Sampler and sampling method suitable for sampling deep-sea long column sample

Abstract

The invention discloses a sampler suitable for sampling a deep-sea long column sample and a sampling method, and belongs to the field of seabed sediment sampling equipment. The sampler comprises a damping assembly, wherein the upper end of the damping assembly is used for being connected with a cable; the upper end of the host is rigidly connected with the lower end of the damping assembly, a vibration assembly, an attitude sensor, a depth sensor, an altimeter and a camera are arranged on the host, and a drainage pipe is arranged at the lower end of the host; the sampling assembly comprises one or more sampling pipes which are sequentially connected, the upper end of the uppermost sampling pipe in the sampling assembly is rigidly connected with the drainage pipe, the lower end of the lowermost sampling pipe in the sampling assembly is provided with a sampling tool bit, and the joint of every two adjacent sampling pipes is detachably provided with a plugging structure; the plugging structure is used for sealing or opening the lower end of the upper sampling tube in the two adjacent sampling tubes. The sampler disclosed by the invention can be mounted on a small ship to sample a long column sample of seabed sediments.

Description

Technical Field

[0001] The invention belongs to the field of seabed sediment sampling equipment, and in particular relates to a sampler and a sampling method suitable for deep-sea long-column sampling. Background Art

[0002] In marine research, underwater sediment sampling is sometimes necessary. Traditional underwater sediment sampling usually uses a gravity sampler, which uses its own weight to form a free fall in the water and penetrates into the bottom sediment in an impact manner to obtain sediment samples.

[0003] Since the gravity sampler relies on its own weight to be inserted into the sediment for sampling, it is easy to cause sample compression, which distorts the sampling results. It is difficult to insert harder sediments, resulting in sampling failure. When sampling deep-sea seabed sediments, a longer cable is required. The cable has a large weight. For example, a 10,000-meter cable weighs several tons. A large part of the cable tension needs to be used to overcome the cable's own weight, leaving less weight for the sampler. If the sampler has a small weight, long column sampling cannot be achieved.

[0004] At present, when lowering the sampler used for sampling seabed sediments, the sampling tube must be placed horizontally first, assembled and then erected, and then placed in the water; when recovering after sampling, the sampling tube must be placed horizontally first and then disassembled. In this way, the length of the assembled sampling tube is limited by the size of the operating mother ship. On a smaller operating mother ship, it is impossible to assemble a longer sampling tube, and it is impossible to achieve long column sampling of seabed sediments. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide a sampler and a sampling method suitable for deep-sea long column sampling.

[0006] The present invention is achieved through the following technical solutions:

[0007] The first aspect of the present invention discloses a sampler suitable for deep-sea long column sampling, comprising:

[0008] A shock absorbing assembly, the upper end of which is used to be connected with the cable;

[0009] A host, the upper end of which is connected to the lower end of the shock-absorbing assembly, the host is provided with a vibration assembly, a posture sensor, a depth sensor, an altimeter and a camera, and the lower end of the host is provided with a drainage pipe;

[0010] The sampling assembly includes one or more sampling tubes connected in sequence. The upper end of the sampling tube located at the top of the sampling assembly is rigidly connected to the drain pipe, and the lower end of the sampling tube located at the bottom of the sampling assembly is equipped with a sampling cutter head. A detachable sealing structure is installed at the connection between adjacent sampling tubes. The sealing structure is used to close or open the lower end of the sampling tube located at the top of two adjacent sampling tubes.

[0011] Furthermore, the host includes a host shell, and the outer surface of the host shell is provided with an altimeter and a lower camera; a vibration component is provided inside the host shell; a lifting component, a depth sensor and an upper camera are provided at the upper end of the host shell, and the upper end cover of the host shell is provided with a lifting component, and its outer shell is provided with an upper fairing, and a posture sensor is provided on the lifting component; a drain pipe is provided at the lower end of the host shell, and its outer shell is provided with a lower fairing.

[0012] Furthermore, the shock absorbing assembly includes an inner frame, an outer frame, a bottom plate, connecting columns and latches. The lower surface of the bottom plate is provided with connecting columns, the upper surface of the bottom plate is provided with an inner frame, the bottom plate is rigidly connected to the connecting columns and the inner frame, the inner frame is located inside the outer frame, the inner frame is connected to the outer frame through a flexible member, a vertical waist-shaped hole is provided on the side wall of the outer frame, a corresponding round hole is provided on the inner frame, the latch passes through the waist-shaped hole on the outer frame and the round hole on the inner frame to connect the outer frame and the inner frame, the outer frame is used to connect to the cable, and the connecting column is used to connect to the host.

[0013] The second aspect of the present invention discloses a sampling method suitable for deep-sea long column sampling, which is applied to the sampler as described in the first aspect of the present invention. The sampling method comprises:

[0014] Step S100. An A frame and an operating platform are arranged on the operating mother ship, wherein the operating platform is provided with a flip bracket and a clamping structure, and a cable is installed on the A frame;

[0015] Step S200. Place the main engine on the flip bracket, connect the upper end of the shock absorbing assembly to the cable, connect the upper end of the main engine to the lower end of the shock absorbing assembly, connect the main engine to the control device using a control cable, and then drive the mother ship to the target location;

[0016] Step S300. Take a sampling tube, install a sampling cutter head at the lower end of the sampling tube, use a crane to lift the sampling tube with the sampling cutter head installed to stand upright, and use a clamping structure to clamp the sampling tube;

[0017] Step S400. Determine whether there are any more sampling tubes that need to be connected. If not, execute step S500. If yes, use a crane to lift a new sampling tube and connect the lower end of the new sampling tube to the upper end of the clamped sampling tube. Then lower the sampling tube, clamp the uppermost sampling tube with the clamping structure, and then repeat step S400.

[0018] Step S500. Use the A frame to lift the main machine, connect the lower end of the main machine to the upper end of the sampling tube located at the top, swing the A frame outward to swing the main machine and the sampling tube outward, and control the main machine to be lowered for sampling according to the detection results of each sensor on the main machine;

[0019] Step S600. After sampling is completed, the main machine is lifted upward by the cable recovery of the A frame, and the upper end of the sampling tube located at the top is clamped by the clamping structure, and the sampling tube is separated from the drainage pipe interface of the main machine, and the main machine is lifted and placed on the flip bracket by the A frame;

[0020] Step S700. Check whether there is a sample in the sampling tube. If there is a sample, remove the surface water and plug it with a plug to prevent the sample from collapsing; determine whether there is only one sampling tube left. If so, execute step S800. If there are two or more sampling tubes left, use a crane to lift the sampling tube at the top, use a clamping structure to clamp the upper end of the second highest sampling tube, install a plugging structure at the connection between the highest sampling tube and the second highest sampling tube, remove the highest sampling tube, and lift the highest sampling tube to the sample extraction operation area, and then repeat step S700;

[0021] Step S800. Use a crane to lift the sampling tube equipped with the sampling cutter head to the sample extraction operation area;

[0022] Step S900. Determine whether there is subsequent sampling. If so, execute step S300. Otherwise, separate the shock absorbing assembly from the cable and the main machine respectively, and end the operation.

[0023] Further, according to the detection results of each sensor on the host, the host is controlled to be lowered for sampling, including:

[0024] Use the A-frame to suspend the host vertically, and clear the data of the attitude sensor when the host is stable;

[0025] Lower the cable to the first preset value so that the water just completely covers the preset mark on the host, and clear the data of the depth sensor and the length data of the cable on the A frame;

[0026] Lower the cable to a second preset value so that the shock absorbing assembly is completely submerged in water, and record the cable tension F0 at this time;

[0027] Based on the proven water depth DP0 of the current operating point, the cable is lowered at a first speed to a third preset value, the third preset value being the difference between the proven water depth DP0 and the range LC0 of the altimeter, and then the host is suspended to determine whether the data of the altimeter enters its measurement range LC0, if not, the cable is lowered at a second speed until the data of the altimeter enters its measurement range, and the second speed is less than the first speed;

[0028] The cable is lowered at the third speed until the height LDT of the sampling cutter head from the bottom reaches the fourth preset value, and the lowering of the cable is stopped. The height LDT of the sampling cutter head from the bottom = the height counter value LG - the length L0 of the device below the altimeter. The third speed is lower than the second speed.

[0029] After the mainframe is stable, the cable tension F1, the current depth DP1 of the depth sensor and the current altimeter value LG1 are recorded;

[0030] The penetration depth LCT is calculated based on the current measurement value DP of the depth sensor. Whether the cutter head has penetrated into the mud is determined based on the penetration depth LCT. When the penetration depth is positive, the sampling cutter head has not penetrated into the mud. When the penetration depth is negative, the sampling cutter head has penetrated into the mud. The penetration depth LCT = (LG1-L0)-(DP-DP1), where LG1 is the corresponding measurement value of the altimeter at a depth of DP1, L0 is the length of the device below the installation position of the altimeter on the sampler, and DP is the current measurement value of the depth sensor;

[0031] Before the sampling cutter head penetrates the mud, the vibration component is started to vibrate, generating vertical up and down exciting force to drive the sampling cutter head and the sampling tube to vibrate together, and the cable is stopped from being lowered when the attitude pitch and roll angles are greater than the fifth preset value or the cable tension is less than the sixth preset value, and the cable is continued to be lowered until the attitude pitch and roll angles are less than or equal to the fifth preset value and the cable tension is greater than the sixth preset value.

[0032] Further, after the sampling is completed, the main engine is hoisted upwards by using the cable of the A frame, including:

[0033] When the time without penetration effect is greater than the seventh preset value or the distance between the sediment surface and the drainage pipe outlet observed by the camera is less than the eighth preset value, the cable is stopped from being lowered and the lifting and recovery process is started;

[0034] Reduce the rotation speed of the vibration assembly, maintain the vertical exciting force, and retract the cable of the A frame;

[0035] Determine whether the cable tension during the recovery process is greater than or equal to the safe working tension of the cable or less than or equal to a ninth preset value, and if so, reduce the recovery speed of the cable or suspend the recovery of the cable;

[0036] When the penetration depth value is positive, the sampling cutter head and the sampling tube are pulled out from the sediment, and the vibration of the vibration assembly is stopped;

[0037] After the sampling cutter head and the sampling tube are pulled out of the sediment, the cable is continuously recovered by the tenth preset value, and then the recovery speed of the cable is increased to the eleventh preset value.

[0038] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0039] (1) The sampler of the present invention performs vibration sampling under the action of the vibration component, and the adhesion and friction between the sediment and the sampling tube are destroyed by the vibration, so that the sediment can enter the sampling tube more easily, which can adapt to the sampling of more seabed environments, effectively avoid the compression of the sample, and the sampling result is more authentic; when the sampler is recovered, the adhesion and friction between the sediment and the sampling tube are destroyed by the vibration, so that when recovering and lifting, only a pulling force greater than 1.5 to 2 times of its own weight is needed to pull the sampling tube out of the sediment, which effectively reduces the lifting force of the long column sample, and has lower load requirements on the A frame and the cable, which is more suitable for small boats;

[0040] (2) The sampler of the present invention has a small weight, and a longer cable can be used on a small boat, thereby realizing the sampling of seabed sediments in the deep sea by a small boat;

[0041] (3) The sampler of the present invention can realize the vertical assembly, lowering and recovery of the sampling tube, occupies a small space, and is easy to install on a small boat to carry out long column sampling of seabed sediments. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention.

[0043] Figure 1 A schematic diagram of the structure of the sampler in the present invention;

[0044] Figure 2 A schematic diagram of the structure of the host in the present invention;

[0045] Figure 3 A schematic diagram of the structure inside the host in the present invention;

[0046] Figure 4 A schematic diagram of the structure of the shock absorbing assembly in the present invention;

[0047] Figure 5 A flow chart of the sampling method of the present invention;

[0048] Figure 6 A schematic diagram of the sampler of the present invention being installed on a mother ship;

[0049] In the figure, 1 is the main engine, 11 is the main engine housing, 12 is the upper fairing, 13 is the upper pin-off cylinder, 14 is the posture sensor, 15 is the upper camera, 16 is the depth sensor, 17 is the lower camera, 18 is the altimeter, 19 is the lower fairing, 110 is the drain pipe, 111 is the lower pin-off cylinder, 112 is the control system, 113 is the motor, 114 is the hydraulic pump, 115 is the hydraulic oil tank, 116 is the hydraulic motor, 117 is the eccentric wheel assembly, 2 is the shock absorbing assembly, 21 is the inner frame, 22 is the outer frame, 23 is the flexible part, 24 is the bottom plate, 25 is the connecting column, 26 is the latch, 3 is the sampling tube, 31 is the sampling cutter head, 4 is the operation mother ship, 5 is the operation platform, and 6 is the A frame. DETAILED DESCRIPTION

[0050] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0051] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on the present invention. In order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0052] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "inside", "outside", etc. appear to indicate the orientation or position relationship, it is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as a limitation on the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0053] In the description of the present invention, unless otherwise clearly specified and limited, if the term "connection" or the like appears to indicate the connection relationship between components, the term 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 an indirect connection through an intermediate medium, it can be the internal connection of two components or the interaction relationship between 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.

[0054] like Figures 1 to 6 As shown, this embodiment provides a sampler and a sampling method suitable for deep-sea long column sampling.

[0055] The first aspect of this embodiment provides a sampler suitable for deep-sea long column sampling. Figure 1 As shown, the sampler includes a shock absorbing component 2, a main unit 1 and a sampling component, and the main unit 1 is connected to the shock absorbing component 2 and the sampling component respectively.

[0056] The main engine 1 is provided with a vibration component, and the sampling component includes a sampling tube 3, and the sampling tube 3 is rigidly connected to the main engine 1. In this embodiment, the vibration force in the vertical up and down direction generated by the vibration component when working is used as a vibration source, and the adhesion and friction between the sediment and the sampling tube 3 are destroyed by vibration, and the lateral resistance of the sediment and the sampling tube 3 to move up and down is reduced, so that the sediment can enter the sampling tube 3 more easily when sampling downward, which greatly reduces the compression of the sediment during the sampling process, making the sampling result more fidelity, and can also effectively increase the sampling length for hard sediments, clay, and sloping sand. During lifting, vibration can also destroy the adhesion and friction between the sediment and the sampling tube 3, reduce the lateral resistance of the sediment and the sampling tube 3 to move up and down, and reduce the lifting force, which solves the problem that ordinary gravity sampling relies entirely on hard pulling and requires a high load capacity of the A frame and cable on the mother ship. The host 1 is also provided with a posture sensor 14, which is used to detect the posture of the sampler during the sampling and lowering process, such as detecting whether the sampler is tilted during the lowering and sampling process, so as to adjust the posture of the sampler in time to ensure that the sampler is in a vertical lowering state to ensure the safe sampling effect of the equipment.

[0057] The host 1 is also provided with a depth sensor 16 and an altimeter 18 , through the cooperation of the depth sensor 16 and the altimeter 18 , the underwater position and penetration depth of the host 1 can be accurately located, so as to control the lowering speed of the host 1 , etc.

[0058] A camera is also provided on the host 1, and a drain pipe 110 is provided at the lower end of the host 1. During the sampling process, the underwater situation can be observed through the images collected by the camera to avoid excessive lowering of the sampler. For example, when the sediment is observed to be about to submerge the drainage holes of the drain pipe 110 through the images collected by the camera, the lowering of the sampler is stopped, and the sampling of the seabed sediment is ended to prevent the surface sediment from entering the sample tube through the holes on the drain pipe and mixing the surface sample in the tube, so as to ensure the fidelity of the sampling.

[0059] In some implementations of this embodiment, Figure 2 As shown, the host 1 includes a host housing 11 , and an altimeter 18 and a lower camera 17 are provided on the outer surface of the host housing 11 .

[0060] A vibration assembly is disposed inside the main housing 11, and the vibration assembly is rigidly connected to the lower end cover of the main housing 11. Figure 3As shown, the vibration component includes a control system 112, a motor 113, a hydraulic pump 114, a hydraulic oil tank 115, a hydraulic motor 116 and an eccentric wheel assembly 117. The vertical up and down vibration force of the main machine 1 is realized by the movement of the eccentric wheel assembly 117. The different rotation speeds of the motor 113 drive the hydraulic pump 114 to generate different flow rates, thereby driving the hydraulic motor 116 to drive the eccentric wheel assembly 117 to generate different vibration frequencies, so as to cope with the different adhesion and friction forces of different substrates on the sample tube and improve the sampling efficiency.

[0061] The upper end cover of the main engine housing 11 is provided with a hoisting assembly, a depth sensor 16 and an upper camera 15. The upper end cover of the main engine housing is provided with a hoisting assembly, and its outer cover is provided with an upper fairing 12. The hoisting assembly includes an upper pin-off cylinder 13, and the attitude sensor 14 is provided on the upper pin-off cylinder 13. The upper pin-off cylinder 13 is used to connect with the shock absorbing assembly 2 to realize the connection and disassembly between the main engine 1 and the shock absorbing assembly 2.

[0062] A drain pipe 110 is provided at the lower end of the main engine housing 11, and a lower fairing 19 is provided on its outer cover. A lower pin-off cylinder 111 is provided on the outer surface of the drain pipe 110, and a drain hole is provided on the side wall of the drain pipe 110.

[0063] The shock absorbing assembly includes an inner frame 21, an outer frame 22, a flexible member 23, a bottom plate 24, a connecting column 25 and a latch 26. The inner frame 21 is arranged on the upper surface of the bottom plate 24, and the connecting column 25 is arranged on the lower surface of the bottom plate 24. The bottom plate 24 is rigidly connected to the connecting column 25 and the inner frame 21. The inner frame 21 is located inside the outer frame 22. The inner frame 21 is connected to the outer frame 22 through the flexible member 23. A vertical waist-shaped hole is arranged on the side wall of the outer frame 22, and a corresponding round hole is arranged on the inner frame 21. The latch 26 passes through the waist-shaped hole on the outer frame 22 and the round hole on the inner frame 21 to connect and limit the outer frame 22 and the inner frame 21 to avoid separation of the inner frame 21 and the outer frame 22 when the flexible member 23 fails, thereby playing a safety role. The outer frame 22 is used to be connected to the cable, and the connecting column 25 is used to be connected to the host 1.

[0064] like Figure 4As shown, the upper end of the outer frame 22 is provided with a connecting bolt for connecting with the working cable bearing head of the cable; the lower end of the connecting column 25 is connected to the main machine 1 through the upper pin-off cylinder 13. The outer frame 22 and the inner frame 21 are flexibly connected by the flexible member 23, and the bottom plate 24 is rigidly connected with the connecting column 25 and the inner frame 21, so that the force of the cable is transmitted to the connecting column 25 through the flexible member 23, and then transmitted to the main machine 1, which plays a buffering role. Similarly, the vibration force of the main machine 1 is also transmitted to the cable through the flexible member 23, which plays a shock-absorbing role. By providing a latch 26 between the inner frame 21 and the outer frame 22, when the telescopic distance between the inner frame 21 and the outer frame 22 exceeds the preset range, the flexible connection between the inner frame 21 and the outer frame 22 is converted into a rigid connection, thereby preventing the flexible member 23 from exceeding its tensile strength due to excessive action.

[0065] When using the sampler to sample seabed sediments, the upper end of the shock absorbing assembly 2 is connected to the cable. The flexible member 23 inside the shock absorbing assembly 2 in this embodiment has a buffering and shock absorbing effect, which can prevent the vibration generated by the main engine 1 from being transmitted to the cable when it is working, and prevent the cable from fatigue fracture due to the impact caused by the vibration; the shock absorbing assembly 2 can also ensure that the main engine 1 is in a free vibration state when working, so as to better perform vibration sampling, improve the efficiency of seabed sediment sampling and sample fidelity, and its buffering characteristics can slowly load the lifting force onto the cable during lifting, and part of the force-bearing elastic force is preloaded on the cable, which cooperates with vibration to improve the lifting effect.

[0066] The sampling assembly includes one or more sampling tubes 3 connected in sequence, and the upper end of the sampling tube 3 located at the top of the sampling assembly is rigidly connected to the drainage pipe 110, that is, the sampling assembly can have only one sampling tube 3 or two or more sampling tubes 3. When the sampling assembly includes two or more sampling tubes 3, these sampling tubes 3 are connected in sequence, and the connection between the sampling tubes 3 is a detachable connection, which is convenient for the disassembly and assembly of the sampling tubes 3. When sampling, multiple sampling tubes 3 are connected in sequence to achieve long column sampling of seabed sediments; when storing, the sampling tubes 3 are disassembled into single tubes to reduce the size requirement of the storage space.

[0067] The sampling assembly also includes a sampling cutter head 31 , which can be disassembled and stored separately at ordinary times. When sampling, the sampling cutter head 31 is installed at the lower end of the sampling tube 3 located at the bottom of the sampling assembly.

[0068] The sampling assembly also includes a plugging structure, which can be detachably installed at the connection of two adjacent sampling tubes 3. The plugging structure is used to recover and remove the tubes, close or open the lower end opening of the upper sampling tube 3 of the two adjacent sampling tubes 3 to prevent the sample from slipping. When the sample is to be recovered, the plugging structure is installed at the connection of the two adjacent sampling tubes 3 to seal the lower end of the upper sampling tube 3, so that the sampling tube 3 can be disassembled in a vertical state without the sample slipping from the lower end opening. It is not necessary to place the sampling tube 3 horizontally before disassembling the sampling tube 3, which reduces the size requirement of the operation mother ship 4, so that long column sampling of seabed sediments can also be carried out on a small boat.

[0069] In the sampler of this embodiment, the main unit 1 is flexibly connected to the cable through a shock-absorbing assembly upward to prevent the vibration force from being transmitted to the cable. The main unit 1 is rigidly connected to the drain pipe and sampling tube assembly downward to improve the effect of transmitting the vibration force downward.

[0070] It should be noted that the sampling cutter head 31 and the blocking structure in this embodiment are both prior arts. The sampling cutter head 31 can adopt the sediment sampling cutter head disclosed in the patent with application number CN202122962647.0, and the blocking structure can adopt the sediment sample anti-slip device disclosed in the patent with application number CN202122981365.5. The connection between the sampling tubes adopts the sampling tube connection structure disclosed in the patent with application number CN202122981386.7, which will not be repeated here.

[0071] The second aspect of this embodiment discloses a sampling method suitable for deep-sea long column sampling, which is applied to the sampler as described in the first aspect of this embodiment. Figure 5 As shown, the sampling method includes steps S100 to S900.

[0072] Step S100. An A-frame 6 and an operating platform 5 are arranged on the operating mother ship 4. The operating platform 5 is provided with a turning bracket and a clamping structure, and a cable is installed on the A-frame 6.

[0073] In some implementations of this embodiment, the working platform 5 is arranged at the edge of the stern deck of the working mother ship 4 to facilitate sampling operations, and the clamping structure is located at the edge of the stern deck of the working mother ship 4 to facilitate clamping of the sampling tube 3.

[0074] Step S200. Place the host 1 on the flip bracket, connect the upper end of the shock absorbing assembly 2 to the cable, connect the upper end of the host 1 to the lower end of the shock absorbing assembly 2, connect the host 1 to the control device with a control cable, debug the equipment with the control software, and then drive the operating mother ship 4 to the target position.

[0075] After the host 1 is connected to the control device through the control cable, the altimeter 18 , the depth sensor 16 , the attitude sensor 14 , the upper camera 15 and the lower camera 17 on the host 1 are powered on to test whether they work normally.

[0076] Step S300. Take a sampling tube 3, install a sampling cutter head 31 at the lower end of the sampling tube 3, use a crane to lift the sampling tube 3 installed with the sampling cutter head 31 to stand upright, and use a clamping structure to clamp the upper end of the sampling tube 3.

[0077] For example, when the clamping structure is located at the tail of the working platform 5, the sampling tube 3 with the sampling cutter head 31 installed is hoisted to the tail of the working platform 5 by a crane, and the sampling tube 3 is clamped by the clamping structure.

[0078] In some implementations of this embodiment, when the sampling tube 3 is clamped by the clamping structure, the clamping position is located at the upper half of the sampling tube 3 .

[0079] Step S400. Determine whether there are any sampling tubes 3 that need to be connected. If not, execute step S500. If yes, use a crane to lift a new sampling tube 3 upright, connect the lower end of the new sampling tube 3 to the upper end of the clamped sampling tube 3, then lower the sampling tube 3, use the clamping structure to clamp the upper end of the topmost sampling tube 3, and then repeat step S400.

[0080] Step S500. Use the A frame 6 to lift the main machine 1, connect the lower end of the main machine 1 to the upper end of the sampling tube 3 located at the top, swing the A frame 6 outward to swing the main machine 1 together with the sampling tube, slowly lower the cable, and control the lowering speed and rhythm of the main machine 1 according to the detection results of each sensor on the main machine 1 to perform sampling.

[0081] In some implementations of this embodiment, controlling the host 1 to be lowered for sampling according to the detection results of each sensor on the host 1 includes:

[0082] The host 1 is suspended vertically by using the A-frame 6. When the host 1 is stable, the data of the attitude sensor 14 is cleared to make the pitch and roll angles zero, which serves as a reference for subsequent judgment of the attitude of the host 1.

[0083] By observing from the stern, the cable is lowered to the first preset value so that the water just completely covers the preset mark on the main engine 1 (such as the upper fairing 12 on the main engine 1), and the data of the depth sensor 16 and the length data of the cable on the A frame 6 are cleared to zero, so that the subsequent cable lowering and the depth sensor 16 data are synchronized. The specific value of the first preset value is determined according to the length of the main engine 1 and the lifting seat, etc. When the cable is lowered to the first preset value, the water just covers the upper fairing 12 of the main engine 1. In actual operation, there may be a certain error.

[0084] By observing from the stern, lower the cable to the second preset value so that the shock absorbing assembly 2 is completely submerged in the water, and record the cable tension F0 at this time. At this time, the tension is basically consistent with the gravity of the sampler in the water, which is used as a reference for the lifting force when the subsequent sampling is completed; according to the number of sampling tubes 3, the length of a single tube, the length of the sampling cutter head 31 and the installation position of the altimeter 18, calculate the length of the equipment below the altimeter 18 of this operation L0, which is used as a reference for the subsequent calculation of the penetration depth. For example, the second preset value is 1.9 meters, 2 meters, 2.1 meters, etc.

[0085] Based on the proven water depth DP0 of the current operation point, the cable is lowered to the third preset value at the first speed. The third preset value is the difference between the proven water depth DP0 and the range LC0 of the altimeter 18. During the cable release process, pay attention to the data of the altimeter 18. If the altimeter 18 shows stable data within the range, it has entered the range of the altimeter 18. Then, the host 1 is suspended to determine whether the data of the altimeter 18 has entered its measurement range LC0. If not, the host 1 is lowered at the second speed until the data of the altimeter 18 enters its measurement range. The second speed is less than the first speed. The water depth DP0 of the current operation point is determined in advance by detection. The value of the third preset value is DP0-100 meters. The value of the third preset value can fluctuate up and down by a certain value on the basis of DP0-100 meters, for example, 5 meters. By lowering the cable to the third preset value and then suspending the host 1, it is possible to avoid the sampler touching the bottom during the rapid lowering process, causing sampling failure. After the data of the altimeter 18 enters its range, the altimeter 18 displays the height of the device from the bottom in real time.

[0086] The main machine 1 is lowered at the third speed until the height LDT of the sampling cutter head 31 from the bottom reaches the fourth preset value, and the cable is suspended. The height LDT of the sampling cutter head 31 from the bottom = the value LG of the altimeter 18 - the length L0 of the device below the altimeter 18. The third speed is lower than the second speed. The fourth preset value is 1.5 meters to 2.5 meters, and a floating of 0.5 meters is allowed.

[0087] After the host 1 is in a stable posture, the cable tension F1, the current depth DP1 of the depth sensor 16 and the current value LG1 of the altimeter 18 are recorded. The cable tension F1 at this time includes the tension F0 just after entering the water and the cable gravity in the water.

[0088] The penetration depth LCT is calculated based on the current measurement value DP of the depth sensor 16, and whether the sampling cutter head 31 penetrates into the mud is determined based on the penetration depth LCT. When the penetration depth is positive, the sampling cutter head 31 does not penetrate into the mud, and when the penetration depth is negative, the sampling cutter head 31 penetrates into the mud. The penetration depth LCT=(LG1-L0)-(DP-DP1), LG1 is the corresponding measurement value of the altimeter 18 when the depth is DP1, L0 is the equipment length below the installation position of the altimeter 18 on the sampler, and DP is the current measurement value of the depth sensor 16. Since the altimeter 18 will generate noise in the subsequent operation of the vibration component to interfere with the normal operation of the altimeter 18, resulting in height measurement errors, the depth sensor 16 is used in this embodiment to calculate the penetration depth.

[0089] Before the sampling cutter head 31 penetrates the mud, the vibration component is started to vibrate, generating vertical up and down exciting force, driving the sampling cutter head 31 and the sampling tube 3 to vibrate together, which can effectively reduce the adhesion and friction between the sampling cutter head 31 and the sampling tube 3 and the mud, and stop lowering the cable when the attitude pitch and roll angle is greater than the fifth preset value or the cable tension is less than the sixth preset value, and continue lowering the cable until the attitude pitch and roll angle is less than or equal to the fifth preset value and the cable tension is greater than the sixth preset value. For example, through the vibration of the vibration component, the friction between the sampling cutter head 31 and the sampling tube 3 and the mud (sediment) can be reduced, the penetration efficiency can be improved, and the cable can be slowly lowered after the rotation speed stabilizes. For example, when the pitch and roll angles of the attitude are not greater than 3° (the control software of the control device prompts "lowering is allowed") and the cable tension is not less than 0.90 times F0 + (F1-F0), that is, F1-0.1 times F0, the cable lowering continues. If any of the attitude and tension conditions are not met (the control software prompts "stop lowering"), the cable operator will immediately stop lowering the cable.

[0090] Step S600. After sampling is completed, the main unit 1 is lifted upwards using the cable recovery of the A frame 6, and the upper end of the sampling tube 3 located at the top is clamped using the clamping structure, and the sampling tube 3 is separated from the drainage pipe 110 interface of the main unit 1, and the main unit 1 is lifted and placed on the flip bracket using the A frame 6.

[0091] In some implementations of this embodiment, after sampling is completed, the main machine 1 is hoisted upward by using the cable of the A frame, including:

[0092] When the time without penetration effect is greater than the seventh preset value or the distance between the sediment surface and the outlet of the drain pipe 110 is less than the eighth preset value as observed by the lower camera 17, the cable is stopped and the lifting and recovery process is started. For example, for hard sediments, when the sampler has no penetration effect for a long time, the cable is stopped and the lifting and recovery process is started; for soft sediments, when the sediment surface is seen to be about to submerge the outlet of the drain pipe 110 by the penetration depth or the lower camera 17, the cable is stopped and the lifting and recovery process is started.

[0093] Reduce the speed of the vibration assembly, maintain the vertical excitation force, effectively reduce the adhesion and friction between the sampling cutter head 31 and the sampling tube 3 and the mud, effectively reduce the lifting force, and slowly recover the cable of the A frame 6. After entering the lifting and recovery process, adjust the speed of the vibration assembly to a lower speed to keep the friction between the sampling cutter head 31 and the sampling tube 3 and the sediment low due to vibration, so that it can be recovered with a smaller lifting force, and the cable of the A frame 6 begins to recover slowly.

[0094] Determine whether the cable tension during the recovery process is greater than or equal to the safe working tension of the cable or less than or equal to the ninth preset value. If so, reduce the cable recovery speed or suspend the cable recovery. For example, when the cable tension during the recovery process is greater than or equal to the safe working tension of the cable or less than or equal to 1.5 to 2 times F0+(F1-F0), reduce the cable recovery speed or suspend the cable recovery. During the recovery process, when the tension increases significantly, slow down or even pause to keep the lifting force within a safe range, adjust the speed and wait for the vibration to reduce the friction, and continue to slowly lift up after the lifting force returns to the safe range until the penetration depth value is a positive number and the sampling cutter head 31 and the sampling tube 3 are completely pulled out of the sediment.

[0095] When the penetration depth is positive, the sampling cutter head 31 and the sampling tube 3 are pulled out of the sediment, and the vibration of the vibration assembly is stopped. After the sampler is stable, the current cable tension F2 is recorded, and the weight of the sample obtained during the operation is approximately equal to F2-F1.

[0096] After the sampling cutter head 31 and the sampling tube 3 are pulled out from the sediment, the cable of the tenth preset value is continued to be recovered, and then the cable recovery speed is increased to the eleventh preset value. For example, after the sampling cutter head 31 and the sampling tube 3 are pulled out from the sediment, they are slowly lifted up for 5 meters, and then the sampler is recovered to the operation mother ship 4 at a normal cable recovery speed for tube removal, completing a complete sampling operation.

[0097] Step S700. Check whether there is a sample in the sampling tube 3. If there is a sample, remove the surface water and seal it with a plug to prevent the sample from collapsing; determine whether there is only one sampling tube 3 left. If so, execute step S800. If there are two or more sampling tubes 3 left, use a crane to lift the sampling tube 3 at the top, use a clamping structure to clamp the upper end of the second highest sampling tube 3, install a sealing structure at the connection between the highest sampling tube 3 and the second highest sampling tube 3, remove the highest sampling tube 3, lift the highest sampling tube 3 to the sample extraction operation area, and then repeat step S700.

[0098] Step S800: Use a crane to lift the sampling tube 3 equipped with the sampling cutter head 31 to the sample extraction operation area.

[0099] Step S900. Determine whether there is subsequent sampling. If so, execute step S300. Otherwise, separate the shock absorbing assembly 2 from the cable and the main machine 1 respectively, and end the operation.

[0100] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A sampler suitable for deep-sea long column sampling, characterized in that: include: A shock absorbing assembly, the upper end of which is used to be connected with the cable; A host, the upper end of which is connected to the lower end of the shock-absorbing assembly, the host is provided with a vibration assembly, a posture sensor, a depth sensor, an altimeter and a camera, and the lower end of the host is provided with a drainage pipe; The sampling assembly includes one or more sampling tubes connected in sequence. The upper end of the sampling tube located at the top of the sampling assembly is rigidly connected to the drain pipe, and the lower end of the sampling tube located at the bottom of the sampling assembly is equipped with a sampling cutter head. A detachable sealing structure is installed at the connection between adjacent sampling tubes. The sealing structure is used to close or open the lower end of the sampling tube located at the top of two adjacent sampling tubes.

2. The sampler suitable for deep-sea long column sampling according to claim 1, characterized in that: The host comprises a host shell, the outer surface of which is provided with an altimeter and a lower camera; a vibration component is provided inside the host shell; a hoisting component, a depth sensor and an upper camera are provided at the upper end of the host shell, a hoisting component is provided at the upper end cover of the host shell, an upper fairing is provided on its outer cover, and a posture sensor is provided on the hoisting component; a drain pipe is provided at the lower end of the host shell, and a lower fairing is provided on its outer cover.

3. The sampler suitable for deep-sea long column sampling according to claim 1, characterized in that: The shock absorbing assembly includes an inner frame, an outer frame, a bottom plate, a connecting column and a latch. The lower surface of the bottom plate is provided with a connecting column, the upper surface of the bottom plate is provided with an inner frame, the bottom plate is rigidly connected to the connecting column and the inner frame, the inner frame is located inside the outer frame, the inner frame is connected to the outer frame through a flexible member, a vertical waist-shaped hole is provided on the side wall of the outer frame, a corresponding round hole is provided on the inner frame, the latch passes through the waist-shaped hole on the outer frame and the round hole on the inner frame to connect the outer frame and the inner frame, the outer frame is used to be connected to a cable, and the connecting column is used to be connected to a host.

4. A sampling method for deep-sea long column sampling, applied to a sampler as claimed in any one of claims 1 to 3, characterized in that: The sampling method comprises: Step S100. An A frame and an operating platform are arranged on the operating mother ship, wherein the operating platform is provided with a flip bracket and a clamping structure, and a cable is installed on the A frame; Step S200. Place the main engine on the flip bracket, connect the upper end of the shock absorbing assembly to the cable, connect the upper end of the main engine to the lower end of the shock absorbing assembly, connect the main engine to the control device using a control cable, and then drive the mother ship to the target location; Step S300. Take a sampling tube, install a sampling cutter head at the lower end of the sampling tube, use a crane to lift the sampling tube with the sampling cutter head installed to stand upright, and use a clamping structure to clamp the upper end of the sampling tube; Step S400. Determine whether there are any more sampling tubes that need to be connected. If not, execute step S500. If yes, use a crane to lift a new sampling tube and connect the lower end of the new sampling tube to the upper end of the clamped sampling tube. Then lower the sampling tube, clamp the upper end of the uppermost sampling tube with the clamping structure, and then repeat step S400. Step S500. Use the A frame to lift the main machine, connect the lower end of the main machine to the upper end of the sampling tube located at the top, swing the A frame outward to swing the main machine and the sampling tube outward, and control the main machine to be lowered for sampling according to the detection results of each sensor on the main machine; Step S600. After sampling is completed, the main machine is lifted upward by the cable recovery of the A frame, and the upper end of the sampling tube located at the top is clamped by the clamping structure, and the sampling tube is separated from the drainage pipe interface of the main machine, and the main machine is lifted and placed on the flip bracket by the A frame; Step S700. Check whether there is a sample in the sampling tube. If there is a sample, remove the surface water and plug it with a plug to prevent the sample from collapsing; determine whether there is only one sampling tube left. If so, execute step S800. If there are two or more sampling tubes left, use a crane to lift the sampling tube at the top, use a clamping structure to clamp the upper end of the second highest sampling tube, install a plugging structure at the connection between the highest sampling tube and the second highest sampling tube, remove the highest sampling tube, and lift the highest sampling tube to the sample extraction operation area, and then repeat step S700; Step S800. Use a crane to lift the sampling tube equipped with the sampling cutter head to the sample extraction operation area; Step S900. Determine whether there is subsequent sampling. If so, execute step S300. Otherwise, separate the shock absorbing assembly from the cable and the main machine respectively, and end the operation.

5. The sampling method suitable for deep-sea long column sampling according to claim 4, characterized in that: According to the detection results of each sensor on the host, the host is controlled to be lowered for sampling, including: Use the A-frame to suspend the host vertically, and clear the data of the attitude sensor when the host is stable; Lower the cable to the first preset value so that the water just completely covers the preset mark on the host, and clear the data of the depth sensor and the length data of the cable on the A frame; Lower the cable to a second preset value so that the shock absorbing assembly is completely submerged in water, and record the cable tension F0 at this time; Based on the proven water depth DP0 of the current operating point, the cable is lowered at a first speed to a third preset value, the third preset value being the difference between the proven water depth DP0 and the range LC0 of the altimeter, and then the host is suspended to determine whether the data of the altimeter enters its measurement range LC0, if not, the cable is lowered at a second speed until the data of the altimeter enters its measurement range, and the second speed is less than the first speed; The cable is lowered at the third speed until the height LDT of the sampling cutter head from the bottom reaches the fourth preset value, and the lowering of the cable is stopped. The height LDT of the sampling cutter head from the bottom = the height counter value LG - the length L0 of the device below the altimeter. The third speed is lower than the second speed. After the mainframe is stable, record the cable tension F1, the current depth DP1 of the depth sensor and the current altimeter value LG1; The penetration depth LCT is calculated based on the current measurement value DP of the depth sensor. The penetration depth LCT is used to determine whether the sampling cutter head has penetrated into the mud. When the penetration depth is positive, the sampling cutter head has not penetrated into the mud. When the penetration depth is negative, the sampling cutter head has penetrated into the mud. The penetration depth LCT = (LG1-L0)-(DP-DP1), where LG1 is the corresponding measurement value of the altimeter at a depth of DP1, L0 is the length of the device below the installation position of the altimeter on the sampler, and DP is the current measurement value of the depth sensor; Before the sampling cutter head penetrates the mud, the vibration component is started to vibrate, generating vertical up and down exciting force to drive the sampling cutter head and the sampling tube to vibrate together, and the cable is stopped from being lowered when the attitude pitch and roll angles are greater than the fifth preset value or the cable tension is less than the sixth preset value, and the cable is continued to be lowered until the attitude pitch and roll angles are less than or equal to the fifth preset value and the cable tension is greater than the sixth preset value.

6. The sampling method suitable for deep-sea long column sampling according to claim 4, characterized in that: After sampling is completed, the main engine is hoisted upward using the cable of frame A, including: When the time without penetration effect is greater than the seventh preset value or the distance between the sediment surface and the drainage pipe outlet observed by the camera is less than the eighth preset value, the cable is stopped from being lowered and the lifting and recovery process is started; Reduce the rotation speed of the vibration assembly, maintain the vertical exciting force, and retract the cable of the A frame; Determine whether the cable tension during the recovery process is greater than or equal to the safe working tension of the cable or less than or equal to a ninth preset value, and if so, reduce the recovery speed of the cable or suspend the recovery of the cable; When the penetration depth value is positive, the sampling cutter head and the sampling tube are pulled out from the sediment, and the vibration of the vibration assembly is stopped; After the sampling cutter head and the sampling tube are pulled out from the sediment, the cable is continuously recovered by the tenth preset value, and then the recovery speed of the cable is increased to the eleventh preset value.

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