of the hydraulic pump to extend, driving the first probe rod 313, the second probe rod 314 and the sampling tube 315 to descend, until the first probe rod 313, the second probe rod 314 and the sampling tube 315 are all extended into the seabed sediment; At the same time, the lifting rack 341 is driven down, driving the second driving gear 342 to rotate, and the second driving gear 342 drives the driving sprocket 343 to rotate synchronously, and drives the driven chain to rotate through the transmission chain 344, and then drives the rotating shaft to rotate, thereby driving the T-shaped flip frame 325 to rotate downward, until the first low-frequency receiver 322, the low-frequency transmitting transducer 323 and the second low-frequency receiver 324 are all in contact with the seabed sediment; S5, using the high-frequency transmitting transducer and the low-frequency transmitting transducer 323 to transmit high-frequency ultrasonic waves and low-frequency ultrasonic waves to the seabed sediments in sequence, and then using the high-frequency receiver and the first low-frequency receiver 322 and the second low-frequency receiver 324 to receive them respectively, to obtain the acoustic measurement results of the position to be measured; The mud pumps 37 are turned on at the same time, and the seabed sediment samples enter the sampling tube 315. Then, the four mud pumps 37 turned on at the same time are used to evenly pump the seabed sediment samples in the sampling tube 315 into one of the storage chambers 331 of the four sampling storage chambers 33. The hydraulic cylinder 311 is driven to move in the reverse direction, so as to drive the T-shaped turning frame 325 and the movable triangular plate 312 to reset; S6. Turn on the hub motor 24, which drives the rotating drum 27 to rotate, and then drives the arc wheel unit to rotate, and drives the seabed sediment acoustic in-situ measurement device to move. During the movement, if there is an obstacle, the obstacle presses the arc support block inward, driving the radial sliding rod 23 to overcome the elastic force of the radial buffer spring 25 and the reset spring 29 and extend into the radial guide cylinder 28. After crossing the obstacle, the radial sliding rod 23 extends under the action of the restoring force of the buffer spring and the reset spring 29 until it moves to the next measurement position, and repeats steps S4 and S5 until the measurement is completed; S7. Turn on the air compressor pump to inject air into the buoyancy regulating cabin 6 and drain the water in the buoyancy regulating cabin 6 until the buoyancy of the seabed sediment acoustic in-situ measuring device is greater than its own weight. The seabed sediment acoustic in-situ measuring device floats up until it floats out of the sea and is salvaged onto the hull deck. The reverse drive mode switching drives the servo motor. The mode switching drives the servo motor to drive the first drive bearing to rotate in the opposite direction by a set angle, thereby driving the mode switching cylinder 26 to rotate in the opposite direction by a set angle, so that the radial sliding rod 23 switches from a position aligned with the insertion and exit hole 211 to a position aligned with the positioning groove 212, so that the seabed sediment acoustic in-situ measuring device is in a flat ground walking mode, and the hub motor 24 is used to drive the seabed sediment acoustic in-situ measuring device to the laboratory, and the seabed sediment samples in each storage chamber 331 are taken out in turn by an external pipeline.

[0037] Therefore, the present invention adopts the above-mentioned seabed sediment acoustic in-situ measurement device and method, and realizes walking on the uneven seabed by setting up an obstacle-crossing walking mechanism, thereby widening the measurement range and improving the measurement efficiency.

[0038] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. An acoustic in-situ measurement device for seabed sediments, characterized in that: It includes a main frame, a lifting measurement sampling mechanism integrated inside the main frame, and an obstacle-crossing walking mechanism arranged at the bottom of the main frame. The obstacle-crossing walking mechanism includes split elastic telescopic wheels rotatably arranged at the four corners of the bottom of the main frame. The split elastic telescopic wheels include a hub motor, a rotating drum connected to the output end of the hub motor, an elastic unit and an arc wheel unit arranged inside the rotating drum. A mode switching unit is arranged between the elastic unit and the arc wheel, which is used to switch the split elastic telescopic wheels to walk in an obstacle-crossing walking mode or a flat ground walking mode. The rotating drum is rotatably connected to the bottom end of the main frame.

2. The acoustic in-situ measurement device for seabed sediments according to claim 1, characterized in that: The elastic unit includes a plurality of radial guide cylinders circumferentially arranged in the rotating cylinder, and a radial buffer spring fixed inside the radial guide cylinder; The mode switching unit comprises a mode switching cylinder which is vertically rotatably arranged in a rotating cylinder on the outer circumference side of the sex unit, and the circumference side of the mode switching cylinder is staggeredly provided with positioning grooves and insertion and exit holes, and the positioning groove is arranged on the side of the mode switching cylinder facing the arc wheel unit; The arc wheel unit comprises radial sliding rods radially slidingly arranged on the rotating cylinder in a circumferential array and an arc support block fixedly connected to an end of the radial sliding rod away from the mode switching cylinder; The diameter of the insertion and exit holes and the inner diameter of the radial guide cylinder are not less than the diameter of the radial sliding rod, and the radial sliding rod, the insertion and exit holes or the positioning grooves, and the radial guide cylinder are aligned one by one.

3. The acoustic in-situ measurement device for seabed sediments according to claim 2, characterized in that: The radial sliding rod passes through a through hole formed on the rotating drum and is rotatably connected to a rotating ball, and the rotating ball is rotatably connected to the positioning groove; An anti-drop plate is fixed to one end of the radial sliding rod close to the rotating ball, and a return spring is arranged between the anti-drop plate and the inner wall of the rotating drum; A sealed linear bearing is arranged between the radial sliding rod and the through hole.

4. The acoustic in-situ measurement device for seabed sediments according to claim 3, characterized in that: A gear ring is arranged on the outer circumference side of the mode switching cylinder, a first driving gear meshing with the gear ring is rotatably arranged inside the rotating cylinder, and the first driving gear is connected to the output end of the mode switching driving servo motor fixed inside the rotating cylinder.

5. The acoustic in-situ measurement device for seabed sediments according to claim 4, characterized in that: The arc-shaped support block includes a rigid arc-shaped block fixedly connected to the radial sliding rod and a flexible arc-shaped block fixedly connected to the rigid arc-shaped block; The rigid arc block, radial sliding rod, rotating cylinder, mode switching cylinder and radial guide cylinder are all made of stainless steel, and the flexible arc block is made of rubber.

6. The acoustic in-situ measurement device for seabed sediments according to claim 5, characterized in that: The lifting type measurement sampling mechanism comprises a lifting type high frequency measurement unit and a flip type low frequency measurement unit, and the lifting type high frequency measurement unit and the flip type low frequency measurement unit are connected via a linkage unit; The lifting high-frequency measuring unit includes a driving hydraulic cylinder fixed to the top of the main frame, a movable triangular plate connected to the bottom output end of the driving hydraulic cylinder, a sampling tube respectively fixed to the three corners of the bottom end of the movable triangular plate, a first probe rod and a second probe rod, the bottom ends of the first probe rod and the second probe rod are flush, and the bottom ends of the first probe rod and the second probe rod are respectively fixed with a high-frequency transmitting transducer and a high-frequency receiver; The flip-type low-frequency measuring unit comprises a T-shaped flip frame which is rotated on one side of the bottom end of the main frame via a rotating shaft, and a first low-frequency receiver, a low-frequency transmitting transducer and a second low-frequency receiver which are sequentially arranged on the top cross bar of the T-shaped flip frame, and the first low-frequency receiver and the second low-frequency receiver are symmetrically arranged about the low-frequency transmitting transducer; The linkage unit is provided with a driven sprocket on the rotating shaft, a driving sprocket connected to the driven gear via a transmission chain, and a second driving gear coaxially connected to the driving sprocket, and the second driving gear is meshed with a lifting rack fixed to the bottom end of the movable triangle plate; The second driving gear is rotatably arranged on the main frame via a rotating frame.

7. The acoustic in-situ measurement device for seabed sediments according to claim 6, characterized in that: The lifting type measurement sampling mechanism also includes sampling storage cabins arranged at the four corners inside the main frame. The four sampling storage cabins are connected to the sampling tube through the sampling tube and the five-way tube in sequence. The sampling tube is provided with a mud pump inside. The four mud pumps are connected with a synchronization valve. The interior of the sampling storage cabin is divided into multiple storage chambers by a flexible partition plate. One side of the storage chamber is connected to the sampling tube via a feed branch pipe, and the other side of the storage chamber is connected to a discharge branch pipe. Electric switching valves are provided in the discharge branch pipe and the feed branch pipe.

8. The acoustic in-situ measurement device for seabed sediments according to claim 7, characterized in that: A high-pressure chamber and a buoyancy regulating chamber are arranged in sequence at the bottom of the sampling storage chamber. The high-pressure chamber is connected with the top of the buoyancy regulating chamber via an air compression pump, and an angle valve is arranged at the bottom of the buoyancy regulating chamber.

9. The acoustic in-situ measurement device for seabed sediments according to claim 8, characterized in that: The remaining sides of the main frame are all provided with turbine generators, which are electrically connected to the input end of the battery via a rectifier, and the output end of the battery is electrically connected to the hub motor, the mode switching drive servo motor, and the drive hydraulic cylinder via an inverter.

10. The method of the acoustic in-situ measurement device of seabed sediments as claimed in claim 9, characterized in that: The following steps are involved: S1. Turn on the mode switching drive servo motor, which drives the first drive bearing to rotate at a set angle, and then drives the mode switching cylinder to rotate at a set angle, so that the radial sliding rod is switched from a position aligned with the positioning groove to a position aligned with the penetration hole, so that the seabed sediment acoustic in-situ measurement device is in an obstacle-crossing walking mode; S2. After carrying the seabed sediment acoustic in-situ measuring device to the position to be measured by using the hull, the seabed sediment acoustic in-situ measuring device is deployed; S3. Open the angle valve to allow seawater to enter the buoyancy regulating cabin. At the same time, use the air compressor pump to extract the air inside the buoyancy regulating cabin and compress it into the high-pressure cabin until the buoyancy of the seabed sediment acoustic in-situ measuring device is less than the deadweight of the seabed sediment acoustic in-situ measuring device, and the seabed sediment acoustic in-situ measuring device contacts the seabed under the action of its own gravity. S4, driving the piston rod of the hydraulic pump to extend, driving the first probe rod, the second probe rod and the sampling tube to descend, until the first probe rod, the second probe rod and the sampling tube are all extended into the seabed sediment; At the same time, the lifting rack is driven down, driving the second driving gear to rotate, the second driving gear drives the driving sprocket to rotate synchronously, and the driven chain is driven to rotate through the transmission chain, and then the rotating shaft is driven to rotate, thereby driving the T-shaped flip frame to rotate downward until the first low-frequency receiver, the low-frequency transmitting transducer and the second low-frequency receiver are all in contact with the seabed sediment; S5, using a high-frequency transmitting transducer and a low-frequency transmitting transducer to transmit high-frequency ultrasonic waves and low-frequency ultrasonic waves to the seabed sediments in sequence, and then receiving them using a high-frequency receiver and a first low-frequency receiver and a second low-frequency receiver, respectively, to obtain an acoustic measurement result of the position to be measured; The mud pumps are turned on at the same time, and the seabed sediment samples enter the sampling tubes. Then, the four mud pumps turned on at the same time are used to evenly pump the seabed sediment samples in the sampling tubes into one of the storage chambers of the four sampling storage chambers. Drive the hydraulic cylinder to move in the reverse direction, driving the T-shaped flip frame and the movable triangle plate to reset; S6. Turn on the wheel hub motor, which drives the rotating drum to rotate, and then drives the arc wheel unit to rotate, and drives the seabed sediment acoustic in-situ measurement device to move. During the movement, if there is an obstacle, the obstacle presses the arc support block inward, driving the radial sliding rod to overcome the elastic force of the radial buffer spring and the return spring to extend into the radial guide cylinder, and after crossing the obstacle, it extends out under the action of the restoring force of the buffer spring and the return spring until it moves to the next measurement position, and repeats steps S4 and S5 until the measurement is completed; S7. Turn on the air compressor pump to inject air into the buoyancy regulating cabin and drain the water in the buoyancy regulating cabin until the buoyancy of the seabed sediment acoustic in-situ measuring device is greater than its own weight. The seabed sediment acoustic in-situ measuring device floats up until it floats out of the sea and is salvaged onto the hull deck. The reverse drive mode switching drives the servo motor. The mode switching drives the servo motor to drive the first drive bearing to rotate in the opposite direction at a set angle, thereby driving the mode switching cylinder to rotate in the opposite direction at a set angle, so that the radial sliding rod switches from a position aligned with the insertion and exit holes to a position aligned with the positioning groove, so that the seabed sediment acoustic in-situ measuring device is in a flat ground walking mode, and the hub motor is used to drive the seabed sediment acoustic in-situ measuring device to the laboratory, and the seabed sediment samples in each storage chamber are taken out in turn.

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