Submarine sediment detecting and sampling device and working method thereof

Abstract

The invention discloses a submarine sediment detecting and sampling device and a working method thereof, and belongs to the field of marine sediment sampling. The submarine sediment detecting and sampling device comprises an underwater propeller, an underwater walker and a detecting and sampling device which are sequentially arranged from top to bottom; the detection sampler comprises a supporting frame, an insertion driving air cylinder fixed to the top end of the interior of the supporting frame and an equilateral triangle mounting plate fixed to the bottom end of a piston of the insertion driving air cylinder, and a sampling pipe is fixed to the center of the equilateral triangle mounting plate. A temperature gradient detection assembly, a salinity gradient detection assembly, an acoustic detection assembly and a GPS positioning assembly are respectively fixed at the corners of the equilateral triangle mounting plate, and a bubble detection assembly is also fixed on the equilateral triangle mounting plate. By adopting the submarine sediment detecting and sampling device and the working method thereof, a plurality of areas can be detected after the submarine sediment detecting and sampling device is put once, the detection efficiency is improved, and the detection cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of marine sediment sampling, in particular to a seabed sediment detection sampling device and a working method thereof. Background Art

[0002] The seabed sediment detection sampling device is used to collect sound wave propagation characteristics and temperature characteristics while sampling shallow seabed sediments, so as to use the sound wave propagation characteristics to measure and analyze the properties of seabed sediments in situ. It can non-destructively obtain important information such as the thickness, structure, particle size distribution and water content of the sediment layer.

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

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

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

[0006] It can be seen that the existing seabed sediment detection and sampling devices have the following defects: 1. Only a specific area can be detected at a time. When measuring the next area, it is necessary to salvage it and transport it to the next measurement area with the help of a delivery ship and then deliver it again. The operation is cumbersome and the cost is high. 2. Environmental factors are not taken into account, and the detection accuracy of the corresponding acoustic wave characteristics is poor. Summary of the invention

[0007] The purpose of the present invention is to provide a seabed sediment detection sampling device and a working method thereof to solve the above technical problems.

[0008] To achieve the above-mentioned purpose, the present invention provides a seabed sediment detection sampling device, comprising an underwater propeller, an underwater walker and a detection sampler arranged in sequence from top to bottom, wherein the detection sampler comprises a support frame, an insertion drive cylinder fixed to the top of the support frame, and an equilateral triangle mounting plate fixed to the bottom end of the piston of the insertion drive cylinder, a sampling tube is fixed to the center of the equilateral triangle mounting plate, a temperature gradient detection component, a salinity gradient detection component, an acoustic detection component and a GPS positioning component are respectively fixed to the corners of the equilateral triangle mounting plate, and a bubble detection component is also fixed to the equilateral triangle mounting plate, the bubble detection component, the temperature gradient detection component, the salinity gradient detection component, the acoustic detection component and the GPS positioning component are all electrically connected to a data collector, the data collector is electrically connected to a memory via a processor, and the processor is used to obtain acoustic wave characteristics according to the collected data of the bubble detection component, the temperature gradient detection component, the salinity gradient detection component and the acoustic detection component.

[0009] Preferably, the temperature gradient detection assembly, the salinity gradient detection assembly and the acoustic detection assembly all include a plunger; The temperature gradient detection assembly includes a plurality of temperature sensors fixed on the plug rod in a linear array from top to bottom; The salinity gradient detection assembly includes a plurality of conductivity sensors fixed on the rod in a linear array from top to bottom; The acoustic detection assembly includes an acoustic emission transducer fixed on the top of the equilateral triangle mounting plate and a plurality of acoustic receiving transducers fixed on the insertion rod in a linear array from top to bottom; The bubble detection component is a bubble detector.

[0010] Preferably, a accommodating bin is fixed at each of the four inner corners of the support frame, the accommodating bin is connected to the top of the sampling tube via a connecting pipe, and a sewage suction pump is provided on the connecting pipe.

[0011] Preferably, the underwater propeller includes a shell, a horizontal propulsion assembly and a vertical propulsion assembly, wherein the horizontal propulsion assembly includes four horizontal propellers symmetrically arranged on both sides of the shell, and the vertical propulsion assembly includes four vertical propellers centrally symmetrically fixed to the top of the shell.

[0012] Preferably, the underwater walking device comprises a mounting seat fixed to the bottom end of the shell and a plurality of joint walking assemblies fixed to the circumferential side of the mounting seat with a central symmetry, wherein the joint walking assembly comprises a first joint with one end vertically rotatably arranged on the mounting seat, a second joint vertically rotatably connected to the other end of the first joint, and a walking component vertically rotatably arranged at one end of the second joint away from the first joint; Joint adjustment components are arranged between the mounting seat and the first joint and between the first joint and the second joint, and the second joint is connected to the walking component via the walking drive component.

[0013] Preferably, the joint adjustment assembly includes an adjustment drive motor fixed on the mounting seat or the first joint and a rotating shaft arranged at the rotation connection between the mounting seat and the first joint or at the rotation connection between the first joint and the second joint, and the adjustment drive motor is fixedly connected to the rotating shaft via a driving pulley, a transmission belt, and a driven pulley in sequence; The travel drive assembly includes a travel drive motor fixed on the second joint, and the travel assembly includes a travel wheel vertically rotatably arranged on the second joint. The travel drive motor is fixedly connected to the wheel axle of the travel wheel via a driving pulley, a transmission belt, and a driven pulley in sequence.

[0014] Preferably, the bottom end of the mounting seat is fixedly connected to the top end of the supporting frame.

[0015] The working method of the seabed sediment detection and sampling device comprises the following steps: S1. Use a launching ship to transport the seabed sediment detection and sampling device to a designated location and then launch it, allowing it to fall to the seabed by its own weight; S2, using the ultrasonic transmitter to emit ultrasonic waves to the seabed in real time, and using the signal received by the ultrasonic receiver to determine the distance s between the seabed and the seabed, and when the distance s is less than the set distance, open the vertical propulsion assembly to reduce the falling speed, and open the horizontal propulsion assembly according to the navigation of the GPS positioning component to approach the area to be detected until soft landing; S3, using the GPS positioning component to collect the landing point position and compare it with the position of the area to be detected. If it is in the area to be detected, the underwater walker will not move. If it deviates from the area to be detected, the walking drive motor will be turned on under the navigation of the GPS positioning component until it reaches the area to be detected; S4, turning off the travel motor and turning on the adjustment drive motor to drive the rotating shaft to rotate away from the mounting seat until the bottom end of the support frame touches the seabed; S5, control the piston of the insertion drive cylinder to extend, drive the sampling tube and the insertion rod to simultaneously insert into the sediment layer for sampling and acoustic wave detection operations, and after the sampling is completed, control the piston of the insertion drive cylinder to retract, and simultaneously open one of the sewage suction pumps to pump the sampled sediment into the containing bin, and the detection of this area is completed; S6, adjusting the driving motor to move in the reverse direction, driving the rotating shaft to rotate in the direction close to the mounting seat, until the walking wheel supports the seabed again, at which time the bottom end of the supporting frame is out of contact with the seabed, and driving to the next detection area under the guidance of the GPS positioning component, repeating steps S4 and S5, extracting the sediment into another containing bin, until all areas are detected; S7. Control the vertical propulsion assembly to move in reverse, driving the seabed sediment detection and sampling device to float up to the ocean surface, and then salvage it with the help of a salvage device.

[0016] Preferably, the acoustic wave detection step described in step S5 is as follows: S51, using a temperature sensor and a salinity sensor to detect the temperature and salinity of the seawater respectively, and using a bubble detector to predict the distribution data of bubbles; S52, using the Mackenzie calculation method to calculate the sound velocity of each layer according to the detected temperature and salinity, and obtain the sound velocity profile; S53, input the sound velocity profile and bubble distribution data into the RAM numerical simulation model, and use the sound line tracing method or the ray tracing method to calculate the propagation path of the sound wave.

[0017] Therefore, the present invention adopts the above-mentioned seabed sediment detection sampling device and working method, which has the following beneficial effects: 1. It can detect multiple areas after one deployment, which improves the detection efficiency and reduces the detection cost; 2. Considering the influence of temperature, salinity and bubbles at the same time to analyze the characteristics of sound waves, the results are more accurate.

[0018] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall structure of a seabed sediment detection and sampling device of the present invention; Figure 2 This is a schematic diagram of the structure of a detection sampler of a seabed sediment detection sampling device of the present invention; Reference numerals 1. Underwater thruster; 11. Horizontal propulsion assembly; 12. Shell; 13. Vertical propulsion assembly; 2. Underwater walker; 21. Mounting seat; 22. Adjustment drive motor; 23. First joint; 24. Second joint; 25. Travel drive motor; 26. Rotating shaft; 27. Transmission belt; 28. Travel wheel; 3. Detection sampler; 31. Support frame; 32. Insert rod; 33. Insert drive cylinder; 34. Right triangle mounting plate; 35. Sampling tube; 36. Connecting tube; 37. Storage compartment. DETAILED DESCRIPTION

[0020] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the invented product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In the description of the present invention, it should also be noted that, unless otherwise clearly specified and limited, the terms "setting", "installation", and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0021] The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings.

[0022] like Figure 1 and Figure 2 As shown, a seabed sediment detection sampling device includes an underwater propeller 1, an underwater walker 2 and a detection sampler 3 arranged in sequence from top to bottom, wherein the detection sampler 3 includes a support frame 31, an insertion drive cylinder 33 fixed to the top of the support frame 31, and an equilateral triangle mounting plate 34 fixed to the bottom end of the piston of the insertion drive cylinder 33, a sampling tube 35 is fixed to the center of the equilateral triangle mounting plate 34, a temperature gradient detection component, a salinity gradient detection component, an acoustic detection component and a GPS positioning component are respectively fixed to the corners of the equilateral triangle mounting plate 34, and a bubble detection component is also fixed on the equilateral triangle mounting plate 34, the bubble detection component, the temperature gradient detection component, the salinity gradient detection component, the acoustic detection component and the GPS positioning component are all electrically connected to the data collector, the data collector is electrically connected to the memory via the processor, and the processor is used to obtain acoustic wave characteristics according to the collected data of the bubble detection component, the temperature gradient detection component, the salinity gradient detection component and the acoustic detection component.

[0023] The temperature gradient detection component, the salinity gradient detection component and the acoustic detection component all include an insertion rod 32; the temperature gradient detection component includes a plurality of temperature sensors fixed on the insertion rod 32 in a linear array from top to bottom; the salinity gradient detection component includes a plurality of conductivity sensors fixed on the insertion rod 32 in a linear array from top to bottom; the acoustic detection component includes an acoustic emission transducer fixed on the top of an equilateral triangle mounting plate 34 and a plurality of acoustic receiving transducers fixed on the insertion rod 32 in a linear array from top to bottom; the bubble detection component is a bubble detector.

[0024] It should be noted that the above-mentioned electronic components are mature products on the market. This embodiment only needs to purchase them and connect them according to the instructions. No improvement is made to them, so their circuit connection structure and principle will not be described in detail here.

[0025] The four internal corners of the support frame 31 are fixed with a containing chamber 37, which is connected to the top of the sampling tube 35 via a connecting pipe 36. A sewage suction pump is provided on the connecting pipe 36. In this embodiment, the sewage suction step is that the two containing chambers 37 located at opposite corners suck sewage in turn to improve the overall stability.

[0026] It should also be noted that, in the present embodiment, the number of detections per delivery can be increased by increasing the number of storage bins 37. The four storage bins 37 here should be understood as examples and should not be understood as limitations on the present application.

[0027] The underwater propeller 1 includes a shell 12, a horizontal propulsion assembly 11 and a vertical propulsion assembly 13, wherein the horizontal propulsion assembly 11 includes four horizontal propellers arranged on both sides of the shell 12 symmetrically, and the vertical propulsion assembly 13 includes four vertical propellers fixed symmetrically to the top of the shell 12, which are used to achieve a soft landing as a whole to avoid damage to the device due to excessive impact, and at the same time preliminarily adjust the overall position according to the navigation during the descent.

[0028] The underwater walker 2 includes a mounting base 21 fixed to the bottom end of the shell 12 and a plurality of joint walking assemblies fixed symmetrically to the circumferential side of the mounting base 21. The joint walking assembly includes a first joint 23 with one end vertically rotatably arranged on the mounting base 21, a second joint 24 vertically rotatably connected to the other end of the first joint 23, and a walking component vertically rotatably arranged at the end of the second joint 24 away from the first joint 23; joint adjustment components are arranged between the mounting base 21 and the first joint 23 and between the first joint 23 and the second joint 24, and the second joint 24 is connected to the walking component via a walking drive component.

[0029] The joint adjustment assembly includes an adjustment drive motor 22 fixed on the mounting seat 21 or the first joint 23 and a rotating shaft 26 arranged at the rotation connection between the mounting seat 21 and the first joint 23 or the rotation connection between the first joint 23 and the second joint 24. The adjustment drive motor 22 is fixedly connected to the rotating shaft 26 via a driving pulley, a transmission belt 27, and a driven pulley in sequence; the walking drive assembly includes a walking drive motor 25 fixed on the second joint 24, and the walking assembly includes a walking wheel 28 vertically rotatably arranged on the second joint 24. The walking drive motor 25 is fixedly connected to the wheel axle of the walking wheel 28 via a driving pulley, a transmission belt 27, and a driven pulley in sequence, thereby realizing the rotation of the first joint 23 or the second joint 24 by means of the adjustment drive motor 22, so that the walking wheel 28 contacts or does not contact the ground. When the walking wheel 28 contacts the ground, it is used to drive the overall movement with the help of the walking wheel 28 to realize multi-point detection. When the walking wheel 28 does not contact the ground, it is used to improve the positioning stability of the support frame 31, so as to facilitate the smooth progress of the detection operation.

[0030] The bottom end of the mounting seat 21 is fixedly connected to the top end of the supporting frame 31 .

[0031] The working method of the seabed sediment detection and sampling device comprises the following steps: S1. Use a launching ship to transport the seabed sediment detection and sampling device to a designated location and then launch it, allowing it to fall to the seabed by its own weight; S2, using the ultrasonic transmitter to emit ultrasonic waves to the seabed in real time, and using the signal received by the ultrasonic receiver to determine the distance s between the seabed and the vertical propulsion assembly 13, when the distance s is less than the set distance, reducing the falling speed, and opening the horizontal propulsion assembly 11 according to the navigation of the GPS positioning component, approaching the area to be detected until soft landing; S3, using the GPS positioning component to collect the landing point position, and compare it with the position of the area to be detected. If it is in the area to be detected, the underwater walking device 2 does not move. If it deviates from the area to be detected, the walking drive motor 25 is turned on under the navigation of the GPS positioning component until it walks to the area to be detected; S4, turning off the travel motor and turning on the adjustment drive motor 22 to drive the rotating shaft 26 to rotate away from the mounting seat 21 until the bottom end of the support frame 31 contacts the seabed; S5, control the piston of the insertion drive cylinder 33 to extend, drive the sampling tube 35 and the insertion rod 32 to simultaneously insert into the sediment layer for sampling and acoustic wave detection operations, and after the sampling is completed, control the piston of the insertion drive cylinder 33 to retract, and simultaneously open one of the sewage suction pumps to pump the sampled sediment into the containing bin 37, and the detection of this area is completed; The acoustic wave detection steps described in step S5 are as follows: S51, using a temperature sensor and a salinity sensor to detect the temperature and salinity of the seawater respectively, and using a bubble detector to predict the distribution data of bubbles; S52, using the Mackenzie calculation method to calculate the sound velocity of each layer according to the detected temperature and salinity, and obtain the sound velocity profile; S53, input the sound velocity profile and bubble distribution data into the RAM numerical simulation model, and use the sound line tracing method or the ray tracing method to calculate the propagation path of the sound wave.

[0032] S6, adjust the driving motor 22 to move in the reverse direction, drive the rotating shaft 26 to rotate in the direction close to the mounting seat 21, until the walking wheel 28 supports the seabed again, at this time, the bottom end of the supporting frame 31 is out of contact with the seabed, and the supporting frame 31 drives to the next detection area under the navigation of the GPS positioning component, repeats steps S4 and S5, and extracts the sediment into another containing bin 37 until all areas are detected; S7, control the vertical propulsion assembly 13 to move in the reverse direction, drive the seabed sediment detection and sampling device to float up to the ocean surface, and then salvage it with the help of a salvage device.

[0033] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A seabed sediment detection and sampling device, characterized in that: The invention comprises an underwater propeller, an underwater walker and a detection sampler which are arranged in sequence from top to bottom, wherein the detection sampler comprises a support frame, an insertion drive cylinder fixed to the top of the support frame, and an equilateral triangle mounting plate fixed to the bottom end of the piston of the insertion drive cylinder, a sampling tube is fixed at the center of the equilateral triangle mounting plate, a temperature gradient detection component, a salinity gradient detection component, an acoustic detection component and a GPS positioning component are respectively fixed at the corners of the equilateral triangle mounting plate, a bubble detection component is also fixed on the equilateral triangle mounting plate, the bubble detection component, the temperature gradient detection component, the salinity gradient detection component, the acoustic detection component and the GPS positioning component are all electrically connected to a data collector, the data collector is electrically connected to a memory via a processor, and the processor is used to obtain acoustic wave characteristics according to the collected data of the bubble detection component, the temperature gradient detection component, the salinity gradient detection component and the acoustic detection component.

2. The seabed sediment detection and sampling device according to claim 1 is characterized in that: The temperature gradient detection assembly, the salinity gradient detection assembly and the acoustic detection assembly all include a plunger; The temperature gradient detection assembly includes a plurality of temperature sensors fixed on the plug rod in a linear array from top to bottom; The salinity gradient detection assembly includes a plurality of conductivity sensors fixed on the rod in a linear array from top to bottom; The acoustic detection assembly includes an acoustic emission transducer fixed on the top of the equilateral triangle mounting plate and a plurality of acoustic receiving transducers fixed on the insertion rod in a linear array from top to bottom; The bubble detection component is a bubble detector.

3. The seabed sediment detection and sampling device according to claim 2 is characterized in that: The four inner corners of the support frame are all fixed with accommodating bins, which are connected with the top of the sampling tube through a connecting pipe, and a sewage suction pump is arranged on the connecting pipe.

4. The seabed sediment detection and sampling device according to claim 3 is characterized in that: The underwater propeller includes a shell, a horizontal propulsion assembly and a vertical propulsion assembly, wherein the horizontal propulsion assembly includes four horizontal propellers arranged on both sides of the shell symmetrically, and the vertical propulsion assembly includes four vertical propellers fixed to the top of the shell symmetrically.

5. The seabed sediment detection and sampling device according to claim 4 is characterized in that: The underwater walking device comprises a mounting seat fixed to the bottom end of the housing and a plurality of joint walking assemblies fixed to the circumferential side of the mounting seat with a central symmetry, wherein the joint walking assembly comprises a first joint with one end vertically rotatably arranged on the mounting seat, a second joint vertically rotatably connected to the other end of the first joint, and a walking component vertically rotatably arranged at one end of the second joint away from the first joint; Joint adjustment components are arranged between the mounting seat and the first joint and between the first joint and the second joint, and the second joint is connected to the walking component via the walking drive component.

6. The seabed sediment detection and sampling device according to claim 5 is characterized in that: The joint adjustment assembly includes an adjustment drive motor fixed on a mounting seat or a first joint and a rotating shaft arranged at a rotation connection between the mounting seat and the first joint or at a rotation connection between the first joint and the second joint, and the adjustment drive motor is fixedly connected to the rotating shaft via a driving pulley, a transmission belt, and a driven pulley in sequence; The travel drive assembly includes a travel drive motor fixed on the second joint, and the travel assembly includes a travel wheel vertically rotatably arranged on the second joint. The travel drive motor is fixedly connected to the wheel axle of the travel wheel via a driving pulley, a transmission belt, and a driven pulley in sequence.

7. The seabed sediment detection and sampling device according to claim 6, characterized in that: The bottom end of the mounting seat is fixedly connected to the top end of the supporting frame.

8. The working method of the seabed sediment detection and sampling device according to claim 7, characterized in that: The following steps are involved: S1. Use a launching ship to transport the seabed sediment detection and sampling device to a designated location and then launch it, allowing it to fall to the seabed by its own weight; S2, using the ultrasonic transmitter to emit ultrasonic waves to the seabed in real time, and using the signal received by the ultrasonic receiver to determine the distance s between the seabed and the seabed, and when the distance s is less than the set distance, open the vertical propulsion assembly to reduce the falling speed, and open the horizontal propulsion assembly according to the navigation of the GPS positioning component to approach the area to be detected until soft landing; S3, using the GPS positioning component to collect the landing point position and compare it with the position of the area to be detected. If it is in the area to be detected, the underwater walker will not move. If it deviates from the area to be detected, the walking drive motor will be turned on under the navigation of the GPS positioning component until it reaches the area to be detected; S4, turning off the travel motor and turning on the adjustment drive motor to drive the rotating shaft to rotate away from the mounting seat until the bottom end of the support frame touches the seabed; S5, control the piston of the insertion drive cylinder to extend, drive the sampling tube and the insertion rod to simultaneously insert into the sediment layer for sampling and acoustic wave detection operations, and after the sampling is completed, control the piston of the insertion drive cylinder to retract, and simultaneously open one of the sewage suction pumps to pump the sampled sediment into the containing bin, and the detection of this area is completed; S6, adjusting the driving motor to move in the reverse direction, driving the rotating shaft to rotate in the direction close to the mounting seat, until the walking wheel supports the seabed again, at which time the bottom end of the supporting frame is out of contact with the seabed, and driving to the next detection area under the guidance of the GPS positioning component, repeating steps S4 and S5, extracting the sediment into another containing bin, until all areas are detected; S7. Control the vertical propulsion assembly to move in reverse, driving the seabed sediment detection and sampling device to float up to the ocean surface, and then salvage it with the help of a salvage device.

9. The working method of the seabed sediment detection and sampling device according to claim 8, characterized in that: The acoustic wave detection steps described in step S5 are as follows: S51, using a temperature sensor and a salinity sensor to detect the temperature and salinity of the seawater respectively, and using a bubble detector to predict the distribution data of bubbles; S52, using the Mackenzie calculation method to calculate the sound velocity of each layer according to the detected temperature and salinity, and obtain the sound velocity profile; S53, input the sound velocity profile and bubble distribution data into the RAM numerical simulation model, and use the sound line tracing method or the ray tracing method to calculate the propagation path of the sound wave.

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