Submarine Sediment Detection and Sampling Device and Its Working Method

Abstract

The present invention discloses a submarine sediment detection and sampling device and its working method, belonging to the field of marine sediment sampling. It includes an underwater thruster, an underwater walker, and a detection and sampling device arranged in sequence from top to bottom. The detection and sampling device includes a support frame, an insertion driving cylinder fixed to the inner top end of the support frame, an equilateral triangular mounting plate fixed to the bottom end of the piston of the insertion driving cylinder. A sampling tube is fixed at the center of the equilateral triangular mounting plate, and 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 triangular mounting plate. A bubble detection component is also fixed on the equilateral triangular mounting plate. By adopting the above submarine sediment detection and sampling device and its working method, multiple areas can be detected after one launch, improving the detection efficiency and reducing the detection cost.

Description

Technical Field

[0001] The present invention relates to the technical field of marine sediment sampling, and particularly to a subsea sediment detection and sampling device and its working method. Background Art

[0002] A subsea sediment detection and sampling device is used to sample shallow subsea sediments while collecting acoustic wave propagation characteristics and temperature characteristics, in order to measure and analyze in-situ properties of subsea sediments using acoustic wave propagation characteristics. It can non-destructively obtain important information such as the thickness, structure, grain size distribution, and water content of sediment layers.

[0003] The structure of existing subsea sediment detection and sampling devices is as follows:

[0004] CN201711426161.7 discloses a device and method for in-situ synchronous measurement of acoustic and physical parameters of subsea 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 probes and the sampling rod can penetrate into the sediment using the gravity of the underwater measurement unit, and use acoustic transducers to complete in-situ acoustic parameter measurement of subsea sediments; the underwater measurement unit also includes a static cone penetration probe and a hydraulic control module. After the acoustic probes and the sampling rod are inserted into the sediment, the static cone penetration probe is inserted into the sediment at a uniform speed using the hydraulic control module to collect cone tip resistance and sidewall friction data.

[0005] CN201611192968.4 discloses a device and method for in-situ measurement and synchronous sampling of subsea sediment acoustics, which includes a deck display and control unit and an underwater measurement unit. The two parts are powered and communicate through a coaxial cable or an optical and electrical composite cable to achieve real-time status display and remote control of the underwater measurement unit by the deck display and control unit. This device can complete in-situ acoustic measurement and sampling operations of subsea sediments in one operation; moreover, the in-situ acoustic measurement of this device can be applied to two operation modes: horizontal measurement and vertical measurement.

[0006] The in-situ fixed-point continuous measurement device for acoustic properties and temperature profile of subsea sediments disclosed in CN201821221834.5 includes a carrier platform mechanism, a deployment mechanism, a recovery mechanism, an in-situ acoustic measurement mechanism for subsea sediments, and an in-situ temperature profile measurement mechanism for subsea sediments; the in-situ acoustic measurement mechanism for subsea sediments can continuously and autonomously observe the acoustic properties of multiple depth layers of subsea sediments; the temperature profile measurement mechanism includes one or more identical temperature probes, which can continuously and autonomously measure the sediment temperature at multiple depths.

[0007] It can be seen that existing subsea sediment detection and sampling devices have the following defects:

[0008] 1. It can only detect a specific area at a time. When measuring the next area, it needs to be salvaged and then transported to the next measurement area by a launch ship and dropped again. The operation is cumbersome and the cost is relatively high.

[0009] 2. Environmental factors are not considered, and the detection accuracy corresponding to the acoustic wave characteristics is poor. Summary of the Invention

[0010] The object of the present invention is to provide a device for detecting and sampling submarine sediments and its working method to solve the above technical problems.

[0011] To achieve the above object, the present invention provides a device for detecting and sampling submarine sediments, including an underwater thruster, an underwater walker and a detection and sampling device arranged in sequence from top to bottom. The detection and sampling device includes a support frame, an insertion driving cylinder fixed to the top end inside the support frame, and an equilateral triangle mounting plate fixed to the bottom end of the piston of the insertion driving cylinder. A sampling tube is fixed at the center of the equilateral triangle mounting plate, and 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, and the data collector is electrically connected to a memory through a processor. The processor is used to obtain the 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.

[0012] Preferably, the temperature gradient detection component, the salinity gradient detection component and the acoustic detection component all include insertion rods.

[0013] The temperature gradient detection component includes a plurality of temperature sensors linearly arranged and fixed on the insertion rod from top to bottom in sequence.

[0014] The salinity gradient detection component includes a plurality of conductivity sensors linearly arranged and fixed on the insertion rod from top to bottom in sequence.

[0015] The acoustic detection component includes an acoustic emission transducer fixed to the top end of the equilateral triangle mounting plate and a plurality of acoustic receiving transducers linearly arranged and fixed on the insertion rod from top to bottom in sequence.

[0016] The bubble detection component is a bubble detector.

[0017] Preferably, accommodating bins are fixed at the four corners inside the support frame. The accommodating bins are communicated with the top end of the sampling tube through a communicating pipe, and a sewage suction pump is arranged on the communicating pipe.

[0018] Preferably, the underwater thruster includes a housing, a horizontal propulsion assembly, and a vertical propulsion assembly. The horizontal propulsion assembly includes four horizontal thrusters arranged symmetrically on both sides of the housing, and the vertical propulsion assembly includes four vertical thrusters symmetrically fixed to the top of the housing.

[0019] Preferably, the underwater walker includes a mounting seat fixed to the bottom end of the housing and a plurality of articulated walking assemblies symmetrically fixed to the circumferential side of the mounting seat. The articulated walking assembly includes a first joint vertically rotatably arranged at one end on the mounting seat, a second joint vertically rotatably connected to the other end of the first joint, and a walking assembly vertically rotatably arranged at the end of the second joint away from the first joint;

[0020] Articulation adjustment components are provided between the mounting seat and the first joint, and between the first joint and the second joint. The second joint is connected to the walking assembly through a walking drive component.

[0021] Preferably, the articulation adjustment component includes an adjustment drive motor fixed to the mounting seat or the first joint, and a rotating shaft arranged at the rotational connection between the mounting seat and the first joint or between the first joint and the second joint. The adjustment drive motor is fixedly connected to the rotating shaft through a driving pulley, a transmission belt, and a driven pulley in sequence;

[0022] The walking drive component includes a walking drive motor fixed to the second joint. The walking assembly includes a walking wheel vertically rotatably arranged on the second joint. The walking drive motor is fixedly connected to the axle of the walking wheel through a driving pulley, a transmission belt, and a driven pulley in sequence.

[0023] Preferably, the bottom end of the mounting seat is fixedly connected to the top end of the support frame.

[0024] The working method of the seabed sediment detection and sampling device includes the following steps:

[0025] S1. Use a launch ship to transport the seabed sediment detection and sampling device to a designated position and then launch it, and let it fall towards the seabed by its own weight;

[0026] S2. Use an ultrasonic transmitter to continuously emit ultrasonic waves towards the seabed in real time, and judge the distance s from the seabed based on the signals received by the ultrasonic receiver. When the distance s is less than the set distance, turn on the vertical propulsion assembly to reduce the falling speed, and according to the navigation of the GPS positioning component, turn on the horizontal propulsion assembly to approach the area to be detected until a soft landing is achieved;

[0027] S3. Use 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 does not move. If it deviates from the area to be detected, under the navigation of the GPS positioning component, turn on the walking drive motor until it walks to the area to be detected;

[0028] S4. Turn off the traveling motor and turn on the adjustment drive motor to drive the rotating shaft to rotate away from the mounting base until the bottom end of the support frame touches the seabed;

[0029] S5. Control the piston of the insertion drive cylinder to extend, driving the sampling tube and the insertion rod to insert into the sediment layer simultaneously for sampling and acoustic wave detection operations. After sampling, control the piston of the insertion drive cylinder to retract, and at the same time turn on one of the sewage suction pumps to pump the sampled sediment into the accommodation bin, and this area detection is completed;

[0030] S6. The adjustment drive motor acts in the reverse direction, driving the rotating shaft to rotate towards the direction close to the mounting base until the traveling wheels support the seabed again. At this time, the bottom end of the support frame is disengaged from the seabed. Under the navigation of the GPS positioning component, it travels to the next detection area, and repeat steps S4 and S5 to pump the sediment into another accommodation bin until all areas are detected;

[0031] S7. Control the vertical propulsion assembly to act in the reverse direction, driving the seabed sediment detection and sampling device to float until the ocean surface, and then salvage it with a salvage device.

[0032] Preferably, the acoustic wave detection step described in step S5 is as follows:

[0033] S51. Use a temperature sensor and a salinity sensor to detect the temperature and salinity of seawater respectively, and use a bubble detector to predict the distribution data of bubbles;

[0034] S52. Use the Mackenzie calculation method to calculate the sound speed of each layer according to the detected temperature and salinity to obtain a sound speed profile;

[0035] S53. Input the sound speed profile and bubble distribution data into the RAM numerical simulation model, and use the acoustic ray tracing method or the ray tracing method to calculate the propagation path of the acoustic wave.

[0036] Therefore, the present invention adopts the above-mentioned seabed sediment detection and sampling device and its working method, and has the following beneficial effects:

[0037] 1. It can detect multiple areas after one launch, improving the detection efficiency and reducing the detection cost;

[0038] 2. Considering the influence of temperature, salinity and bubbles simultaneously to analyze the acoustic wave characteristics, the obtained results are more accurate.

[0039] The following further describes the technical solution of the present invention in detail through the drawings and embodiments. Brief Description of the Drawings

[0040] Figure 1 It is a schematic diagram of the overall structure of a seabed sediment detection and sampling device of the present invention;

[0041] Figure 2 Structural schematic diagram of the detection and sampling device for a submarine sediment detection and sampling device of the present invention;

[0042] Reference numerals

[0043] 1. Underwater thruster; 11. Horizontal propulsion assembly; 12. Housing; 13. Vertical propulsion assembly; 2. Underwater walker; 21. Mounting seat; 22. Adjusting drive motor; 23. First joint; 24. Second joint; 25. Walking drive motor; 26. Rotating shaft; 27. Transmission belt; 28. Walking wheel; 3. Detection and sampling device; 31. Support frame; 32. Inserting rod; 33. Inserting drive cylinder; 34. Regular triangular mounting plate; 35. Sampling tube; 36. Connecting pipe; 37. Accommodation bin. Detailed implementation manners

[0044] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present invention is usually placed during use. It 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 operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In the description of the present invention, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "installed", "connected" 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 directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside 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 situations.

[0045] The following will describe the implementation manners of the present invention in detail with reference to the drawings.

[0046] As Figure 1 and Figure 2As shown in the figure, a seabed sediment detection and sampling device includes an underwater thruster 1, an underwater walker 2, and a detection and sampling device 3 arranged in sequence from top to bottom. The detection and sampling device 3 includes a support frame 31, an insertion drive cylinder 33 fixed to the top end inside 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 at 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 at the corners of the equilateral triangle mounting plate 34. 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 a data collector. The data collector is electrically connected to a memory through a processor. 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.

[0047] The temperature gradient detection component, the salinity gradient detection component, and the acoustic detection component all include insertion rods 32. The temperature gradient detection component includes a plurality of temperature sensors fixed to the insertion rod 32 in a linear array from top to bottom. The salinity gradient detection component includes a plurality of conductivity sensors fixed to the insertion rod 32 in a linear array from top to bottom. The acoustic detection component includes an acoustic emission transducer fixed to the top end of the equilateral triangle mounting plate 34 and a plurality of acoustic receiving transducers fixed to the insertion rod 32 in a linear array from top to bottom. The bubble detection component is a bubble detector.

[0048] It should be noted that the above electronic components are all mature products on the market. In this embodiment, only need to purchase them and connect them according to the instructions without any improvement, so the circuit connection structure and principle will not be elaborated here.

[0049] A receiving bin 37 is fixed at each of the four corners inside the support frame 31. The receiving bin 37 is communicated with the top end of the sampling tube 35 through a connecting pipe 36. A sewage suction pump is arranged on the connecting pipe 36. In this embodiment, the sewage suction step is to suck sewage from two receiving bins 37 at opposite corners in sequence to improve the overall stability.

[0050] It should also be noted that in this embodiment, the detection times of one-time delivery can also be increased by increasing the number of receiving bins 37. The four receiving bins 37 here should be understood as an example and should not be construed as a limitation to this application.

[0051] The underwater thruster 1 includes a housing 12, a horizontal propulsion assembly 11, and a vertical propulsion assembly 13. The horizontal propulsion assembly 11 includes four horizontal thrusters disposed on both symmetric sides of the housing 12, and the vertical propulsion assembly 13 includes four vertical thrusters symmetrically fixed to the top end of the housing 12, which are used to achieve the overall soft landing, avoid device damage caused by excessive impact, and preliminarily adjust the overall position according to the navigation during the descent process.

[0052] The underwater walker 2 includes a mounting base 21 fixed to the bottom end of the housing 12 and a plurality of articulated walking assemblies symmetrically fixed to the circumferential side of the mounting base 21. The articulated walking assembly includes a first joint 23 vertically rotatably disposed at one end on the mounting base 21, a second joint 24 vertically rotatably connected to the other end of the first joint 23, and a walking assembly vertically rotatably disposed at one end of the second joint 24 away from the first joint 23; an articulated adjustment assembly is provided 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 assembly through a walking drive assembly.

[0053] The articulated adjustment assembly includes an adjustment drive motor 22 fixed to the mounting base 21 or the first joint 23 and a rotating shaft 26 disposed at the rotational connection between the mounting base 21 and the first joint 23 or at the rotational connection between the first joint 23 and the second joint 24. The adjustment drive motor 22 is fixedly connected to the rotating shaft 26 through a driving pulley, a transmission belt 27, and a driven pulley in sequence; the walking drive assembly includes a walking drive motor 25 fixed to the second joint 24, and the walking assembly includes a walking wheel 28 vertically rotatably disposed on the second joint 24. The walking drive motor 25 is fixedly connected to the axle of the walking wheel 28 through 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 driven by 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 whole to move by means of the walking wheel 28 to achieve 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 and facilitate the smooth progress of the detection operation.

[0054] The bottom end of the mounting base 21 is fixedly connected to the top end of the support frame 31.

[0055] The working method of the described seabed sediment detection and sampling device includes the following steps:

[0056] S1. Use a delivery ship to transport the seabed sediment detection and sampling device to a designated position and then release it, and let it fall to the seabed by its own weight;

[0057] S2. Use the ultrasonic transmitter to emit ultrasonic waves to the seabed in real time, and judge the distance s from the seabed based on the signals received by the ultrasonic receiver. When the distance s is less than the set distance, turn on the vertical propulsion assembly 13 to reduce the falling speed, and turn on the horizontal propulsion assembly 11 according to the navigation of the GPS positioning component to approach the area to be detected until a soft landing is achieved;

[0058] S3. Use 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 2 does not move. If it deviates from the area to be detected, under the navigation of the GPS positioning component, turn on the walking drive motor 25 until it walks to the area to be detected;

[0059] S4. Turn off the walking motor and turn 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 touches the seabed;

[0060] S5. Control the piston of the insertion drive cylinder 33 to extend, driving the sampling tube 35 and the insertion rod 32 to insert into the sediment layer simultaneously for sampling and acoustic wave detection operations. After sampling, control the piston of the insertion drive cylinder 33 to contract, and at the same time turn on one of the sewage suction pumps to pump the sampled sediment into the accommodation bin 37, and the detection of this area is completed;

[0061] The acoustic wave detection steps described in step S5 are as follows:

[0062] S51. Use the temperature sensor and the salinity sensor to detect the temperature and salinity of the seawater respectively, and use the bubble detector to predict the distribution data of bubbles;

[0063] S52. Use the Mackenzie calculation method to calculate the sound speed of each layer based on the detected temperature and salinity to obtain the sound speed profile;

[0064] S53. Input the sound speed profile and the bubble distribution data into the RAM numerical simulation model, and use the ray tracing method or the ray tracing method to calculate the propagation path of the acoustic wave.

[0065] S6. The adjustment drive motor 22 acts in the reverse direction, driving the rotating shaft 26 to rotate towards the mounting seat 21 until the walking wheel 28 supports the seabed again. At this time, the bottom end of the support frame 31 is disengaged from the seabed, and it travels to the next detection area under the navigation of the GPS positioning component. Repeat steps S4 and S5 to pump the sediment into another accommodation bin 37 until all areas are detected;

[0066] S7. Control the vertical propulsion assembly 13 to act in the reverse direction, driving the seabed sediment detection and sampling device to float until the ocean surface, and then use the salvage device to salvage it.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions of the present invention or make equivalent replacements, and these modifications or equivalent replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A seabed sediment detection and sampling device, characterized in that: It includes an underwater thruster, an underwater walker, and a detection and sampling device arranged in sequence from top to bottom. The detection and sampling device includes a support frame, an insertion drive cylinder fixed to the inner top end of the support frame, and an equilateral triangular 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 triangular mounting plate, and 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 triangular mounting plate. A bubble detection component is also fixed on the equilateral triangular 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, and the data collector is electrically connected to a memory through a processor. 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 undersea sediment detection and sampling device according to claim 1, wherein: The temperature gradient detection component, the salinity gradient detection component, and the acoustic detection component all include insertion rods; The temperature gradient detection component includes a plurality of temperature sensors linearly arrayed and fixed on the insertion rod from top to bottom in sequence; The salinity gradient detection component includes a plurality of conductivity sensors linearly arrayed and fixed on the insertion rod from top to bottom in sequence; The acoustic detection component includes an acoustic emission transducer fixed to the top end of the equilateral triangular mounting plate and a plurality of acoustic receiving transducers linearly arrayed and fixed on the insertion rod from top to bottom in sequence; The bubble detection component is a bubble detector.

3. The undersea sediment detection and sampling device according to claim 2, characterized in that: A receiving bin is fixed at each of the four inner corners of the support frame. The receiving bin is communicated with the top end 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, characterized in that: The underwater thruster includes a housing, a horizontal propulsion assembly, and a vertical propulsion assembly. The horizontal propulsion assembly includes four horizontal thrusters arranged on the symmetric two sides of the housing, and the vertical propulsion assembly includes four vertical thrusters symmetrically fixed to the top end of the housing.

5. The seabed sediment detection and sampling device according to claim 4, characterized in that: The underwater walker includes a mounting seat fixed to the bottom end of the housing and a plurality of joint walking assemblies symmetrically fixed to the circumferential side of the mounting seat. The joint walking assembly includes a first joint vertically rotatably arranged at one end 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 the 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. The second joint is connected to the walking component through a walking drive component.

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

8. The working method of the undersea sediment detection and sampling device according to claim 7 above, characterized in that: It includes the following steps: S1. After transporting the seabed sediment detection and sampling device to a designated position by a delivery ship and dropping it, it falls towards the seabed by its own weight; S2. Use the ultrasonic transmitter to emit ultrasonic waves to the seabed in real time, and judge the distance s from the seabed based on the signals received by the ultrasonic receiver. When the distance s is less than the set distance, turn on the vertical propulsion assembly to reduce the falling speed, and turn on the horizontal propulsion assembly according to the navigation of the GPS positioning component to approach the area to be detected until a soft landing is achieved. S3. Use 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 does not move. If it deviates from the area to be detected, under the navigation of the GPS positioning component, turn on the walking drive motor until it walks to the area to be detected. S4. Turn off the walking motor and turn 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 insert into the sediment layer simultaneously for sampling and acoustic wave detection operations. After sampling, control the piston of the insertion drive cylinder to contract, and at the same time turn on one of the sewage suction pumps to pump the sampled sediment into the accommodation bin, and this area detection is completed. S6. The adjustment drive motor acts in the reverse direction to drive the rotating shaft to rotate towards the mounting seat until the walking wheels support the seabed again. At this time, the bottom end of the support frame is separated from the seabed. Under the navigation of the GPS positioning component, it travels to the next detection area, and repeat steps S4 and S5 to pump the sediment into another accommodation bin until all areas are detected. S7. Control the vertical propulsion assembly to act in the reverse direction to drive the seabed sediment detection and sampling device to float until the ocean surface, and then salvage it with 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. Use the temperature sensor and the salinity sensor to detect the temperature and salinity of the seawater respectively, and use the bubble detector to predict the distribution data of bubbles. S52. Use the Mackenzie calculation method to calculate the sound speed of each layer based on the detected temperature and salinity to obtain the sound speed profile. S53. Input the sound speed profile and the bubble distribution data into the RAM numerical simulation model, and use the acoustic ray tracing method or the ray tracing method to calculate the propagation path of the acoustic wave.

Images