Green seabed drilling machine sampling device and sampling method

Abstract

The invention relates to the technical field of seabed drilling machine type sampling devices, in particular to a green seabed drilling machine sampling device and a sampling method. The drilling machine sampling device comprises a drilling machine, a drilling machine moving beam and two dragging walking mechanisms. Each dragging walking mechanism comprises a dragging plate, a dragging ring is arranged on the dragging plate, the lower end of the dragging plate is connected with a front plate with the bottom inclining backwards, the two sides of the dragging plate are connected with a first side plate and a second side plate which are arranged in parallel respectively, and the rear end of the first side plate and the rear end of the second side plate are provided with a rear plate with the section of a streamline structure. A drainage groove is formed in the rear plate. The rear plate, the first side plate, the second side plate and the front plate are connected together to form a bottom plate, and the section of the bottom plate is of an arc-shaped structure. Interference on the seabed in the walking process is reduced, and stability is high. The drilling machine horizontally moves on the drilling machine moving beam, and multi-point sampling after the sampling device stops walking at a time can be achieved. The interference on the marine environment in the sampling process is reduced, and meanwhile, the sampling efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of subsea drill-type sampling devices, and particularly to a green subsea drill sampling device and a sampling method. Background Art

[0002] Subsea sampling plays a crucial role in modern scientific research, resource exploration, environmental protection, and engineering construction. It not only provides data support for humans to obtain marine resources and solve environmental problems but also provides a scientific basis for ensuring the safety and sustainability of marine engineering. At the same time, with the continuous development of technology, the accuracy, efficiency, depth, and safety of drilling technology have been greatly improved, and modern subsea sampling technology has made great progress. However, the complex subsea environment still poses severe challenges to the stability and accuracy of sampling platforms. Moreover, during subsea sampling, how to reduce interference with the subsea environment also needs to be considered.

[0003] The Chinese invention patent with the publication number CN112796662A discloses a multi-point mobile deep-sea sampling drill. This invention can achieve automatic obstacle avoidance and path planning of the sampling drill on the seabed and can collect samples at multiple positions on the seabed, improving the effective sample rate. However, when the above sampling device is applied to large-area sampling, it needs to walk to the designated location multiple times for sampling. Such a method results in a long operation time and low operation efficiency. Multiple walking samplings will also cause excessive interference to the subsea environment. Moreover, after multiple walking samplings, it is easy to cause the suspension of bottom sediment, and the underwater visibility will be greatly reduced, affecting the judgment of the visual device on the surrounding environment, resulting in a decrease in sampling accuracy and affecting work efficiency.

[0004] In addition, most of the sampling drills on the market serve the shallow sea area. In the case where the seawater depth is greater than ten meters but not greater than twenty meters, most sampling machines cannot achieve multi-point and multi-time sampling. Moreover, existing similar products have problems such as being unable to fit the terrain during operation, resulting in an unstable platform, or being unable to work when adapting to the terrain when dealing with complex seabeds. In solving such problems, the existing technology often adjusts the lifting and placing positions of the machine multiple times, which can solve the problem of sampling stability but is time-consuming and laborious, greatly reducing work efficiency. In addition, existing devices also have factors such as complex structure, high cost, and inconvenient use.

[0005] Chinese invention patent, with the publication number CN106828632A, discloses an engineering vehicle for automatic leveling operation on complex seabed terrain. This invention can significantly improve the traveling characteristics and vibration damping characteristics of the engineering vehicle on the seabed, which is beneficial to the structural safety and the comfort of the operators. At the same time, it can keep the working platform horizontal and avoid rollover caused by the tilt of the working platform. However, this invention has the problems of time-consuming and laborious during underwater leveling and walking, and can only be constructed in shallow water depths, with high costs.

[0006] Therefore, there is an urgent need to develop a seabed sampling device with a simple structure, low construction cost, flexible and convenient use, which can achieve accurate multi-point and multiple sampling, high sampling efficiency, and little impact on the marine environment. Summary of the Invention

[0007] To solve the deficiencies of the prior art, the present invention provides a green seabed drilling rig sampling device and a sampling method with a simple structure, low construction cost, flexible and convenient use, which can achieve multi-point and multiple sampling after the device is leveled and stabilized once, with greatly improved sampling efficiency, and greatly reduce the interference of the impact on the marine environment.

[0008] The technical solution of the present invention is as follows:

[0009] A green seabed drilling rig sampling device includes a drilling rig, a drilling rig moving beam, and two dragging and walking mechanisms; the two dragging and walking mechanisms include dragging plates, on which dragging rings are arranged, the lower end of the dragging plate is connected with a front plate that slopes backward at the bottom, the two sides of the dragging plate are respectively connected with a first side plate and a second side plate arranged in parallel, the rear ends of the first side plate and the second side plate are provided with a rear plate with a streamlined cross-sectional structure, and a drainage groove is arranged on the rear plate; the bottom plate that connects the rear plate, the first side plate, the second side plate, and the front plate has a circular arc-shaped cross-sectional structure; the drilling rig moving beam is arranged at the upper ends of the two dragging and walking mechanisms, and the two dragging and walking mechanisms are connected through the drilling rig moving beam. The drilling rig moving beam includes a front beam and a rear beam. The drilling rig meshes with the rear beam through the gear on the driving motor, and drives the drilling rig to slide on the front beam to achieve multi-point sampling after the sampling device walks and stops once within the length range of the front beam.

[0010] Furthermore, the two dragging and walking mechanisms include a left dragging and walking mechanism and a right dragging and walking mechanism. An adjusting mechanism is arranged on the right dragging and walking mechanism, and a leveling mechanism is arranged on the left dragging and walking mechanism. The adjusting mechanism and the leveling mechanism are arranged in parallel, and the front beam and the rear beam are connected to the left dragging and walking mechanism and the right dragging and walking mechanism through the adjusting mechanism and the leveling mechanism.

[0011] Further, the front beam includes a first front beam rotating shaft, a sliding beam, and a second front beam rotating shaft. The sliding beam is connected to the first front beam rotating shaft and the second front beam rotating shaft respectively through elongation limiters. The first front beam rotating shaft is connected to an adjusting mechanism, and the second front beam rotating shaft is connected to a leveling mechanism.

[0012] Further, the elongation limiters are arranged in a tubular structure with a hollow interior, including a first elongation limiter and a second elongation limiter. The first front beam rotating shaft and the sliding beam are connected through the first elongation limiter and can elongate within the length range of the first elongation limiter; the sliding beam and the second front beam rotating shaft are connected through the second elongation limiter and can elongate within the length range of the second elongation limiter.

[0013] Further, the adjusting mechanism includes a right frame body, a right hydraulic motor, a right hydraulic cylinder, a fixed frame, and a rotating shaft; a front beam right connecting shaft is arranged on the front side of the right frame body, a rear beam right connecting groove is arranged on the rear side of the right frame body, the right hydraulic motor is arranged within the right frame body, the right hydraulic cylinder is arranged at the tail of the right frame body and is perpendicular to the right dragging and walking mechanism and connected to the output end of the right hydraulic motor, the fixed frame is arranged in the middle of the right frame body, and the bottom is connected to the right dragging and walking mechanism through the rotating shaft; the leveling mechanism includes a left frame body, a left hydraulic motor, a left hydraulic cylinder, and a telescopic rod. A front beam left connecting shaft is arranged on the front side of the left frame body, a rear beam left connecting groove is arranged on the rear side of the left frame body, the left hydraulic motor is arranged within the left frame body, the left hydraulic cylinder is at the middle position of the left frame body, one end is connected to the output end of the left hydraulic motor, and one end is vertically fixed within the left dragging and walking mechanism; the telescopic rod is parallel to the left hydraulic cylinder and one end is fixed on the left frame body and one end is fixed within the left dragging and walking mechanism.

[0014] Further, it further includes a drilling rig moving mechanism. The drilling rig moving mechanism includes a drilling rig frame, a driving motor, and a gear. The driving motor drives the gear to rotate, and the gear meshes with the rack on the rear beam to drive the drilling rig arranged on the drilling rig frame to move horizontally back and forth.

[0015] Further, the drilling rig frame includes a connecting frame and an extending frame. The connecting frame is arranged as a horizontal rectangular frame and is connected to the front beam and the rear beam. The drilling rig is fixed on the extending frame. The bottom end of the extending frame is hinged to one side of the connecting frame, and the extending frame is driven by a telescopic hydraulic rod to be parallel or vertical to the connecting frame. A drilling rig platform fixedly connected to the surface of the extending frame is fixed on the extending frame. The drill bit moves up and down through a drilling rig up and down driving mechanism arranged on the drilling rig platform, and sampling is achieved through a drilling rig rotation driving mechanism connected to the drilling rig up and down driving mechanism.

[0016] Further, a sampling cylinder with an open bottom and a hollow interior is arranged inside the drill bit, and a drainage hole is arranged at the top of the sampling cylinder.

[0017] Furthermore, it also includes a signal receiving mechanism, which includes a main tower, a slave tower, a main tower driving motor, and a slave tower driving motor. The main tower is connected to the main tower driving motor, and the main tower driving motor drives the main tower to adjust from a horizontal state to a vertical state; the slave tower is movably connected to the main tower and is also connected to the slave tower driving motor. The slave tower driving motor drives the adjustment of the slave tower. An RTK is provided at the top of the slave tower. During the working state, the RTK extends out of the water surface.

[0018] A green seabed drilling rig sampling method, including the above-mentioned green drilling rig sampling device, comprises the following steps:

[0019] Adjust the main tower and the slave tower from a horizontally folded state to a vertically extended state;

[0020] Scan the terrain through the sonar in the underwater sensing system to form an underwater three-dimensional topographic map. Under the action of the positioning system, lower the drilling rig sampling device into the bottom of the water to ensure that the RTK provided on the slave tower can extend out of the water surface. The RTK on the water surface conducts signal interaction with the ultra-short baseline on the underwater equipment to ensure the accurate transmission of signals;

[0021] During the process of the drilling rig sampling device walking through the dragging walking mechanism, scan the terrain through the multi-beam in the underwater sensing system to form an underwater three-dimensional topographic map. Measure the azimuth through the electronic compass on the drilling rig sampling device, and measure the inclination angle through the attitude sensor on the drilling rig sampling device to control the elongation of the corresponding hydraulic cylinder; the attitude sensor will measure in real time. When the inclination angle is zero, it proves that the adjustment is horizontal and the adjustment stops; when the inclination angle is not zero, then continue the adjustment until it is adjusted to zero. Specifically, the operation on the mechanical structure is as follows:

[0022] In case of going uphill, through the adjusting mechanism, extend the right hydraulic cylinder on the right dragging walking mechanism, so that the front end of the right dragging walking mechanism rotates upward around the rotating shaft to achieve a smooth uphill; in case of going downhill, reverse the operation of the right hydraulic cylinder to complete a smooth downhill; in case of a terrain with the left side higher than the right side, contract the left hydraulic cylinder, and finally turn off the left hydraulic motor when the drilling rig sampling device is horizontal to achieve the stable effect of the drilling rig sampling device;

[0023] Locate the coordinate position through the ultra-short baseline, and migrate through the electric winch dragging device on the water surface deck. When reaching the drilling position, judge whether the error is within the range of 0.1 m. If so, lock the left hydraulic cylinder and the right hydraulic cylinder to make the drilling rig sampling device stable on the seabed;

[0024] Under the drive of the telescopic hydraulic rod of the stretching frame, make the underwater drilling rig and the drill pipe in the drilling rig platform reach a vertical state;

[0025] The drill bit achieves precise positioning in water. The upper and lower driving mechanism of the drill rig drives the reduction gear to drive the drill bit to move downward. At the same time, the rotating mechanism of the drill rig rotates, causing the drill bit to rotate and insert into the soil. After reaching the drilling depth, the drill bit drills and samples the soil. After sampling is completed, the drill pipe rotates in reverse to remove the drill bit from the seabed soil layer;

[0026] After one sampling is completed, the driving motor drives the gear to rotate, causing the drill rig platform to move on the front beam and the rear beam. After reaching the second designated position, when the drill bit enters the mud again, the soil sample at this position will enter the sampling cylinder and will push up the soil sampled last time. Drainage holes are provided in the upper part of the sampling cylinder so that the soil moves upward along the cylinder wall;

[0027] Repeat the above steps in sequence to complete multi-point and multiple sampling operations after one leveling;

[0028] After a group of drill holes in the horizontal direction is completed, the drill bit is lifted out of the mud surface, and the water surface ship dragging device migrates to start the second round of multiple and multi-point sampling until the sampling task is completed.

[0029] Furthermore, in the step of "lifting the drill rig sampling device into the water bottom", the following steps are included:

[0030] Underwater ultra-short baseline and real-time kinematic positioning collect data and combine to achieve precise positioning. The following steps are specifically adopted:

[0031] Step 1: Install and calibrate the equipment;

[0032] Step 2: Obtain the absolute position of the water surface unit. The RTK mobile station provides the high-precision absolute position of the water surface unit in real time, records the position data of the water surface unit, and ensures its data synchronization with the USBL system;

[0033] Step 3: Obtain the relative position of the underwater equipment. The USBL water surface unit emits an acoustic signal, and the transponder on the underwater equipment receives and responds. The USBL system calculates the position of the underwater equipment relative to the water surface unit according to the propagation time and angle of the signal;

[0034] Step 4: Data fusion and calculation:

[0035] (1) Coordinate transformation: Convert the relative position provided by USBL into a rectangular coordinate system:

[0036] ΔE = r·sin(θ)·cos(φ)

[0037] ΔN = r·cos(θ)·cos(φ)

[0038] ΔU = r·sin(φ)

[0039] Where: r is the distance, θ is the azimuth angle, and φ is the pitch angle.

[0040] (2) Combine RTK data: Combine the relative position (ΔE, ΔN, ΔU) calculated by USBL with the absolute position (longitude, latitude, elevation) of the water surface unit provided by RTK.

[0041]

[0042] Where: RE and RN are the radii of the earth's curvature;

[0043] (3) Data processing and output results:

[0044] The multibeam sonar system collects seabed data, and the obtained original data is processed and analyzed using Teledyne PDS for the original data collected by the multibeam sonar.

[0045] Furthermore, in the step of "the multibeam sonar system collects seabed data", the specific steps include:

[0046] Data import and preprocessing:

[0047] Import the original data collected by the multibeam sonar into the PDS software;

[0048] Grid model generation:

[0049] Convert the discrete sonar data points into a regular grid model, fill the data holes through an interpolation algorithm, and ensure the continuity of the seabed topography;

[0050] Filtering and optimization:

[0051] Optimize the data, remove abnormal points and improve the data accuracy;

[0052] Isobath generation:

[0053] Generate isobaths according to the grid model to represent the depth changes of the seabed topography.

[0054] 3D visualization:

[0055] Visualize the processed data in 3D form, and then calculate the accurate absolute position of the underwater device.

[0056] The beneficial effects achieved by the present invention are:

[0057] 1. The design of the dragging walking mechanism of the present invention has significant environmental protection advantages. Its working principle ensures that the damage to the seabed structure is reduced during operation, greatly reducing the harm to the marine ecological environment. Specifically, the bottom of the dragging walking mechanism adopts a circular boundary, so that the contact area between the bottom of the dragging walking mechanism and the seabed will not change due to the inclination angle. The inclined slope at the front of the dragging walking mechanism enables the dragging walking mechanism to have better grip and stability on the seabed when moving. The bottom position at the rear of the dragging walking mechanism adopts an opening design, which is convenient for reducing the resistance of the water body to the device when the device is lifted and lowered. At the same time, when lifting, the water flow passes through the opening, which is convenient for carrying and discharging the sediment accumulated in the dragging walking mechanism. At the same time, a lifting ring is equipped at the front end of the dragging walking mechanism, aiming to make it closer to the center of gravity during the movement and hoisting and lowering of the dragging walking mechanism, reducing the possibility of the device tipping forward during the dragging process. While ensuring sufficient structural strength, lightweight design is achieved, significantly reducing the self-weight of the equipment. This not only saves the material cost, but also reduces the energy consumption, providing a more economical and sustainable solution for the long-term operation of the project.

[0058] 2. Through the design of the adjustment mechanism of the present invention, the dragging walking mechanism can fit well with the seabed surface to a large extent, minimizing the interference to the marine environment and avoiding negative impacts on the seabed organisms and ecosystems.

[0059] 3. The structure of the present invention is simple, the operation is convenient, and it is easy to carry out efficient control and adjustment in the complex seabed environment, improving the operability and flexibility of the equipment. Moreover, the drill in the present invention can move horizontally on the front beam and the rear beam, and can realize multiple and multi-point sampling after one leveling, greatly shortening the sampling time, improving the sampling efficiency, and also greatly avoiding the influence on the seabed caused by multiple movements.

[0060] 4. The signal reception of the present invention adopts real-time kinematic positioning (RTK). During the use of RTK, it remains extended above the water surface to avoid underwater interference, enabling high-precision operation within a water depth of 20 meters underwater. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 is the overall structure schematic diagram of the present invention.

[0062] Figure 2 is the side structure schematic diagram of the left dragging walking mechanism in the present invention.

[0063] Figure 3 is the bottom view of the left dragging walking mechanism in the present invention.

[0064] Figure 4 is the structure schematic diagram after the adjustment of the present invention in the uphill state.

[0065] Figure 5 It is a schematic diagram of the leveling state structure of the present invention when encountering a terrain with a higher left and a lower right.

[0066] Figure 6 It is a schematic diagram of the front beam elongation state structure of the present invention.

[0067] Figure 7 It is a schematic diagram of the rear structure of the present invention in the vertical state of the drilling rig.

[0068] Figure 8 It is a schematic diagram of the sampling cylinder structure of the present invention in the drilling rig.

[0069] Figure 9 It is a control block diagram of the sampling process of the present invention in the drilling rig.

[0070] Figure 10 It is a control block diagram of the leveling process of the present invention in the drilling rig.

[0071] In the figure, 1. Right dragging walking mechanism; 11. Right dragging walking mechanism groove; 12. Right dragging ring; 13. Control box; 2. Adjusting mechanism; 21. Right hydraulic cylinder; 22. Right frame body; 23. Right hydraulic motor; 24. Fixed frame; 25. Rotating shaft; 3. Rear beam; 4. Drilling rig; 41. Drill bit; 42. Drilling rig rotation drive mechanism; 43. Drilling rig up and down drive mechanism; 44. Drilling rig platform; 45. Sampling cylinder; 451. Drain hole; 5. Drilling rig moving mechanism; 51. Connecting frame; 52. Extension frame; 53. Driving motor; 6. Leveling mechanism; 61. Left frame body; 62. Left hydraulic motor; 63. Telescopic rod; 64. Left hydraulic cylinder; 7. Signal receiving mechanism; 71. Main tower; 72. Slave tower; 73. RTK; 8. Left dragging walking mechanism; 81. Left dragging walking mechanism groove; 82. Load-bearing support plate; 83. Left first side plate; 84. Left dragging plate; 85. Left front plate; 86. Left dragging ring; 87. Left bottom plate; 88. Left rear plate; 89. Left drain groove; 9. Front beam; 91. Sliding beam; 92. Second front beam rotating shaft; 93. Elongation limiter. Detailed implementation manners

[0072] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0073] Accordingly, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents preferred embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0074] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not require further definition and explanation in subsequent drawings.

[0075] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "vertical", "horizontal", "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 of the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive distinction and should not be construed as indicating or implying relative importance. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0076] In the description of the present invention, it should also be noted that unless otherwise clearly defined and limited, the terms "installed" and "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. 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.

[0077] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may include direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but are in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes the first feature being directly below and obliquely below the second feature, or simply indicating that the first feature has a lower horizontal height than the second feature.

[0078] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where like or similar reference numerals denote like or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0079] As Figures 1 to 8 shown, the present invention provides a green seabed drill sampling device. This drill sampling device can achieve precise control in seawater at a depth of 10 - 20 meters and can achieve multiple and multi-point sampling after the sampling device is adjusted once. The structure of this device is simple. When walking, it adopts a dragging walking method to reduce the disturbance to the marine environment.

[0080] The entire drill sampling device includes a dragging walking mechanism, an adjusting mechanism 2, a leveling mechanism 6, a signal receiving mechanism 7, a front beam 9, a rear beam 3, a drill moving mechanism 5, and a drill 4. The design of the dragging walking mechanism has significant environmental protection advantages. Its working principle ensures that the seabed structure will not be damaged during the operation, greatly reducing the harm to the marine ecological environment. Through the design of the adjusting mechanism 2, the dragging walking mechanism can be closely attached to the seabed surface to the greatest extent, minimizing the interference to the marine environment and avoiding negative impacts on the seabed organisms and the ecosystem. Through the settings of the adjusting mechanism 2 and the leveling mechanism 6, the adaptability of the dragging walking mechanism to complex seabed terrains is improved. For different terrains, through the adjusting mechanism 2, the angle of the dragging walking mechanism is adjusted, and through the leveling mechanism 6, the height of the dragging walking mechanism is adjusted to ensure smooth sampling of the device in the case of complex terrains. Moreover, the entire drill sampling device has a simple structure and realizes a lightweight design, significantly reducing the self-weight of the equipment. This not only saves the material cost but also reduces the energy consumption, providing a more economical and sustainable solution for the long-term operation of the project.

[0081] The drill can be driven by the drill moving mechanism 5 to move horizontally on the front beam 9 and the rear beam 3, so as to achieve multiple and multi-point smooth sampling after the drill sampling device is adjusted smoothly once, greatly improving the sampling efficiency and further avoiding the interference to the marine environment caused by multiple walking samplings.

[0082] In this embodiment, the dragging walking mechanism includes a left dragging walking mechanism 8 and a right dragging walking mechanism 1 which are arranged in parallel in a boat-shaped structure. The left dragging walking mechanism 8 includes a left dragging plate 84, on which a left dragging ring 85 is arranged. The lower end of the left dragging plate 84 is connected with a left front plate 86 that slopes backward. On both sides of the left dragging plate 84, there are respectively connected a left first side plate 83 and a left second side plate which are arranged in parallel. At the rear ends of the left first side plate 83 and the left second side plate, there is a left rear plate 88 with a streamline-shaped cross-section, and a left drainage groove 89 is arranged on the left rear plate 88. The left rear plate 88, the left first side plate 83, the left second side plate and the left front plate 86 are connected by a left bottom plate 87. The cross-section of the left bottom plate 87 is in an arc-shaped structure, forming an internally hollow left dragging walking mechanism groove 81 similar to a boat-shaped structure as a whole, ensuring that the seabed structure will not be damaged during operation and greatly reducing the harm to the marine ecological environment. A left load-bearing support plate 82 is arranged outside the left dragging walking mechanism groove 81 for the storage and transportation of the signal receiving mechanism 7.

[0083] The signal receiving mechanism 7 includes a main tower 71 and a slave tower 72 which can be folded. The main tower 71 is connected with a main tower driving motor, and the main tower driving motor drives the main tower 71 to adjust from a horizontal state to a vertical state. Specifically, a rotating shaft is arranged at the bottom end of the main tower 71. The rotating shaft passes through a rotating shaft hole and is connected with the main tower driving motor. When the main tower driving motor rotates, it drives the main shaft to rotate, and further drives the main tower 71 to move.

[0084] The slave tower 72 is movably connected with the main tower 71 and is connected with a slave tower driving motor. The slave tower driving motor drives the slave tower 72 to achieve a 180° adjustment. The RTK 73 is arranged at the top end of the slave tower 72. In the working state, the RTK 73 extends out of the water surface. RTK realizes centimeter-level positioning accuracy through carrier phase measurement. Ground RTK uses the differential signals between multiple base stations and mobile stations to obtain high-precision positions. However, underwater, since GPS signals cannot be directly transmitted, by rotating the main tower 71, the RTK base station inside the slave tower 72 is extended out of the water surface, and the RTK base station located on the water surface provides differential correction data. These RTK base stations receive signals through satellites and transmit the differential data to the underwater receiving device in real time. Ensure the accuracy of signal reception and improve work efficiency.

[0085] One left dragging ring is arranged at each of the front end and the rear end of the left dragging walking mechanism groove 81. The function of the left dragging ring can not only realize the dragging in the forward direction but also serve as a force-bearing node mechanism for lifting the device into or out of the seabed. When lifting off the seabed, the left drainage groove arranged at the rear end of the left dragging walking mechanism groove 81 can discharge the water body and the carried sediment in the left dragging walking mechanism groove 81, reducing the resistance of seawater to the device and subsequent cleaning work.

[0086] The structure of the right dragging walking mechanism 1 is similar to that of the left dragging walking mechanism 8, and it is a boat-shaped structure. Different from the left dragging walking mechanism 8, the right dragging walking mechanism 1 does not have a load-bearing support plate 82 and a rotating shaft hole. A control box 13 is provided at the tail of the right dragging walking mechanism 1, and right dragging rings 12 are respectively provided at the front end and the rear end of the right dragging walking mechanism 1.

[0087] An adjusting mechanism 2 is provided on the right dragging walking mechanism 1. By means of the adjusting mechanism 2, the right dragging walking mechanism 1 is adjusted to fit the upper slope or the lower slope of the seabed, so as to reduce the disturbance to the seabed. In this embodiment, the adjusting mechanism 2 includes a right frame body 22, a right hydraulic motor 23, a right hydraulic cylinder 21, a fixing frame 24 and a rotating shaft 25. The right frame body 22 is arranged as a rectangular parallelepiped frame structure. A front beam right connecting shaft is provided on the front side of the right frame body 22 for movably connecting with the front beam 9. A rear beam right connecting shaft is provided on the rear side of the right frame body 22 for connecting with the rear beam 3. The right hydraulic motor 23 is arranged inside the right frame body 22. The right hydraulic cylinder 21 is arranged at the tail of the right frame body 22 and is perpendicular to the output end of the right hydraulic motor 23 and is connected thereto. The fixing frame 24 is arranged in the middle of the right frame body 22, and the bottom is connected to the right dragging walking mechanism 1 through the rotating shaft 25. When encountering an uphill slope, by extending the right hydraulic cylinder 21 on the right dragging walking mechanism 1, the front end of the right dragging walking mechanism 1 rotates upward with the rotating shaft 25 as the center, and finally adjusts to fit the slope. At this time, the sampling device can smoothly go uphill. When encountering a downhill slope, the right hydraulic cylinder 21 can be operated in the reverse direction to complete a smooth downhill.

[0088] The leveling mechanism 6 is arranged on the left dragging walking mechanism 8 for leveling the sampling device. Specifically, the leveling mechanism 6 includes a left frame body 61, a left hydraulic motor 62, a left hydraulic cylinder 64 and a telescopic rod 63. The left frame body 61 is arranged as a rectangular parallelepiped frame structure with the same structure as the right frame body 22. A front beam left connecting shaft is provided on the front side of the left frame body 61 for movably connecting with the front beam 9, so as to avoid the influence of the torsional force on the sampling device during the leveling process in the seabed environment and improve the service life of the sampling device. A rear beam left connecting groove is provided on the rear side of the left frame body 61 for connecting with the rear beam 3. The left hydraulic motor 62 is arranged inside the left frame body 61. The left hydraulic cylinder 64 is in the middle position of the left frame body 61, one end is connected to the output end of the left hydraulic motor 62, and one end is vertically fixed inside the left dragging walking mechanism 8. The telescopic rod 63 is parallel to the left hydraulic cylinder 64, one end is fixed on the left frame body 61, and one end is fixed inside the left dragging walking mechanism 8. When encountering a terrain with the left side high and the right side low, by contracting the left hydraulic cylinder 64, finally, when the sampling device is horizontal, the left hydraulic motor 62 is turned off to achieve the effect of the stable sampling device.

[0089] During the leveling process, it is inevitable that the two sides of the drill sampling device will be distorted or slightly deformed. To solve this problem, in this embodiment, the front beam 9 is designed to be extendable to relieve the structural damage caused by deformation on both sides of the mechanism, which affects the service life. However, the problem faced by the front beam 9 is that without a corresponding limiter, the elongation of the front beam 9 cannot be controlled, and the elongation of the front beam 9 will cause the mechanism on both sides to deform outward, resulting in secondary damage. Therefore, after setting the corresponding limiter, it can not only ensure a certain elongation of the front beam 9, but also ensure that the entire drill sampling device is prevented from secondary damage caused by excessive elongation of the front beam 9.

[0090] Specifically, the front beam 9 includes a first front beam rotating shaft, a sliding beam 91 and a second front beam rotating shaft 92. The sliding beam 91 is connected to the first front beam rotating shaft and the second front beam rotating shaft 92 through an elongation limiter 93 respectively. The first front beam rotating shaft is connected to the right front beam connecting shaft, and the second front beam rotating shaft 92 is connected to the left front beam connecting shaft. The elongation limiter 93 is arranged in a hollow cylindrical structure, including a first elongation limiter and a second elongation limiter. The first front beam rotating shaft and the sliding beam 91 are connected through the first elongation limiter and can elongate within the length range of the first elongation limiter. The sliding beam 91 and the second front beam rotating shaft 92 are connected through the second elongation limiter and can elongate within the length range of the second elongation limiter.

[0091] The drill 4 is connected to the front beam 9 and the rear beam 3, and can move horizontally on the front beam 9 and the rear beam 3 through a drill moving mechanism 5 to achieve one-time multi-point and multiple sampling within the length range of the front beam 9. Specifically, in this embodiment, the length of the rear beam 3 can reach 19.5 meters. A number of racks are arranged circumferentially on the rear beam 3 at intervals. The drill moving mechanism 5 includes a drill frame, a driving motor 53 and a gear. The driving motor 53 drives the gear to rotate, and the gear meshes with the rack to drive the drill 4 arranged on the drill frame to move horizontally back and forth.

[0092] In this embodiment, the drill frame includes a connecting frame 51 with a rectangular frame structure and an extension frame 52 hinged to the bottom of the connecting frame 51. The connecting frame 51 is connected to the front beam 9 and the rear beam 3. An electric control box is arranged at the lower end of the connecting frame 51. The drill 4 is fixed on the extension frame 52 and the extension frame 52 is driven by a telescopic hydraulic rod to be horizontally or vertically arranged. When the extension frame 52 is in a horizontal state, it is convenient for transportation.

[0093] The drill rig 4 includes a drill rig platform 44, an up-and-down driving mechanism 43 of the drill rig, a rotary driving mechanism 42 of the drill rig, and a drill bit 41. A sampling cylinder 45 is arranged inside the drill bit 41, and a drain hole 451 is arranged on the top wall of the sampling cylinder 45. The drain hole 451 is used to drain the water taken during the sampling process out of the sampling cylinder. The drill bit 41 is connected to the rotary driving mechanism 42 of the drill rig. The rotary driving mechanism 42 of the drill rig includes a rotary driving motor 53 and a driving gear. The rotary driving motor 53 rotates to drive the driving gear to rotate, further driving the drill bit 41 to rotate to achieve rotary sampling. The rotary driving mechanism 42 of the drill rig is arranged on the up-and-down driving mechanism 43 of the drill rig. The up-and-down driving mechanism 43 of the drill rig is connected to the drill rig platform 44. The up-and-down driving mechanism 43 of the drill rig drives the drill rig 4 to move on the drill rig platform 44. In this embodiment, the driving mechanism of the drill rig is set as a hydraulic telescopic rod. Slide rails are arranged on both sides of the drill rig platform 44. The hydraulic telescopic rod drives the drill bit 41 to move up and down on the slide rails of the drill rig platform 44.

[0094] As Figures 9 - 10 shown, a green drill rig sampling method includes the above sampling device, and also includes a positioning system, an underwater perception system, a data communication system, an underwater complex terrain adjustment system, a drill bit positioning system, and a driving motor operation system. The function of the positioning system is to enable the equipment to accurately reach the bottom of the water after entering the water. The underwater perception system forms an underwater three-dimensional topographic map after scanning the terrain through sonar. The function of the data communication system is to achieve precise positioning underwater. Through the interaction between the underwater ultra-short baseline of the equipment and the RTK on the water surface, precise positioning underwater is achieved. By controlling the expansion and contraction of the left hydraulic cylinder 64 and the right hydraulic cylinder 21, the level of the device on the seabed surface is achieved. The drill bit positioning system is used for the precise positioning of the drill bit during multiple samplings, realizing multiple drilling samplings after one leveling. The driving motor operation system is used to drive the drill bit for multiple drilling samplings.

[0095] It includes the following steps:

[0096] Adjust the main tower 71 and the slave tower 72 from the horizontal folded state to the vertical extended state.

[0097] Scan the terrain through the sonar in the underwater perception system to form an underwater three-dimensional topographic map. Under the action of the positioning system, lower the drill rig sampling device into the bottom of the water to ensure that the RTK 73 arranged on the slave tower 72 can extend out of the water surface. The RTK 73 on the water surface performs signal interaction with the ultra-short baseline on the equipment in the water to ensure the accurate transmission of signals.

[0098] During the process of the drilling rig sampling device walking through the dragging walking mechanism, the underwater terrain is scanned by the multibeam in the underwater perception system to form an underwater three-dimensional topographic map. The azimuth is measured by the electronic compass on the device, and the inclination angle is measured by the attitude sensor on the device to control the elongation of the hydraulic cylinder. The attitude sensor will measure in real time. When the inclination angle is zero, it proves that the adjustment is horizontal and the adjustment stops. When the inclination angle is not zero, the adjustment will continue until it is adjusted to zero. The specific operation on the mechanical structure is as follows:

[0099] When encountering an uphill slope, through the adjusting mechanism 2, the right hydraulic cylinder 21 on the right dragging walking mechanism 1 is extended, so that the front end of the right dragging walking mechanism 1 rotates upward around the rotating shaft 25 to achieve a smooth uphill; when encountering a downhill slope, the right hydraulic cylinder 21 can be operated in reverse to complete a smooth downhill. When encountering a terrain with the left side higher than the right side, the left hydraulic cylinder 64 contracts, and finally the left hydraulic motor 62 is turned off when the drilling rig sampling device is horizontal, achieving the stable effect of the drilling rig sampling device.

[0100] The coordinate position is located through the ultra-short baseline. The device is migrated by the electric winch on the water surface deck. When reaching the drilling position, it is judged whether the error is within the range of 0.1 m. If so, the left hydraulic cylinder 64 and the right hydraulic cylinder 21 are locked to make the drilling rig sampling device stable on the seabed.

[0101] The extension frame 52 is driven by the telescopic hydraulic rod to make the underwater drill and drill pipe in the drill rig platform 44 reach the vertical state.

[0102] After the drill bit achieves precise positioning in water, specifically, the underwater ultra-short baseline (USBL) provides the relative position of the underwater device relative to the water surface unit, while the real-time kinematic positioning (RTK) provides the high-precision absolute position (latitude and longitude) of the water surface unit. By combining these two types of data, the precise absolute position of the underwater device can be calculated. After the drill rig is lifted into the water, it walks in the way of being towed by a ship. During the walking process, the USBL and RTK adopt the following steps:

[0103] Step 1: Install and calibrate the equipment. Install the USBL water surface unit: Install the USBL water surface unit at the end of the derrick, ensuring its stable position. Connect the USBL system to the data processing unit (computer or navigation software). Install the RTK rover: Install the RTK rover near the water surface unit (at the end of the derrick), ensuring that it can receive the correction signal from the RTK base station. Ensure that the positional relationship between the RTK rover and the USBL water surface unit is known (usually corrected by measuring the offset).

[0104] Install underwater equipment: Install a USBL transponder on the towing walking mechanism to ensure its normal communication with the surface unit. Calibrate the system: Calibrate the USBL system, including sound speed calibration, angle calibration, etc. Initialize the RTK system to ensure it can provide high-precision absolute positions.

[0105] Step 2: Obtain the absolute position of the surface unit. The RTK mobile station provides the high-precision absolute position (latitude, longitude, and elevation) of the surface unit in real time. Record the position data of the surface unit and ensure its synchronization with the data of the USBL system.

[0106] Step 3: Obtain the relative position of the underwater equipment. The USBL surface unit emits acoustic signals, which are received and responded to by the transponder on the underwater equipment. The USBL system calculates the position of the underwater equipment relative to the surface unit (distance, azimuth, and depth) based on the propagation time and angle of the signals.

[0107] Step 4: Data fusion and calculation. Coordinate transformation: Convert the relative position provided by USBL (polar coordinates: distance, azimuth, depth) to a rectangular coordinate system (east, north, up coordinate system).

[0108] Formula:

[0109] ΔE = r·sin(θ)·cos(φ)

[0110] ΔN = r·cos(θ)·cos(φ)

[0111] ΔU = r·sin(φ)

[0112] Where: r is the distance, θ is the azimuth, and φ is the pitch angle.

[0113] Combine RTK data: Combine the relative position (ΔE, ΔN, ΔU) calculated by USBL with the absolute position (longitude, latitude, elevation) of the surface unit provided by RTK.

[0114] Formula:

[0115]

[0116] Where: RE and RN are the earth curvature radii.

[0117] Data processing and output results:

[0118] The multibeam sonar system collects seabed data:

[0119] (Acoustic Wave Emission: The sonar system emits multiple acoustic wave beams towards the seabed, covering a certain range of the seabed area. Reflection Signal Reception: The acoustic waves are reflected back after encountering the seabed and are captured by the sonar receiver. Time and Angle Measurement: By calculating the time difference between the emission and reception of the acoustic waves and the reflection angle, the depth and position of each point on the seabed are determined) The obtained raw data is imported into a computer and the Teledyne PDS software is used. The core function of Teledyne PDS is to process and analyze the raw data collected by the multibeam sonar. The specific steps include:

[0120] Data Import and Preprocessing

[0121] Import the raw data collected by the multibeam sonar into the PDS software. Conduct a preliminary cleaning of the data to remove noise and outliers (such as interference from bubbles, suspended matter, etc.).

[0122] Grid Model Generation

[0123] Convert the discrete sonar data points into a regular grid model (Grid Model). Fill the data holes through an interpolation algorithm to ensure the continuity of the seabed topography.

[0124] Filtering and Optimization

[0125] Use various filtering methods (such as Cube filtering, threshold filtering, etc.) to further optimize the data, remove outliers and improve the data accuracy.

[0126] Contour Line Generation

[0127] Generate contour lines (Contour Lines) based on the grid model to represent the depth changes of the seabed topography.

[0128] 3D Visualization

[0129] Visualize the processed data in 3D form. Furthermore, calculate the precise absolute position (longitude, latitude, depth) of the underwater device.

[0130] The upper and lower driving mechanism 43 of the drill rig drives the reduction gear to drive the drill bit 41 to move downward. At the same time, the rotating mechanism of the drill rig 4 rotates, causing the drill bit 41 to rotate and insert into the soil. After reaching the drilling depth, the drill bit 41 drills and samples the soil. After sampling is completed, the drill pipe rotates in reverse to remove the drill bit from the seabed soil layer.

[0131] After one sampling is completed, use the driving motor 53 to drive the gear to rotate, causing the drill rig platform 44 to move on the front beam 9 and the rear beam 3. After reaching the second specified position, once again make the drill bit 41 enter the mud. The soil sample at this position will enter the sampling cylinder and will push up the soil sampled last time. Drainage holes are provided at the upper part of the sampling cylinder so that the soil can move upward along the cylinder wall.

[0132] Repeat the above steps successively to complete the multi-point and multi-time sampling work after one leveling.

[0133] After a group of drill holes in the horizontal direction are completed, the drill bit 41 is lifted out of the mud surface, and the water surface ship dragging device is relocated to start the second round of multi-time and multi-point sampling until the sampling task is completed.

[0134] The embodiments of the present invention described above do not constitute a limitation on the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the claims of the present invention.

Claims

1. A green seabed drilling rig sampling device, characterized by: The invention comprises a drilling rig (4), a drilling rig moving beam and two dragging walking mechanisms; the two dragging walking mechanisms comprise a dragging plate, the dragging plate is provided with a dragging ring, the lower end of the dragging plate is connected to a front plate with a bottom tilted backward, the two sides of the dragging plate are respectively connected to a first side plate and a second side plate arranged in parallel, the rear ends of the first side plate and the second side plate are provided with a rear plate with a streamlined cross-section, and the rear plate is provided with a drainage groove; the rear plate, the first side plate, the second side plate and the front plate are connected to a bottom plate, and the bottom plate has an arc-shaped cross-section; the drilling rig moving beam is arranged at the upper end of the two dragging walking mechanisms, and the two dragging walking mechanisms are connected by the drilling rig moving beam, the drilling rig moving beam comprises a front beam (9) and a rear beam (3), the drilling rig (4) is meshed with the rear beam (3) through the gear on the driving motor (53), and the drilling rig (4) is driven to slide on the front beam (9), so as to realize multi-point sampling after the sampling device within the length range of the front beam (9) stops walking once.

2. A green seabed drilling rig sampling device according to claim 1, characterized in that: The two dragging walking mechanisms comprise a left dragging walking mechanism (8) and a right dragging walking mechanism (1); the right dragging walking mechanism (1) is provided with an adjustment mechanism (2); the left dragging walking mechanism (8) is provided with a leveling mechanism (6); the adjustment mechanism (2) and the leveling mechanism (6) are arranged in parallel; the front beam (9) and the rear beam (3) are connected to the left dragging walking mechanism (8) and the right dragging walking mechanism (1) via the adjustment mechanism (2) and the leveling mechanism (6).

3. A green seabed drilling rig sampling device according to claim 2, characterized in that: The front beam (9) comprises a first front beam rotating shaft, a sliding beam (91) and a second front beam rotating shaft (92); the sliding beam (91) is respectively connected to the first front beam rotating shaft and the second front beam rotating shaft (92) via an extension limiter (93); the first front beam rotating shaft is connected to an adjustment mechanism (2); and the second front beam rotating shaft (92) is connected to a leveling mechanism (6).

4. A green seabed drilling rig sampling device according to claim 3, characterized in that: The extension stopper (93) is configured as an internally hollow cylindrical structure, comprising a first extension stopper and a second extension stopper, wherein the first front beam rotating shaft and the sliding beam (91) are connected via the first extension stopper and can be extended within the length range of the first extension stopper; and the sliding beam is connected to the second front beam rotating shaft (92) via the second extension stopper and can be extended within the length range of the second extension stopper.

5. A green seabed drilling rig sampling device according to claim 4, characterized in that: The adjusting mechanism (2) comprises a right frame (22), a right hydraulic motor (23), a right hydraulic cylinder (21), a fixed frame (24) and a rotating shaft (25); a front beam right connecting shaft is arranged on the front side of the right frame (22), a rear beam right connecting groove is arranged on the rear side of the right frame (22), the right hydraulic motor (23) is arranged in the right frame (22), the right hydraulic cylinder (21) is arranged at the tail of the right frame (22) and is connected to the output end of the right hydraulic motor (23) perpendicularly to the right dragging walking mechanism (1), the fixed frame (24) is arranged in the middle of the right frame (22), and the bottom is connected to the right dragging walking mechanism (1) through the rotating shaft (25); The leveling mechanism (6) comprises a left frame (61), a left hydraulic motor (62), a left hydraulic cylinder (64) and a telescopic rod (63); the front side of the left frame (61) is provided with a left front beam connecting shaft, the rear side of the left frame (61) is provided with a left rear beam connecting groove, the left hydraulic motor (62) is arranged in the left frame (61), the left hydraulic cylinder (64) is located in the middle of the left frame (61), one end of the telescopic rod (63) is connected to the output end of the left hydraulic motor (62), and the other end is vertically fixed in the left towing walking mechanism (8); the telescopic rod (63) is parallel to the left hydraulic cylinder (64), one end of the telescopic rod (63) is fixed on the left frame (61), and the other end is fixed in the left towing walking mechanism (8).

6. The green seabed drilling rig sampling device according to claim 1, characterized in that: The drilling rig also includes a drilling rig moving mechanism (5), which includes a drilling rig frame, a driving motor (53) and a gear. The driving motor (53) drives the gear to rotate, and the gear meshes with the rack on the rear beam (3) to drive the drilling rig (4) arranged on the drilling rig frame to move horizontally back and forth.

7. A green seabed drilling rig sampling device according to claim 6, characterized in that: The drilling rig frame comprises a connecting frame (51) and an extension frame (52). The connecting frame (51) is arranged as a horizontal rectangular frame and is connected to a front beam (9) and a rear beam (3). The drilling rig (4) is fixed on the extension frame (52). The bottom end of the extension frame (52) is hinged to one side of the connecting frame (51). The extension frame (52) is driven by a telescopic hydraulic rod to be arranged parallel or vertically with the connecting frame (51). A drilling rig platform (44) fixedly connected to the surface of the extension frame (52) is fixed on the extension frame (52). The drill bit (41) is moved up and down by a drilling rig up and down driving mechanism (43) arranged on the drilling rig platform (44). Sampling is achieved by a drilling rig rotation driving mechanism (42) connected to the drilling rig up and down driving mechanism (43).

8. The green seabed drilling rig sampling device according to claim 7, characterized in that: A sampling cylinder with an open bottom and a hollow interior is arranged inside the drill bit (41), and a drainage hole is arranged at the top of the sampling cylinder.

9. The green seabed drilling rig sampling device according to claim 1, characterized in that: The invention also comprises a signal receiving mechanism (7), wherein the signal receiving mechanism (7) comprises a main tower (71), a slave tower (72), a main tower driving motor, and a slave tower driving motor, wherein the main tower (71) is connected to the main tower driving motor, and the main tower driving motor drives the main tower (71) to adjust from a horizontal state to a vertical state; the slave tower (72) is movably connected to the main tower (71) and is connected to the slave tower driving motor, and the slave tower driving motor drives the slave tower (72) to achieve 180° adjustment, and an RTK (73) is arranged at the top of the slave tower (72). When in a working state, the RTK (73) extends out of the water surface.

10. A green seabed drilling rig sampling method, characterized in that: The green drilling rig sampling device comprising any one of claims 1 to 9 comprises the following steps: Adjusting the main tower (71) and the auxiliary tower (72) from a horizontal folded state to a vertically extended state; The drilling rig sampling device is hoisted into the water bottom to ensure that the RTK (73) installed on the slave tower (72) can extend out of the water surface, and the RTK (73) on the water surface exchanges signals with the ultra-short baseline on the underwater equipment to ensure accurate signal transmission; When the drilling rig sampling device is moving through the dragging walking mechanism, if an uphill slope is encountered, the right hydraulic cylinder (21) on the right dragging walking mechanism (1) is extended through the adjusting mechanism (2), so that the front end of the right dragging walking mechanism (1) rotates upward with the rotating shaft (25) as the center, thereby achieving a smooth uphill slope; if a downhill slope is encountered, the right hydraulic cylinder (21) is reversely operated to achieve a smooth downhill slope; if a terrain with a high left and a low right is encountered, the left hydraulic cylinder (64) is contracted, and finally the left hydraulic motor (62) is turned off when the drilling rig sampling device is horizontal, thereby achieving a stable effect of the drilling rig sampling device; The coordinate position is located by an ultra-short baseline, and the electric winch dragging device on the surface deck is used to migrate. When the drilling position is reached, it is determined whether the error is within the range of 0.1 m. If so, the left hydraulic cylinder (64) and the right hydraulic cylinder (21) are locked, so that the drilling rig sampling device is stabilized on the seabed; The extension frame (52) is driven by the telescopic hydraulic rod to make the underwater drilling rig and the drilling rod in the drilling rig platform (44) reach a vertical state; The drill bit realizes accurate positioning in water. The upper and lower driving mechanism (43) of the drill rig drives the reducer to drive the drill bit (41) to move downward. At the same time, the rotating mechanism of the drill rig (4) rotates, so that the drill bit (41) rotates and inserts into the soil. After reaching the drilling depth, the drill bit (41) drills the soil to take samples. After the sampling is completed, the drill rod is reversed and the drill bit is taken out from the seabed soil layer. After one sampling is completed, the driving motor (53) is used to drive the gear to rotate, so that the drilling platform (44) moves on the front beam (9) and the rear beam (3). After reaching the second designated position, the drill bit (41) is driven into the mud again, and the soil sample at this position enters the sampling tube and lifts up the soil sampled last time. A drainage hole is provided on the upper part of the sampling tube so that the soil moves upward along the tube wall. Repeat the above steps in sequence to complete multi-point and multiple sampling work after leveling; After a group of holes are drilled in the horizontal direction, the drill bit (41) is lifted out of the mud surface, the surface ship towing device is moved, and the second round of multiple and multi-point sampling begins until the sampling task is completed.

11. The green seabed drilling rig sampling method according to claim 10, characterized in that: In the step "Lowering the Drilling Rig Sampling Device to the Bottom of the Water", The following steps are involved: Underwater ultra-short baseline and real-time dynamic positioning take data and combine them to achieve precise positioning. The specific steps are as follows: Step 1: Install and calibrate the equipment; Step 2: Obtain the absolute position of the surface unit. The RTK mobile station provides the high-precision absolute position of the surface unit in real time, records the position data of the surface unit, and ensures that it is synchronized with the data of the USBL system. Step 3: Obtain the relative position of the underwater device. The USBL surface unit transmits an acoustic signal, and the transponder on the underwater device receives and responds. The USBL system calculates the position of the underwater device relative to the surface unit based on the propagation time and angle of the signal. Step 4: Data fusion and calculation: (1) Coordinate conversion: Convert the relative position provided by USBL into a rectangular coordinate system: ΔE=r·sin(θ)·cos(φ) ΔN=r·cos(θ)·cos(φ) ΔU=r·sin(φ) Where: r is the distance, θ is the azimuth, φ is the elevation (2) Combining RTK data: combining the relative position ΔE, ΔN, ΔU calculated by USBL with the absolute position longitude, latitude, and elevation of the water surface unit provided by RTK; Where: RE and RN are the radius of curvature of the earth; (3) Data processing and output results: The multi-beam sonar system collects seabed data, and the raw data obtained is processed and analyzed using Teledyne PDS.

12. The green seabed drilling rig sampling method according to claim 11, characterized in that: In the step of "collecting seabed data with multi-beam sonar system", the specific steps include: Data import and preprocessing: Import the raw data collected by multibeam sonar into PDS software; Grid model generation: Convert discrete sonar data points into a regular grid model, fill in data gaps through interpolation algorithms, and ensure the continuity of the seabed topography; Filtering and Optimization: Optimize data, remove outliers and improve data accuracy; Depth contour generation: Generate depth contours based on the grid model to represent the depth changes of the seabed topography 3D Visualization: The processed data is visualized in 3D and the precise absolute position of the underwater device can be calculated.

Images