Self-adaptive bottom-sitting and sediment low-disturbance sampling device and sampling method

Abstract

The invention provides a self-adaptive bottom-sitting and sediment low-disturbance sampling device and a sampling method, and relates to the technical field of seabed sampling technologies, the self-adaptive bottom-sitting and sediment low-disturbance sampling device comprises a sensing unit, a central control system, a pose adjusting unit and a sampling unit; the sensing unit is used for identifying a detection signal of a surrounding environment condition and a pose state of the device; the central control system is used for receiving the detection signal and respectively sending control signals to the pose adjusting unit and the sampling unit according to the detection signal; the position and posture adjusting unit comprises a buoyancy adjusting unit and a horizontal propelling unit which are distributed up and down, and the buoyancy adjusting unit and the horizontal propelling unit receive the control signals respectively to adjust the position and posture state of the device; the sampling unit is used for carrying out multi-habitat continuous sampling and sealing on sediment samples after the posture state of the device is adjusted. The sediment sampling difficulty is reduced, and the bottom-sitting operation reliability and the sampling efficiency of the device are effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of seabed sampling technology, and in particular to a device and a sampling method for adaptive bottom seating and low-disturbance sediment sampling. Background Art

[0002] Seafloor sediments are an important component of the marine ecosystem. According to their sources, seafloor sediments can be divided into terrigenous, biogenic and chemical origins. They are usually composed of terrigenous minerals, authigenic minerals, remains of marine organisms and debris. These organic matter and minerals are unevenly distributed in various areas of the seafloor, thus forming mud sediments of different hardness and softness states, and also evolving a variety of seafloor habitats. Different seafloor habitats undergo unique biogeochemical processes, which are mediated by microbial communities with special functions.

[0003] At present, a large number of microorganisms in the seabed sediment environment have not been faithfully obtained and cultured. Relying on traditional in situ sampling technology, the sampling process is usually difficult to obtain sediment samples in their original state due to the large amplitude of the sampler's bottom seating, which causes disturbance of the seabed sediments and causes sample contamination. Therefore, deep-sea landers used for adaptive bottom seating and low-disturbance sampling are needed to carry out sediment sampling operations in different seabed habitats. Obtaining low-pollution, faithful sediment samples is an important basis for conducting detailed seabed surveys and scientific research, and is also an important support for further understanding of seabed microorganisms and ecological processes. Regarding the adaptive bottom landing and low-disturbance sampling of deep-sea landers in the seabed environment, the prior art discloses an adaptive seabed lander based on a jettisonable foot pad. When the lander reaches a certain height of the seabed through acoustic signal recognition, the buoyancy of the lander is adjusted by jettisoning counterweights to control the speed of the lander when it lands on the bottom. However, there are problems such as the inability to perform multiple bottom landing operations after the counterweights are jettisoned, the disturbance of seabed sediments by the counterweights, and the inability to adaptively adjust the posture of the lander when it is affected by ocean currents and when it lands on the bottom. The prior art also discloses an automatic seabed sediment sampling device, which is dropped to the seabed by a ship-borne crane and dragged to various habitats for automatic sampling. However, there are problems such as the disturbance of seabed sediments when the device is dropped and moved, and the sinking and tipping of the device and the deviation of the sampling angle when the mud matrix is ​​different and affected by ocean currents.

[0004] Therefore, how to reduce the difficulty of sediment sampling and improve the reliability of the device's bottom operation and sampling efficiency is a technical difficulty that needs to be solved urgently. Summary of the invention

[0005] In order to solve the problems in the above-mentioned prior art that sediment sampling is difficult, the reliability of the device's bottom operation and the sampling efficiency are low, the present invention proposes an adaptive bottom-sitting and sediment low-disturbance sampling device and a sampling method, which reduce the difficulty of sediment sampling and effectively improve the reliability of the device's bottom operation and the sampling efficiency.

[0006] In order to achieve the above technical effects, the technical solution of the present invention is as follows:

[0007] An adaptive bottom-seating and sediment low-disturbance sampling device, characterized in that it comprises a sensing unit, a central control system, a posture adjustment unit and a sampling unit; the central control system is electrically connected to the sensing unit, the posture adjustment unit and the sampling unit respectively;

[0008] The sensing unit is used to identify the detection signal of the surrounding environment conditions and the posture state of the device; the central control system is used to receive the detection signal, and send control signals to the posture adjustment unit and the sampling unit respectively according to the detection signal; the posture adjustment unit includes a buoyancy adjustment unit and a horizontal propulsion unit distributed up and down, and the buoyancy adjustment unit and the horizontal propulsion unit respectively receive the control signal to adjust the posture state of the device; the sampling unit is used to perform multi-habitat continuous sampling and sealing of sediment samples after the posture state of the device is adjusted.

[0009] Preferably, it also includes a main frame, the sensing unit, central control system, and posture adjustment unit are arranged on the main frame, the buoyancy adjustment unit and horizontal propulsion unit in the posture adjustment unit are installed on the four sides of the main frame, and the main frame is also provided with a hydraulic system, which is respectively connected to the posture adjustment unit and the sampling unit.

[0010] Preferably, the main frame includes an upper frame and a lower frame, the upper frame is connected to the lower frame by first support rods on all four sides, the upper frame includes an upper layer and a lower layer, the upper layer is connected to the lower layer by second support rods on all four sides, the lower layer is connected with a fixing plate for loading and fixing the sensing unit, the central control system, the sampling unit and the hydraulic system; the third support frame for landing buffer is installed at the four bottom corners of the lower frame.

[0011] Preferably, the sensing unit includes a camera system, a depth sensor, a temperature sensor, a current meter, a pressure sensor, a seabed altimeter and a posture sensor which communicate and are controlled by the central control system; the camera system is arranged on the second support rods around the upper frame, and the depth sensor, temperature sensor, current meter, pressure sensor, seabed altimeter and posture sensor are integrated in a protective cabin connected to the fixed plate.

[0012] Preferably, the central control system is powered by a power supply system, and includes a control unit and a communication unit, wherein the control unit is electrically connected to the posture adjustment unit, the sampling unit and the hydraulic system, respectively; and the sensing unit is electrically connected to the control unit via the communication unit.

[0013] Preferably, the buoyancy adjusting unit comprises a buoyancy cylinder, a drainage piston, a drainage hydraulic cylinder, a pressure reducing valve, a pressurized gas cylinder, an exhaust valve and an exhaust hydraulic valve; the drainage piston is installed in the buoyancy cylinder, the drainage piston is connected to the drainage hydraulic cylinder, the drainage hydraulic cylinder is connected to the hydraulic system via the exhaust hydraulic valve, the pressurized gas cylinder is connected to the top of the buoyancy cylinder via the pressure reducing valve, and the top of the buoyancy cylinder is also connected to the exhaust valve.

[0014] Preferably, the horizontal propulsion unit includes a propeller, a propeller motor electrically connected to the control unit, and a steering gear electrically connected to the control unit, the propeller is connected to the propeller motor, the propeller motor is arranged on the side of the steering gear, and the steering gear is nested and installed on the first support rod.

[0015] Preferably, the sampling unit includes a sampling tube, a sampling hydraulic cylinder, a sampling hydraulic valve, a sealing system, a sealing hydraulic valve and a drain valve; the top of the sampling tube is connected to the telescopic rod of the sampling hydraulic cylinder, the base of the sampling hydraulic cylinder is connected to the sampling hydraulic valve, the sampling hydraulic valve is connected to the hydraulic system, the hydraulic system is connected to the sealing hydraulic valve, the sealing hydraulic valve is connected to the sealing system, and the drain valve is connected to the sampling tube.

[0016] Preferably, the sealing system comprises a sealing end cover and a telescopic hydraulic cylinder, the telescopic hydraulic cylinder is connected to the sealing end cover, and the sealing end cover and the sampling tube are combined and sealed by means of a pin.

[0017] The present invention also proposes a sampling method of a device for adaptive bottom seating and low-disturbance sampling of sediments, which is characterized by comprising the following steps:

[0018] S1. Slowly lower the device to the deep seabed, and use the sensing unit to identify the first seabed height position of the device. When the first seabed height position reaches a preset depth, the sensing unit transmits a detection signal to the central control system, and the central control system controls the buoyancy adjustment unit in the posture adjustment unit to adjust the device to be parallel to the seabed according to the detection signal;

[0019] S2, after the device is parallel to the seabed, the target sampling position is observed by the sensing unit, and the target sampling position is transmitted to the central control system, and the central control system controls the horizontal propulsion unit in the posture adjustment unit to move the device to the target sampling position for a smooth landing;

[0020] S3, after the device lands smoothly, the sensing unit is used to identify the posture state of the device after landing and the second seabed height position, and it is determined whether the current posture state of the device and the second seabed height position are unchanged. If so, it is determined that the device is sunk into the bottom mud, and S4 is executed; if not, it is determined that the device is unbalanced when sitting on the bottom, and the posture adjustment unit is controlled by the central control system to adjust the bottom balance of the device, so that the device sinks into the bottom mud, and S4 is executed;

[0021] S4, starting the sampling unit to collect sediment and seal the sediment to complete sampling at the target sampling position;

[0022] S5. Determine whether to continue sampling the next sampling position. If so, use the posture adjustment unit to lift the device to the preset depth and return to S2; if not, let the sensing unit send a sampling end signal to the central control unit to recycle the device.

[0023] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0024] The present invention proposes an adaptive bottom-seating and sediment low-disturbance sampling device and a sampling method, the device comprises a sensing unit, a central control system, a posture adjustment unit and a sampling unit; the central control system is electrically connected to the sensing unit, the posture adjustment unit and the sampling unit respectively; the posture adjustment unit comprises a buoyancy adjustment unit and a horizontal propulsion unit which are distributed up and down; the sensing unit senses the underwater surrounding environment and the posture of the device, automatically identifies the surrounding environment conditions and the posture state of the device, and then controls the buoyancy adjustment unit and the horizontal propulsion unit in the posture adjustment unit through the central control system, adjusts the buoyancy of the device to adjust the posture state and lift the device The device is configured to realize adaptive landing of the deep-sea lander in dynamic seabed currents and various bottom mud environments, avoiding the problems of being unable to carry out multiple landing operations, being unable to adaptively adjust the posture when affected by ocean currents, and being unable to move due to the sinking or tipping of the device when landing on the bottom of special mud, thereby reducing the difficulty of sediment sampling; the sensing unit is further used to identify the surrounding environmental conditions and the posture state of the device, the posture adjustment unit adjusts the posture state, and the sampling unit performs continuous sampling and sealing of sediment samples in multiple habitats, thus solving the problems of disturbing seabed sediments when the device is landing and moving, deviation of the landing and sampling positions, and being unable to continuously sample in multiple habitats, thereby effectively improving the reliability of the device's landing operation and the sampling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A three-dimensional diagram showing the structure of an adaptive bottom-seating and sediment low-disturbance sampling device proposed in an embodiment of the present invention;

[0026] Figure 2Another structural stereogram showing an adaptive bottom-seating and sediment low-disturbance sampling device proposed in an embodiment of the present invention;

[0027] Figure 3 A top view showing the structure of an adaptive bottom-seating and sediment low-disturbance sampling device proposed in an embodiment of the present invention;

[0028] Figure 4 A three-dimensional structural diagram of a sampling unit proposed in an embodiment of the present invention is shown;

[0029] Figure 5 A schematic diagram showing the connection of the circuit modules of the central control system proposed in an embodiment of the present invention;

[0030] Figure 6 A three-dimensional structural diagram of a buoyancy regulating unit proposed in an embodiment of the present invention is shown;

[0031] Figure 7 A three-dimensional structural diagram of a horizontal propulsion unit proposed in an embodiment of the present invention is shown;

[0032] Figure 8 A flowchart showing a sampling method according to the device for adaptive bottom sitting and sediment low disturbance sampling proposed in an embodiment of the present invention;

[0033] Fig. 9 A diagram showing the working principle of the control method proposed in an embodiment of the present invention.

[0034] 1. Sensing unit; 11. Camera system; 111. Camera; 112. Illuminator; 12. Depth sensor; 13. Temperature sensor; 14. Current meter; 15. Pressure sensor; 16. Seabed altimeter; 17. Posture sensor; 18. Protection chamber; 2. Central control system; 21. Control unit; 22. Communication unit; 3. Posture adjustment unit; 31. Buoyancy adjustment unit; 311. Buoyancy cylinder; 312. Drainage piston; 313. Drainage hydraulic cylinder; 314. Pressure reducing valve; 315. Pressurized gas cylinder; 316. Exhaust valve; 317. Exhaust hydraulic valve; 32. horizontal propulsion unit; 321. propeller; 322. thruster motor; 323. steering gear; 4. sampling unit; 41. sampling tube; 42. sampling hydraulic cylinder; 43. sampling hydraulic valve; 44. sealing system; 441. sealing end cover; 442. telescopic hydraulic cylinder; 45. sealing hydraulic valve; 46. drain valve; 5. main frame; 51. upper frame; 511. upper layer; 512. lower layer; 52. lower frame; 53. first support rod; 54. second support rod; 6. hydraulic system; 61. hydraulic oil pump; 62. accumulator; 7. power supply system. DETAILED DESCRIPTION

[0035] The drawings are for illustrative purposes only and should not be construed as limiting the present patent;

[0036] It is understandable to those skilled in the art that some well-known contents may be omitted in the drawings;

[0037] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0038] Example 1

[0039] like Figure 1 As shown, this embodiment proposes an adaptive bottom-seating and sediment low-disturbance sampling device, comprising a sensing unit 1, a central control system 2, a posture adjustment unit 3 and a sampling unit 4; the central control system 2 is electrically connected to the sensing unit 1, the posture adjustment unit 3 and the sampling unit 4 respectively;

[0040] The sensing unit 1 is used to identify the detection signal of the surrounding environment conditions and the posture state of the device; the central control system 2 is used to receive the detection signal, and send control signals to the posture adjustment unit 3 and the sampling unit 4 according to the detection signal; the posture adjustment unit 3 includes a buoyancy adjustment unit 31 and a horizontal propulsion unit 32 distributed up and down, wherein there are four buoyancy adjustment units 31 and four horizontal propulsion units 32 respectively, and the buoyancy adjustment unit 31 and the horizontal propulsion unit 32 respectively receive the control signal to adjust the posture state of the device; the sampling unit 4 is used to perform multi-habitat continuous sampling and sealing of sediment samples after the posture state of the device is adjusted.

[0041] It also includes a main frame 5, the sensing unit 1, the central control system 2, and the posture adjustment unit 3 are arranged on the main frame 5, the buoyancy adjustment unit 31 and the horizontal propulsion unit 32 in the posture adjustment unit 3 are installed on the four sides of the main frame 1, and the main frame 1 is also provided with a hydraulic system 6, see Figure 2 The hydraulic system 6 includes a hydraulic oil pump 61 and an accumulator 62. The hydraulic oil pump 61 is connected to the accumulator 62, and the accumulator 62 is respectively connected to the posture adjustment unit 3 and the sampling unit 4.

[0042] In this embodiment, the device includes a sensing unit, a central control system, a posture adjustment unit and a sampling unit; the central control system is electrically connected to the sensing unit, the posture adjustment unit and the sampling unit respectively; the posture adjustment unit includes a buoyancy adjustment unit and a horizontal propulsion unit which are distributed up and down; the sensing unit senses the underwater surrounding environment and the posture of the device, automatically identifies the surrounding environment conditions and the posture state of the device, and then controls the buoyancy adjustment unit and the horizontal propulsion unit in the posture adjustment unit through the central control system to adjust the buoyancy of the device to adjust the posture state and lift the device, so as to realize the deep-sea lander on the seabed. Adaptive bottom seating in dynamic ocean currents and various bottom mud environments avoids the problems of being unable to carry out multiple bottom seating operations, being unable to adaptively adjust the posture when affected by ocean currents, and the device sinking or tipping over and being unable to move when sitting on the bottom in special mud, thereby reducing the difficulty of sediment sampling; further utilizing the sensing unit to identify the surrounding environmental conditions and the posture state of the device, the posture adjustment unit to adjust the posture state, and the sampling unit to perform continuous sampling and sealing of sediment samples in multiple habitats, thereby solving the problems of disturbing seabed sediments when the device sits on the bottom and moves, deviations in the bottom seating and sampling positions, and being unable to continuously sample in multiple habitats, effectively improving the reliability of the device's bottom seating operation and sampling efficiency.

[0043] Example 2

[0044] See also Figure 2 The main frame 5 is three-dimensional, including an upper frame 51 and a lower frame 52. The upper frame 51 is connected to the lower frame 52 by first support rods 53 around it. The upper frame 51 includes an upper layer 511 and a lower layer 512. The upper layer 511 is connected to the lower layer 512 by second support rods 54 around it. The upper layer 511 is provided with a beam structure that can be connected to the hook of the ship's crane. The lower layer 512 is connected to a fixing plate for loading and fixing the sensing unit 1, the central control system 2, the sampling unit 4 and the hydraulic system 6; the bottom four corners of the lower frame 52 are installed with a third support frame for landing buffer.

[0045] See also Figure 3 and Figure 4The sampling unit 4 includes a sampling tube 41, a sampling hydraulic cylinder 42, a sampling hydraulic valve 43, a sealing system 44, a sealing hydraulic valve 45 and a drain valve 46; the top of the sampling tube 41 is connected to the telescopic rod of the sampling hydraulic cylinder 42 to realize the telescopic function of the sampling tube 41; the base of the sampling hydraulic cylinder 42 is connected to the sampling hydraulic valve 43 through a pipeline to realize the opening and closing of the hydraulic function in the sampling unit 4; the sampling hydraulic valve 43 is connected to the hydraulic system 6, the hydraulic system 6 is connected to the sealing hydraulic valve 45 through a pipeline, and the sealing hydraulic valve 45 is connected to the sealing system 4 4. The sealing system 44 is loaded and fixed on the lower frame 52. The sealing system 44 includes a sealing end cover 441 and a telescopic hydraulic cylinder 442. The telescopic hydraulic cylinder 442 is connected to the sealing end cover 441. The sealing end cover 441 and the sampling cylinder 21 are combined and sealed by a pin to obtain a pressure-maintained sediment sample. The drain valve 46 is connected to the sampling cylinder 41 through a pipeline to discharge the liquid inside the sampling cylinder 41 when the sediment is sampled. The drain valve 46 is a PID drain valve, which is a drain valve that can be accurately controlled by a PID controller.

[0046] The sensing unit 1 includes a camera system 11, a depth sensor 12, a temperature sensor 13, a current meter 14, a pressure sensor 15, a seabed altimeter 16 and a posture sensor 17 which communicate and are controlled by the central control system 2;

[0047] The camera system 11 is arranged on the second support rods 54 around the upper frame 51, see Figure 2 , wherein the camera system 11 includes four cameras 111 and four illuminators 112, one camera 111 and one illuminator 112 constitute a camera system, the first support rods 53 around the upper frame 51 are each equipped with a camera 111 and an illuminator 112, the illuminator 112 is installed directly below the camera 111 to provide a lighting function within the camera field of view, the camera 111 is used to observe the conditions of the seabed habitat in real time to select a specific target sampling position; the depth sensor 12, the temperature sensor 13, the current meter 14, the pressure sensor 15, the seabed altimeter 16 and the posture sensor 17 are integrated in a protective cabin 18 connected to the fixing plate; the temperature sensor 13 and the pressure sensor 15 are connected to the top of the sampling tube 41 to monitor the temperature and pressure changes of the collected sediment samples;

[0048] See also Figure 5The central control system 2 is externally protected by a protective structure, and the central control system 2 is powered by a power supply system 7, including a control unit 21 and a communication unit 22, the control unit 21 and the communication unit 22 are located in the electronic component compartment, and the power supply system 7 is installed in the battery compartment, and the power supply system 7 also supplies power to various electronic instruments in the control unit 21 and the communication unit 22;

[0049] The control unit 21 is electrically connected to the posture adjustment unit 3, the sampling unit 4 and the hydraulic system 6, respectively, and is used to control the opening and closing of the sampling hydraulic cylinder 42, the sampling hydraulic valve 43, the sealing system 44 and the drain valve 46 in the posture adjustment unit 3, the hydraulic system 6 and the sampling unit 4; the sensing unit 1 is electrically connected to the control unit 21 through the communication unit 22, and the communication unit 22 is electrically connected to the sensing unit 1, receives the real-time information of the sensing unit 1 through electrical signals and simultaneously sends electrical signals to the shipboard computer host.

[0050] See also Figure 6 The buoyancy regulating unit 31 includes a buoyancy cylinder 311, a drainage piston 312, a drainage hydraulic cylinder 313, a pressure reducing valve 314, a pressurized gas cylinder 315, an exhaust valve 316 and an exhaust hydraulic valve 317. The bottom of the buoyancy cylinder 311 is a hollow structure, and the seawater at the bottom can be directly connected to the seawater in the external environment. The drainage piston 312 is installed in the buoyancy cylinder 311. The lower part of the drainage piston 312 can accommodate seawater and the upper part can accommodate high-pressure gas to control the volume of gas in the device to adjust its own buoyancy. The drainage piston 312 is connected to the drainage hydraulic cylinder 313, and the drainage hydraulic cylinder 313 is connected to the hydraulic via the exhaust hydraulic valve 317. System 6, to push the drainage piston 312 to exhaust, thereby reducing the buoyancy and making the device dive, the pressurized gas cylinder 315 is connected to the top of the buoyancy cylinder 311 through the pressure reducing valve 314, to push the drainage piston 312 to drain, thereby increasing the buoyancy and making the device float, the top of the buoyancy cylinder 311 is also connected to the exhaust valve 316, the exhaust valve 316 is a PID exhaust valve, which is used to prevent gas compression and overpressure in the cavity when the drainage piston 312 exhausts; the pressure sensor 15 is also connected to the top of the buoyancy cylinder 311 in the buoyancy regulating unit 31, to monitor the internal pressure changes of the air cavity above the drainage piston in the buoyancy regulating unit 31.

[0051] See also Figure 7The horizontal propulsion unit 32 includes a propeller 321, a propeller motor 3222 electrically connected to the control unit 21, and a steering gear 323 electrically connected to the control unit 21. The propeller 321 is connected to the propeller motor 3222, and the propeller motor 3222 is arranged on the side of the steering gear 323 to provide propulsion power in the horizontal 360-degree direction; the steering gear 323 is nested and installed on the first support rod 53 around the main frame to provide steering function in all horizontal directions.

[0052] In the hydraulic system 6, the accumulator 62 is connected to the sampling unit 4 and the posture adjustment unit 3, respectively. Figure 4 and Figure 6 Specifically, the accumulator 62 is connected to the sampling hydraulic valve 43, the sealing hydraulic valve 45 and the exhaust hydraulic valve 317 through pipelines, and then connected to the sampling hydraulic cylinder 42, the telescopic hydraulic cylinder 442 and the drainage hydraulic cylinder 313 respectively. The accumulator 62 is used to convert the energy in the hydraulic system 6 into the compression energy and store it, and release it again to supply the system when the hydraulic system 6 needs it. The hydraulic oil pump 61 is used to provide oil and hydraulic pressure to the accumulator 62, the sampling hydraulic cylinder 42, the sealing hydraulic valve 45 and the drainage hydraulic cylinder 417.

[0053] In this embodiment, firstly, compared with the existing deep-sea lander bottom-seating technology, the device proposed in this embodiment can automatically judge its own suspension state and bottom-seating state under the in-situ seabed condition based on the underwater depth, seabed height and its own posture sensing, and automatically adjust its own buoyancy in four directions to correct the posture and lift the device, so as to realize the device's adaptive bottom-seating in the dynamic seabed ocean current and various bottom mud environments, thereby solving the problems that the existing device bottom-seating technology cannot perform multiple bottom-seating operations, the posture cannot be adaptively adjusted when affected by the ocean current, and the device sinks or falls and cannot move when sitting on the bottom of special mud, thereby improving the reliability of the device's bottom-seating operation and the sampling efficiency of the fidelity sediment; Secondly, compared with the existing deep-sea lander sediment sampling technology, the deep-sea lander can automatically identify the bottom distance and correct the bottom posture in the in-situ seabed environment through its own posture recognition, bottom buoyancy adjustment and ocean current direction speed recognition, automatically propel and compensate for the horizontal offset position, and automatically control the buoyancy to lift the device and move it to other habitats for continuous sampling, thereby achieving low-disturbance bottom seating and deviation-free sampling in the in-situ seabed environment. This solves the problems of existing deep-sea lander sediment sampling technology, such as disturbance of seabed sediments when the device sits on the bottom and moves, deviation of bottom seating and sampling positions, and inability to continuously sample in multiple habitats, thereby ensuring the effectiveness of seabed sediment sample collection.

[0054] Example 3

[0055] See also Figure 8This embodiment also proposes a sampling method for an adaptive bottom-sitting and sediment low-disturbance sampling device. When sampling with the above-mentioned adaptive bottom-sitting and sediment low-disturbance sampling device, the device needs to be prepared before sampling. The preparation work includes: first, the sampling cylinder 41 and the pipeline in the device are cleaned and sterilized, the hydraulic system 6 installs the drainage piston 312 and fills the oil in the sampling hydraulic cylinder 42, the sealing hydraulic valve 23 and the drainage hydraulic cylinder 313; the sealing of the sampling unit 4, the posture adjustment unit 3 and the hydraulic system 6 in the device is checked, and a new pressurized gas cylinder 315 is installed; then the electronic instruments of the communication unit 22 and the control unit 21 are connected to the central control system, the software is activated online and connected to the host on board; and then the device is started for sampling. The sampling method includes the following steps:

[0056] S1, slowly lowering the device to the deep seabed, using the sensing unit 1 to identify the first seabed height position of the device, when the first seabed height position reaches a preset depth, the sensing unit 1 transmits a detection signal to the central control system 2, and the central control system 2 controls the buoyancy adjustment unit 31 in the posture adjustment unit 3 to adjust the device to be parallel to the seabed according to the detection signal;

[0057] In S1, the device is slowly lowered to the deep seabed by a ship crane, and the first seabed height position of the device is automatically identified by using the depth sensor 12 and the seabed altimeter 16 in the sensing unit 1. When the first seabed height position reaches a preset depth, the buoyancy adjustment unit 31 is turned on, and the seawater is discharged by injecting gas higher than the external pressure into the buoyancy cylinder 311, so that the device is parallel to the seabed, and the posture of the device itself is sensed by the posture sensor 17;

[0058] S2, after the device is parallel to the seabed, the target sampling position is observed by the sensing unit 1, and the target sampling position is transmitted to the central control system 2, and the central control system 2 controls the horizontal propulsion unit 32 in the posture adjustment unit 3 to move the device to the target sampling position for a smooth landing;

[0059] In S2, the device is moved to the target sampling position for a smooth landing, including: observing the seabed habitat through the camera 111 and the illuminator 112 in the sensing unit 1, turning on the horizontal propulsion unit 32 to move the device to the target sampling position; the current meter 14 identifies the direction and speed of the current, and the central control system controls the steering gear 323 to turn to the opposite direction of the current and starts the propeller 321 to compensate for the horizontal offset position of the device; after the device self-identifies the tilt of the posture, the buoyancy cylinder 311 in the tilted position injects high-pressure gas from the booster cylinder 315 until the posture sensor 17 identifies the posture balance, then stops the gas injection; opens the exhaust valve 316 to exhaust at a certain pressure and opens the drainage hydraulic cylinder 313 to land the device smoothly;

[0060] S3, after the device lands smoothly, the sensing unit 3 is used to identify the posture state of the device after landing and the second seabed height position, and it is determined whether the current posture state of the device and the second seabed height position are unchanged. If so, it is determined that the device is sunk into the bottom mud, and S4 is executed; if not, it is determined that the device is unbalanced when sitting on the bottom, and the central control system 2 is used to control the posture adjustment unit 3 to adjust the bottom balance of the device, so that the device sinks into the bottom mud, and S4 is executed;

[0061] In S3, after the device lands, the posture sensor 17 in the sensing unit 1 is used to perform posture recognition, and the seabed altimeter 16 performs second seabed height position recognition. If the current posture state of the device and the second seabed height position are lower than the set threshold, that is, the current posture state of the device and the second seabed height position have changed, it is determined that the device is unbalanced when sitting on the bottom, and the buoyancy cylinder 311 in the inclined position is injected with high-pressure gas from the booster gas cylinder 315 to lift one side of the device to overall balance; if the device posture and seabed height do not change after a certain period of time, it is determined that the device has sunk into the bottom mud;

[0062] S4, starting the sampling unit 4 to collect sediment and seal the sediment, completing the sampling of the target sampling position;

[0063] In S4, the sampling unit 4 is started to collect sediment and seal the sediment, including: opening the hydraulic system 6, the sampling hydraulic valve 43 and the drain valve 46 to extend and retract the sampling tube 41 to collect the sediment; after the collection is completed, the sealing system 44 is opened to extend the sealing end cover 441, and the sampling tube 41 is lowered again until it is connected with the sealing end cover 441 and is completely sealed, and the sampling of the target sampling position is completed;

[0064] S5. Determine whether to continue sampling the next sampling position. If so, use the posture adjustment unit 3 to lift the device to the preset depth and return to S2; if not, let the sensing unit 1 send a sampling end signal to the central control unit to recycle the device.

[0065] In S5, the device is lifted to the preset depth by using the posture adjustment unit 3, including: using the buoyancy adjustment unit 31 to greatly increase the pressure and discharge the seawater, and the horizontal propulsion unit 32 turns to the opposite direction of the device's inclination and propels it at full power until the device is lifted to the preset depth and leaves the position; if the next sampling position is not sampled, it means that all samples have been collected, and the central control system 2 instructs the sensing unit 1 to send a sampling end signal to the mother ship, and the crane on the ship recovers the device, so as to realize the pressure-maintaining sediment sample collection at a specific position of the seabed habitat;

[0066] In this example, a sampling method for an adaptive bottom-seating and low-disturbance sediment sampling device is proposed. Through this method, suspended movement, offset compensation, adaptive bottom-seating and low-disturbance sediment sampling of a deep-sea lander are realized. That is, a device and technology is provided that automatically judges the suspended state and landing state based on the sensing of underwater depth, seabed height, current direction speed and its own posture under in-situ seabed conditions, automatically adjusts its own buoyancy in four directions, automatically propels forward to compensate for horizontal offset position, and automatically maintains pressure to collect sediment samples. The problem of current deep-sea lander sediment sampling technology being affected by seabed currents and mud, such as device suspension imbalance, bottom-seating imbalance, bottom-seating sinking, device tipping, sampling deviation, and inability to continuously sample multiple habitats, is solved. The difficulty of sediment sampling is effectively reduced, and the reliability of the device's bottom-seating operation and the sampling efficiency are effectively improved.

[0067] Example 4

[0068] As for the sampling method of the device for adaptive bottom sitting and sediment low disturbance sampling proposed in the above embodiment, the sampling method is implemented by the control method set by the central control system 2. This embodiment further describes the control method set by the central control system 2. Fig. 9 As shown, the control method comprises the following steps:

[0069] After sampling begins, the device is launched and dives, and the central control system 2 monitors the position of the device during deep-sea diving through the depth sensor 12 and the seabed altimeter 16. If it is at a seawater depth Df>Di-10m (Di is the water depth of the target seabed surface) or a height Hf<10m from the seabed, that is, when the device dives to a position within 10m above the seabed, it is determined that the device has reached the best position to start adjusting its own buoyancy, and the buoyancy adjustment unit 31 is turned on, the pressurized gas cylinder 315 is opened, and the pressure reducing valve 314 is adjusted to a pressure of P1=Df / 100+1MPa. The buoyancy cylinder 311 performs gas pressurization and discharges seawater at a pressure greater than the external environment to increase the buoyancy of the device.

[0070] Further, if the device is at a position where the seawater depth Ds∈(Df-1, Df+1) and the seafloor height Hs∈(Hf-1, Hf+1), that is, the position change amplitude of the device snorkeling is within 1m, the device is judged to be in a suspended state, and the buoyancy is approximately consistent with the gravity at this time, and the pressure reducing valve 314 is closed to stop the gas injection; otherwise, it is judged that the device is still in a diving or floating state, and the pressure reducing valve 314 is adjusted to the pressure P2=P1+1MPa to quickly discharge the seawater in the buoyancy cylinder 311 to increase the buoyancy of the device and slow down the diving speed, or the exhaust hydraulic valve 317 and the exhaust hydraulic cylinder 413 are opened to discharge the excess gas in the buoyancy cylinder 311 to reduce the buoyancy of the device and prevent the device from floating. According to the above device buoyancy adjustment, the judgment and adjustment are repeated, and finally the device is adaptively suspended at a preset height above the seafloor to adjust the posture before sitting on the bottom and sampling.

[0071] Furthermore, when the device is suspended, the camera 111 and the illuminator 112 are turned on to obtain the seabed habitat image and select the sampling position of the target area, the horizontal propulsion unit 32 is turned on, the direction of the steering gear 323 is adjusted and the propeller motor 322 is turned on to move the device to the target sampling position; when the device reaches the specified position, the direction and speed of the ocean current are identified by the current meter 14, the steering gear 323 is turned to the opposite direction of the ocean current and the propeller motor 322 is started, and the posture of the device itself is identified by the posture sensor 17. If the device is not tilted, it is judged that the device is suspended and balanced, and the pressure reducing valve 314 is closed. At the same time, open the exhaust hydraulic valve 317 and start the exhaust hydraulic cylinder 413 to make the device dive to the bottom; if the device is in a tilted state, judge that the device is suspended and unbalanced, record the tilt direction of the device, and adjust the pressure reducing valve 314 to the pressure P3=P2+0.1MPa with the buoyancy cylinder 311 in the tilted direction, and continue to identify the device's own posture. If the device is still tilted, continue to perform cyclic judgment and adjustment according to the above-mentioned device buoyancy adjustment until the device is in a balanced state, then close the pressure reducing valve 314, and at the same time open the exhaust hydraulic valves 317 of the four buoyancy cylinders 311 and start the exhaust hydraulic cylinder 413 to make the device dive to the bottom.

[0072] Furthermore, after the device is seated on the bottom, the posture of the device itself is identified through the posture sensor 17. If the device is not tilted, it is judged that the device is balanced on the bottom, and sampling operations can be carried out; if the device is in a tilted state, it is judged that the device is unbalanced on the bottom, and the tilt direction of the device is recorded. The buoyancy cylinder 311 in the tilt direction adjusts the pressure reducing valve 314 to the pressure P4=P3+0.1MPa to further identify the posture of the device itself. If the device is no longer tilted and the seabed altimeter 16 identifies the seabed height Hr<0, it is judged that the device is balanced on the bottom, and the pressure reducing valve 314 is closed to carry out sampling operations; otherwise, if it is judged that the device is still unbalanced on the bottom, the buoyancy adjustment of the above device is continued to be cyclically judged and adjusted, and at the same time, it is judged whether 10 cycles have been performed. If not, the above cycle is continued. Otherwise, it is judged that the device has sunk, and the buoyancy cylinder 311 in the tilt direction injects a large amount of high-pressure gas to quickly Drainage increases the buoyancy of the device, and the pressure reducing valve 314 is adjusted to the pressure P5=P4+5MPa. In addition, the steering device 323 of the horizontal propulsion unit 32 is controlled to turn to the opposite direction of the tilt and the thruster motor 322 is started at full power, thereby pushing the device to quickly get rid of the state of sinking in the mud. During this period, the seabed altimeter 16 is used to identify whether the device has returned to the position of the seabed height Hs. If it has not returned to the seabed height, it is judged that the device is still sunk in the mud, and a new cycle judgment and adjustment is continued according to the above-mentioned device buoyancy adjustment until the device is lifted to the seabed height; if it has returned to the seabed height, it is judged that the device has gotten rid of the sinking mud, then the pressure reducing valve 314 is closed and the power of the thruster motor 322 is reduced, and the central control system 6 selects other sampling positions, and moves the device to the new sampling position through the horizontal propulsion unit 32, and continues the above-mentioned posture adjustment and bottom sampling procedures.

[0073] Furthermore, when the device is balanced on the bottom, the sampling hydraulic cylinder 42, the sampling hydraulic valve 43 and the drain valve 46 are started to extend and retract the sampling tube 41 to collect sediment. After the collection is completed, the sealing system 2 is started to merge and seal the sampling tube 41 with the sealing end cover 21, thereby completing the sampling of the area. It is determined that all four sampling structures have been started, specifically the sampling hydraulic cylinder 42, the sampling hydraulic valve 43, the drain valve 46 and the sealing system 44 connected to the four sampling tubes 41. If all have been started, the sampling is terminated; if not fully started, the sampling procedures for the above-mentioned other target positions are continued until the sampling is completed.

[0074] Obviously, the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An adaptive bottom-sitting and sediment low-disturbance sampling device, characterized in that: It comprises a sensing unit (1), a central control system (2), a posture adjustment unit (3) and a sampling unit (4); the central control system (2) is electrically connected to the sensing unit (1), the posture adjustment unit (3) and the sampling unit (4) respectively; The sensing unit (1) is used to identify detection signals of the surrounding environment conditions and the posture state of the device; the central control system (2) is used to receive the detection signals and send control signals to the posture adjustment unit (3) and the sampling unit (4) respectively according to the detection signals; the posture adjustment unit (3) comprises a buoyancy adjustment unit (31) and a horizontal propulsion unit (32) which are distributed up and down, and the buoyancy adjustment unit (31) and the horizontal propulsion unit (32) respectively receive the control signals to adjust the posture state of the device; the sampling unit (4) is used to perform multi-habitat continuous sampling and sealing of sediment samples after the posture state of the device is adjusted.

2. The device for adaptive bottom seating and sediment low disturbance sampling according to claim 1 is characterized in that: The invention also comprises a main frame (5), wherein the sensing unit (1), the central control system (2), and the posture adjustment unit (3) are arranged on the main frame (5), and the buoyancy adjustment unit (31) and the horizontal propulsion unit (32) in the posture adjustment unit (3) are installed on the four sides of the main frame (1). The main frame (1) is also provided with a hydraulic system (6), and the hydraulic system (6) is respectively connected to the posture adjustment unit (3) and the sampling unit (4).

3. The device for adaptive bottom seating and low-disturbance sediment sampling according to claim 2 is characterized in that: The main frame (5) comprises an upper frame (51) and a lower frame (52), wherein the upper frame (51) is connected to the lower frame (52) via first support rods (53) on all sides, and the upper frame (51) comprises an upper layer (511) and a lower layer (512), wherein the upper layer (511) is connected to the lower layer (512) via second support rods (54) on all sides, and the lower layer (512) is connected to a fixing plate for loading and fixing the sensing unit (1), the central control system (2), the sampling unit (4) and the hydraulic system (6); and third support frames for landing buffer are installed at the four bottom corners of the lower frame (52).

4. The device for adaptive bottom seating and sediment low disturbance sampling according to claim 3 is characterized in that: The sensing unit (1) comprises a camera system (11), a depth sensor (12), a temperature sensor (13), a current meter (14), a pressure sensor (15), a seabed altimeter (16) and a posture sensor (17) which communicate and are controlled by the central control system (2); the camera system (11) is arranged on the second support rods (54) around the upper frame (51); the depth sensor (12), the temperature sensor (13), the current meter (14), the pressure sensor (15), the seabed altimeter (16) and the posture sensor (17) are integrated in a protective compartment (18) connected to the fixing plate.

5. The device for adaptive bottom seating and low-disturbance sediment sampling according to claim 4 is characterized in that: The central control system (2) is powered by a power supply system (7), and comprises a control unit (21) and a communication unit (22); the control unit (21) is electrically connected to the posture adjustment unit (3), the sampling unit (4) and the hydraulic system (6), respectively; the sensing unit (1) is electrically connected to the control unit (21) via the communication unit (22).

6. The device for adaptive bottom seating and low-disturbance sediment sampling according to any one of claims 2 to 5, characterized in that: The buoyancy regulating unit (31) comprises a buoyancy cylinder (311), a drainage piston (312), a drainage hydraulic cylinder (313), a pressure reducing valve (314), a pressurized gas cylinder (315), an exhaust valve (316) and an exhaust hydraulic valve (317); the drainage piston (312) is installed in the buoyancy cylinder (311); the drainage piston (312) is connected to the drainage hydraulic cylinder (313); the drainage hydraulic cylinder (313) is connected to the hydraulic system (6) via the exhaust hydraulic valve (317); the pressurized gas cylinder (315) is connected to the top of the buoyancy cylinder (311) via the pressure reducing valve (314); and the top of the buoyancy cylinder (311) is also connected to the exhaust valve (316).

7. The device for adaptive bottom seating and sediment low-disturbance sampling according to claim 6 is characterized in that: The horizontal propulsion unit (32) comprises a propeller (321), a propeller motor (322) electrically connected to the control unit (21), and a steering gear (323) electrically connected to the control unit (21), wherein the propeller (321) is connected to the propeller motor (322), the propeller motor (322) is arranged on a side of the steering gear (323), and the steering gear (323) is nested and installed on the first support rod (53).

8. The device for adaptive bottom seating and sediment low disturbance sampling according to claim 6 is characterized in that: The sampling unit (4) comprises a sampling cylinder (41), a sampling hydraulic cylinder (42), a sampling hydraulic valve (43), a sealing system (44), a sealing hydraulic valve (45) and a drain valve (46); the top of the sampling cylinder (41) is connected to the telescopic rod of the sampling hydraulic cylinder (42), the base of the sampling hydraulic cylinder (42) is connected to the sampling hydraulic valve (43), the sampling hydraulic valve (43) is connected to the hydraulic system (6), the hydraulic system (6) is connected to the sealing hydraulic valve (45), the sealing hydraulic valve (45) is connected to the sealing system (44), and the drain valve (46) is connected to the sampling cylinder (41).

9. The device for adaptive bottom seating and sediment low disturbance sampling according to claim 8, characterized in that: The sealing system (44) comprises a sealing end cover (441) and a telescopic hydraulic cylinder (442), wherein the telescopic hydraulic cylinder (442) is connected to the sealing end cover (441), and the sealing end cover (441) and the sampling tube (21) are combined and sealed by means of a pin.

10. A sampling method of an adaptive bottom-seating and sediment low-disturbance sampling device, characterized in that: The following steps are involved: S1, slowly lowering the device to the deep seabed, using the sensing unit (1) to identify the first seabed height position of the device, when the first seabed height position reaches a preset depth, the sensing unit (1) transmits a detection signal to the central control system (2), and the central control system (2) controls the buoyancy adjustment unit (31) in the posture adjustment unit (3) to adjust the device to be parallel to the seabed according to the detection signal; S2, after the device is parallel to the seabed, the target sampling position is observed by using the sensing unit (1), and the target sampling position is transmitted to the central control system (2), and the central control system (2) controls the horizontal propulsion unit (32) in the posture adjustment unit (3) to move the device to the target sampling position for a smooth landing; S3, after the device lands smoothly, the sensing unit (3) is used to identify the posture state of the device after landing and the second seabed height position, and it is determined whether the current posture state of the device and the second seabed height position have not changed. If so, it is determined that the device has sunk into the bottom mud and S4 is executed; if not, it is determined that the device is unbalanced when sitting on the bottom, and the central control system (2) is used to control the posture adjustment unit (3) to adjust the bottom balance of the device, so that the device sinks into the bottom mud, and S4 is executed; S4, starting the sampling unit (4) to collect sediment and seal the sediment, thereby completing sampling at the target sampling position; S5, determining whether to continue sampling the next sampling position; if so, using the posture adjustment unit (3) to lift the device to the preset depth, and returning to S2; if not, causing the sensing unit (1) to send a sampling end signal to the central control unit, and recovering the device.

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