A multi-point segmented core sampling device based on an unmanned remotely operated vehicle

Abstract

This invention relates to the field of core sampling technology, specifically to a multi-point segmented core sampling device based on an unmanned remotely operated vehicle (ROV). The device includes a frame, a drill string mounted on the frame, a vertically arranged drill pipe with a drill bit connected to its lower end, a core tube rotatably connected to the inner side of the drill pipe, a drive mechanism connected to the outer side of the drill pipe, a lifting mechanism on the frame, a water supply pipe connected to the upper end of the core tube, and a suction mechanism connected to the core tube via the water supply pipe. A storage mechanism connects the core tube and the suction mechanism. This invention utilizes the underwater mobility of the ROV to autonomously select sampling points after deployment, preventing the sampling device from deviating from the preset sampling points during deployment, which could lead to tilting and compromise the stability of the core sampling operation. Furthermore, the core sampling device only needs to be deployed once to perform multi-point segmented core sampling, significantly improving core sampling efficiency and minimizing core sampling costs.

Description

Technical Field

[0001] This invention relates to the field of core sampling technology, specifically to a multi-point segmented core sampling device based on an unmanned remotely operated vehicle. Background Technology

[0002] Cobalt-rich crusts, a type of crustal sedimentary mineral primarily found on hard bedrock of seamounts, are rich in metals such as cobalt, nickel, copper, manganese, platinum group metals, and rare earth elements, with cobalt being particularly abundant. These metals have extremely high application value in modern industry. Currently, my country has conducted extensive exploration and surveys in the Pacific cobalt-rich crust exploration contract area, obtaining a wealth of first-hand mineral resource information, delineating multiple mineralized zones, and obtaining resource quantities of different types. Analysis of cobalt-rich crust core samples can assess the resource quantity, grade, and distribution characteristics of the cobalt-rich crusts, providing a scientific basis for subsequent mineral development.

[0003] However, most of the core sampling equipment currently used is fixed deep-sea drilling rigs. Since the equipment itself cannot move underwater, it can only be deployed once. Moreover, the underwater environment is complex, and the equipment may deviate from the predetermined sampling point during deployment. If it encounters complex terrain, there are problems such as equipment tilting and unstable sampling. At the same time, a single deployment can only obtain core samples from one sampling point. If core samples need to be collected from different points, the deployment and retrieval steps of the sampling equipment need to be repeated, resulting in low core sampling efficiency and high sampling costs. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by providing a multi-point segmented core sampling device based on an unmanned remotely operated vehicle (UAV). By mounting the core sampling device on an UAV, the device can autonomously select exploration and sampling points using the underwater mobility of the UAV. Furthermore, the device can be deployed once and used for multiple exploration and core sampling operations at multiple points. This solves the problems of existing technologies where the equipment itself is immobile underwater, and in complex terrain, there are issues such as equipment tilting and unstable sampling. Additionally, each deployment can only obtain core samples from one sampling point, resulting in low core sampling efficiency and high sampling costs.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A multi-point segmented core sampling device based on an unmanned remotely operated vehicle (UAV) includes a frame, on which a drill string is mounted. The drill string includes a vertically arranged drill pipe with a drill bit connected to its lower part. A core tube is rotatably connected to the inner side of the drill pipe, and a drive mechanism for rotating the drill pipe is connected to the outer side of the drill pipe. The frame is equipped with a lifting mechanism for raising and lowering the drill string and the drive mechanism together. A water supply pipe is connected to the upper part of the core tube, and the core tube is connected to a suction mechanism for circulating and absorbing seawater through the water supply pipe. A storage mechanism for segmented storage of the core sample is connected to the water supply pipe.

[0007] Furthermore, the drive mechanism includes a hydraulic motor fixed on the frame, and the output shaft of the hydraulic motor is connected to the drill pipe through a transmission mechanism.

[0008] Furthermore, the frame includes a top plate, a middle plate, and a bottom plate arranged sequentially from top to bottom. The top plate is fixedly connected to the middle plate via a connecting rod. The bottom plate is provided with a vertical sliding rod. The top plate and the middle plate are slidably connected to the sliding rod, respectively. The drive mechanism is fixed on the middle plate, and the lifting mechanism is a hydraulic lifting mechanism, including a hydraulic cylinder fixed vertically on the bottom plate. The piston rod of the hydraulic cylinder is fixedly connected to the top plate.

[0009] Furthermore, the hydraulic cylinder includes a cylinder bottom fixed to a base plate, a cylinder barrel connected above the cylinder bottom via a first flange, a cylinder head connected above the cylinder barrel via a second flange, and a piston rod movably connected to the cylinder barrel.

[0010] Furthermore, the storage mechanism includes a cylindrical body, with an inlet cap and an outlet cap connected to both sides of the cylindrical body. The inlet cap has an inlet hole at an eccentric position for connecting to a water supply pipe for water intake, and the outlet cap has an outlet hole at an eccentric position for connecting to a water supply pipe for water output. The center of the inlet hole and the center of the outlet hole are on the same horizontal line. A circular support frame is rotatably connected inside the cylindrical body between the inlet cap and the outlet cap. Sampling tubes are evenly spaced around the circumference of the circular support frame. A filter screen is provided at the end of the sampling tube on one side of the outlet cap. The circular support frame is connected to a power component for driving the circular support frame to rotate around its own center.

[0011] Furthermore, the circular support frame includes a first rotating disk rotatably connected to the inlet end cap, a second rotating disk rotatably connected to the outlet end cap, and a rotating rod for connecting the first rotating disk and the second rotating disk. The first rotating disk and the second rotating disk are each provided with a plurality of circumferentially spaced through holes. The two ends of the sampling tube are fixedly connected to the first rotating disk and the second rotating disk respectively through the through holes. One end of the rotating rod passes through the second rotating disk and the outlet end cap in sequence and is then connected to the power assembly.

[0012] Furthermore, the power assembly includes a motor, the output shaft of which is connected to a rotating rod via a coupling.

[0013] Furthermore, the storage mechanism also includes a limiting component for limiting the rotational position of the circular support frame.

[0014] Furthermore, the limiting component includes a limiting post with corresponding limiting grooves on the water inlet end cap. The number of limiting grooves is the same as the number of sampling tubes. The limiting post is connected to the first rotating disk by a spring.

[0015] Furthermore, the suction mechanism includes a suction pump, the inlet of which is connected to the outlet hole on the outlet cover via a water supply pipe.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] This invention can be mounted on an unmanned remotely operated vehicle (UAV). After the core sampling device and the UAV are deployed in the sea, the UAV's underwater movement function moves the core sampling device to a stable sampling stratum. The drill bit is driven into the sampling stratum by the cooperation of the drive mechanism and the lifting mechanism. While the drill bit is in the sampling stratum, the suction mechanism continuously pumps seawater from the sampling point. The core sample from the pumped seawater is stored by the storage mechanism. After the core sample is collected from the first sampling point, the UAV moves the core sampling device to the second sampling point. The power unit moves the second sampling tube to the sampling position, and the segmented core sampling action is completed sequentially for multiple sampling points.

[0018] This invention features a lightweight overall structure, facilitating the mounting of the entire device on an unmanned remotely operated vehicle (UAV). Utilizing the UAV's underwater mobility, it can autonomously select stable core sampling points after deployment, preventing the sampling device from deviating from the preset sampling point during deployment and thus avoiding tilting, which would compromise the stability of the core sampling process. Furthermore, the UAV's underwater mobility allows for multi-point, segmented core sampling operations with only a single deployment, significantly improving core sampling efficiency and minimizing costs. Additionally, a storage mechanism... This device can store core samples collected from multiple different sampling points in segments. During the sea sampling process, core samples can be stored separately in different sampling tubes, facilitating individual analysis of core samples from multiple sampling points later. In addition, the core sampling device adopts the principle of reverse circulation coring technology, in which core samples are drawn from the top of the drill bit into the sampling tube in the storage mechanism. This can effectively reduce the "plume" phenomenon generated by the drill bit cutting the formation during the drill bit's rotation, improve the visibility of the seabed environment and the drilling efficiency of the drill bit, and reduce the accident rate during the drilling process. Attached Figure Description

[0019] Figure 1 A schematic diagram of the overall structure of a multi-point segmented core sampling device based on an unmanned remotely operated vehicle provided by the present invention;

[0020] Figure 2 A schematic diagram of the drilling tool, drive mechanism, and lifting mechanism on the frame of a multi-point segmented core sampling device based on an unmanned remotely operated vehicle provided by the present invention;

[0021] Figure 3 A cross-sectional view of the drilling tool in a multi-point segmented core sampling device based on an unmanned remotely operated vehicle provided by the present invention;

[0022] Figure 4 A cross-sectional view of the lifting mechanism in a multi-point segmented core sampling device based on an unmanned remotely operated vehicle provided by the present invention;

[0023] Figure 5 A schematic diagram of the structure of the cylinder in a multi-point segmented core sampling device based on an unmanned remotely operated vehicle provided by the present invention;

[0024] Figure 6 A cross-sectional view of the storage mechanism in a multi-point segmented core sampling device based on an unmanned remotely operated vehicle provided by the present invention;

[0025] Figure 7 This invention provides a schematic diagram of the circular support frame in a multi-point segmented core sampling device based on an unmanned remotely operated vehicle.

[0026] Figure 8 This invention provides a schematic diagram of the circular support frame in a multi-point segmented core sampling device based on an unmanned remotely operated vehicle.

[0027] Figure 9 This is a schematic diagram of the water inlet cap in a multi-point segmented core sampling device based on an unmanned remotely operated vehicle (UROV) provided by the present invention.

[0028] The attached figures are labeled as follows:

[0029] 1. Frame; 11. Top plate; 12. Middle plate; 13. Bottom plate; 14. Connecting rod; 15. Sliding rod;

[0030] 2. Drilling tools; 21. Drill casing; 22. Drill bit; 23. Core tube; 24. Bearing; 25. Connecting parts;

[0031] 3. Drive mechanism; 31. Hydraulic motor; 32. Drive gear; 33. Driven gear;

[0032] 4. Lifting mechanism; 41. Hydraulic cylinder; 411. Cylinder bottom; 412. First flange; 413. Cylinder barrel; 414. Second flange; 415. Cylinder head; 42. Piston rod;

[0033] 5. Storage mechanism; 51. Cylinder; 52. Inlet cap; 521. Inlet hole; 53. Outlet cap; 531. Outlet hole; 54. Circular support frame; 541. First rotating disk; 542. Second rotating disk; 543. Rotating rod; 55. Sampling tube; 56. Filter screen; 57. Power assembly; 571. Motor; 572. Coupling; 58. Limiting assembly; 581. Limiting post; 582. Limiting groove; 583. Spring;

[0034] 6. Suction mechanism; 61. Suction pump;

[0035] 7. Water supply pipe. Detailed Implementation

[0036] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0037] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0038] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0039] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0040] For easier understanding, please refer to Figures 1 to 3This embodiment provides a multi-point segmented core sampling device based on an unmanned remotely operated vehicle (UAV), including a frame 1 and a controller. A drill bit 2, vertically penetrating the frame 1, is located in the middle of the frame 1. The drill bit 2 includes a drill pipe 21 and a drill bit 22 fixedly connected to the lower end of the drill pipe 21. The drill pipe 21 is sleeved on the outside of a core tube 23. The upper end of the drill pipe 21 is rotatably connected to the core tube 23 via a bearing 24. The upper end of the core tube 23 is connected to a water supply pipe 7 via a connector 25. Specifically, the connector 25 is located above the bearing 24, and the bearing 24 is fixedly positioned between the drill pipe 21 and the core tube 23 via the connector 25. The inner ring of the connector 25 is threaded to the outer wall of the upper end of the core tube 23, and the outer ring of the connector 25 is threaded to the inner wall of the interface end of the water supply pipe 7. A drive mechanism 3 is located on the frame 1. The drive mechanism 3 is connected to the drill pipe 21 via a transmission mechanism and is used to drive the drill pipe 21 to rotate around its own axis. Since the drill pipe 21 is rotatably connected to the core tube 23, when the drive mechanism 3 drives the drill pipe 21 to rotate, the drill pipe 21 drives the drill bit 22 to rotate, while the core tube 23 inside the drill pipe 21 does not rotate with the drill pipe 21. The lifting mechanism 4 is located on the frame 1, and the moving end of the lifting mechanism 4 is connected to the drive mechanism 3. The lifting mechanism 4 is used to drive the drive mechanism 3 to move vertically. Since the drive mechanism 3 is connected to the drill string 2, when the lifting mechanism 4 drives the drive mechanism 3 to move vertically, it will also drive the drill string 2 to move vertically. Through the cooperation of the lifting mechanism 4 and the drive mechanism 3, the drill pipe 21 is driven to move vertically downward or upward while rotating, that is, the drill pipe 21 drills into the sampling formation from top to bottom or exits the sampling formation from bottom to top. Furthermore, there are two sets of lifting mechanisms 4, which are respectively spaced apart on the frame 1. The upper end of the core tube 23 is connected to the storage mechanism 5 via a water supply pipe 7, which in turn is connected to the suction mechanism 6 via the water supply pipe 7. The suction mechanism 6 is used to circulate and pump seawater from the drill bit 22, and the storage mechanism 5 is used to store the core samples in the pumped seawater in segments. After the drill pipe 21 is drilled into the sampling formation, seawater is pumped by the suction mechanism 6. The pumped seawater first enters the core tube 23 from the drill bit 22 and is then transported from the core tube 23 to the storage mechanism 5 via the water supply pipe 7. The storage mechanism 5 intercepts the core samples in the transported seawater and stores them in segments. The remaining seawater continues to be transported to the suction mechanism 6 via the water supply pipe 7 and is finally discharged into the ocean from the drainage end of the suction mechanism 6, completing the sampling of the core samples in the seawater.

[0041] For easier understanding, please refer to Figures 1 to 4The frame 1 includes a top plate 11, a middle plate 12, and a bottom plate 13 arranged sequentially from top to bottom. The top plate 11 is fixedly connected to the middle plate 12 via a connecting rod 14. A vertical sliding rod 15 is fixedly connected to the bottom plate 13. The top plate 11 and the middle plate 12 are slidably connected to the sliding rod 15, respectively. Further, there are two connecting rods 14 and two sliding rods 15, each respectively mounted on the frame 1. The drive mechanism 3 is fixedly mounted on the middle plate 12, specifically including a hydraulic motor 31 fixedly mounted on the middle plate 12. The transmission mechanism includes a drive gear 32, which is fixedly sleeved on the outside of the output shaft of the hydraulic motor 31. The drive gear 32 meshes with a driven gear 33, which is fixedly sleeved on the outside of the drill pipe 21. When the hydraulic motor 31 starts, the output shaft of the hydraulic motor 31 drives the drive gear 32 to rotate, which in turn drives the driven gear 33 meshing with the drive gear 32 to rotate synchronously, ultimately driving the drill pipe 21 fixedly connected to the driven gear 33 to rotate. The lifting mechanism 4 includes a hydraulic cylinder 41 vertically fixed to the base plate 13. Specifically, the hydraulic cylinder 41 includes a cylinder bottom 411 fixed to the base plate 13. The cylinder bottom 411 is connected to the cylinder barrel 413 via a first flange 412. A cylinder head 415 is connected to the cylinder barrel 413 via a second flange 414. Specifically, the cylinder bottom 411 is bolted to the first flange 412, the first flange 412 is threaded to the lower end of the cylinder barrel 413, the upper end of the cylinder barrel 413 is threaded to the second flange 414, and the second flange 414 is bolted to the cylinder head 415. A piston rod 42 is movably connected inside the cylinder barrel 413. The piston rod 42 moves vertically, and its upper end is fixedly connected to the top plate 11. When oil enters the upper cylinder head 415 end, the piston rod 42 moves vertically downward, causing the top plate 11 fixedly connected to the piston rod 42 and the middle plate 12 fixedly connected to the top plate 11 to slide downward along the sliding rod 15. At the same time, the drive mechanism 3 and the drill bit 2 fixed on the middle plate 12 move vertically downward together, so that the drill pipe 21 moves vertically downward while rotating, allowing the drill pipe 21 to drill into the sampling formation from top to bottom. When oil enters the lower cylinder bottom 411 end, the piston rod 42 moves vertically upward, causing the top plate 11 and the middle plate 12 to slide upward along the sliding rod 15. At the same time, the drive mechanism 3 and the drill bit 2 move vertically upward together, so that the drill pipe 21 moves vertically upward while rotating, allowing the drill pipe 21 to exit the sampling formation from bottom to top.

[0042] For easier understanding, please refer to Figures 5 to 9The storage mechanism 5 includes a cylindrical body 51. A water inlet cap 52 is connected to the left side of the cylindrical body 51, and a water outlet cap 53 is connected to the right side. The water inlet cap 52 has a water inlet hole 521, and the water outlet cap 53 has a water outlet hole 531. The water inlet hole 521 and the water outlet hole 531 are coaxially positioned. Inside the cylindrical body 51, between the water inlet cap 52 and the water outlet cap 53, a circular support frame 54 is connected. Six sampling tubes 55 are mounted on the circular support frame 54, spaced 60° apart circumferentially around its center. The water inlet hole 521 communicates with the water outlet hole 531 through the sampling tubes 55. A filter screen 56 is located at the rear end of each sampling tube, used to intercept core samples from the seawater. The two sides of the circular support frame 54 are rotatably connected to the water inlet end cover 52 and the water outlet end cover 53, respectively. The circular support frame 54 is connected to the outside of the cylinder 51 by a power component 57, which is used to drive the circular support frame 54 to rotate around its own center. Water supply pipes 7 are connected to the inlet hole 521 and the outlet hole 531 respectively. In the initial state, the sampling tube 55 is coaxial with the inlet hole 521 and the outlet hole 531, that is, the front and rear ends of the sampling tube 55 are connected to the inlet hole 521 and the outlet hole 531 respectively. At this time, the seawater sucked up by the suction mechanism 6 passes through the core tube 23 and enters the inlet hole 521 through the water supply pipe 7, and then enters the sampling tube 55 through the inlet hole 521. Due to the suction effect of the suction mechanism 6, the seawater in the sampling tube 55 flows from the side of the inlet end cap 52 to the side of the outlet end cap 53. Since the filter screen 56 is set at the rear end of the sampling tube, the core sample in the seawater will be successfully intercepted by the filter screen 56 and stored inside the sampling tube 55. The remaining seawater flows out of the cylinder 51 through the outlet hole 531 after passing through the filter screen 56, and is finally transported to the suction mechanism 6 through the water supply pipe 7 and finally discharged into the ocean. After the sampling action of one sampling tube 55 is completed, the suction action of the suction mechanism 6 is stopped. Then, the circular support frame 54 is driven by the power component 57 to rotate 60° around its own center, so that the second unsampled sampling tube 55 rotates to the coaxial position with the water inlet 521 and the water outlet 531. Then, the front and rear ends of the second unsampled sampling tube 55 are connected to the water inlet 521 and the water outlet 531 respectively. Seawater is then sucked up again by the suction mechanism 6 to perform core sampling on the second sampling tube 55.

[0043] For better understanding, please continue reading. Figures 5 to 9The circular support frame 54 includes a first rotating disk 541 rotatably connected to the inner flange of the inlet end cap 52, a second rotating disk 542 rotatably connected to the inner flange of the outlet end cap 53, and a rotating rod 543 for connecting the first rotating disk 541 and the second rotating disk 542. The left and right ends of the rotating rod 543 are fixedly connected to the first rotating disk 541 and the second rotating disk 542, respectively. Both the first rotating disk 541 and the second rotating disk 542 have six through holes spaced 60° apart circumferentially. The left and right ends of the sampling tube 55 are connected to the first rotating disk 541 and the second rotating disk 542 through these through holes, respectively. The right end of the rotating rod 543 passes through the second rotating disk 542 and the outlet end cap 53 before connecting to the power assembly 57. The power assembly 57 includes a motor 571, and the output shaft of the motor 571 is connected to the rotating rod 543 via a coupling 572. The suction mechanism 6 includes a suction pump 61, whose inlet end is connected to the outlet hole 531 on the outlet end cover 53 via a water supply pipe 7. After completing the sampling action of one sampling tube 55, the suction action of the suction pump 61 is stopped. Then, the rotating rod 543 is driven by the motor 571 to rotate 60° around its own axis, so that the second unsampled sampling tube 55 rotates to a position coaxial with the inlet hole 521 and the outlet hole 531, so that the front and rear sections of the second unsampled sampling tube 55 are connected to the inlet hole 521 and the outlet hole 531 respectively. Seawater is then drawn again by the suction pump 61 to perform core sampling on the second sampling tube 55. Furthermore, annular waterproof rings are provided at the rotational connection between the inlet end cover 52 and the first rotating disk 541, and at the rotational connection between the outlet end cover 53 and the second rotating disk 542. The waterproof rings are used to prevent partial seawater leakage during the cyclical suction of seawater by the suction pump 61. Furthermore, waterproof sealing material may be filled at the rotatable connection between the water inlet cap 52 and the first rotating disk 541, and at the rotatable connection between the water outlet cap 53 and the second rotating disk 542.

[0044] For better understanding, please continue reading. Figures 5 to 9 The storage mechanism 5 also includes a limiting component 58 for limiting the rotational position of the circular support frame 54. Specifically, it includes a limiting post 581, and corresponding limiting grooves 582 are formed on the water inlet end cap 52. There are six limiting grooves 582, each spaced 60° apart circumferentially along the rotating rod 543. One end of a spring 583 is fixedly connected to the limiting post 581, and the other end is fixedly connected to the first rotating disk 541. The spring 583 moves horizontally. In the initial state, the sampling tube 55 is coaxial with the water inlet 521 and the water outlet 531, meaning both ends of the sampling tube 55 are connected to the water inlet 521 and the water outlet 531 respectively. The limiting post 581 is located inside one of the limiting grooves 582. Since the limiting post 581 is connected to the first rotating disk 541 by the spring 583, the spring 583 exerts a forward (corresponding) force on the limiting post 581. Figure 6The thrust (to the left) causes the head of the limiting post 581 to be completely embedded in the limiting groove 582, thereby limiting the rotation position of the first rotating disk 541, that is, limiting the rotation position of the circular support frame 54 and the sampling tube 55, so as to prevent the circular support frame 54 from rotating during the process of the suction pump 61 circulating and sucking seawater, which would cause the sampling tube 55 located on the circular support frame 54 to deviate from the coaxial position of the water inlet hole 521 and the water outlet hole 531. When the sampling action of the first sampling tube 55 is completed, the motor 571 drives the rotating rod 543 to rotate 60°, which in turn drives the limiting post 581 connected to the first rotating disk 541 to rotate 60° together. During the rotation, the head of the limiting post 581 slides out of the limiting groove 582. At this time, the limiting post 581 retracts towards the spring 583. The spring 583 is compressed and contracts until the rotating rod 543 rotates 60°. At this time, the second sampling tube 55 is in a coaxial position with the water inlet 521 and the water outlet 531. At the same time, the spring 583 releases elastic potential energy, pushing the limiting post 581 forward (corresponding to...). Figure 6 Move to the left (in the middle) to reset until the head of the limiting post 581 is completely inserted into the corresponding limiting groove 582, thus limiting the rotation position of the circular support frame 54.

[0045] The method of using the present invention is as follows: The storage mechanism 5 and the suction mechanism 6 are both fixedly installed on the body of the unmanned remotely operated vehicle (UAV), and the drill bit 2, the storage mechanism 5 and the suction mechanism 6 are connected in sequence through the water supply pipe 7. Then, the frame 1 is fixed by the robotic arm on the body of the UAV, so that the UAV body and the frame 1 are relatively fixed, and the pre-installation before sampling can be completed. The frame 1, equipped with the drill string 2, and the remotely operated vehicle (ROV), equipped with the storage mechanism 5 and the suction mechanism 6, are deployed into the sea. Utilizing the ROV's underwater mobility, the frame 1 is moved to the first sampling point. After the frame 1 is fixed at the first sampling point by a robotic arm, the drive mechanism 3 and the lifting mechanism 4 are activated by the controller, causing the drill pipe 21 and drill bit 22 to rotate while moving vertically downwards, allowing the drill pipe 21 to drill into the sampling stratum. During the drilling process of the drill pipe 21, the suction pump 61 is activated by the controller to suction seawater from the sampling point. The seawater suctioned by the suction pump 61 passes through the core tube 23 and is then transported... Water pipe 7 enters the inlet hole 521 and then enters the first sampling tube 55 through the inlet hole 521. Due to the suction effect of the suction mechanism 6, the seawater in the sampling tube 55 flows from the inlet end cap 52 side to the outlet end cap 53 side. Since the filter screen 56 is set on the outlet end cap 53 side, the core sample in the seawater will be successfully intercepted by the filter screen 56 and stored inside the first sampling tube 55. That is, the core sampling action of the first sampling point is completed in the first sampling tube 55. The remaining seawater flows out of the cylinder 51 through the outlet hole 531 after passing through the filter screen 56, and is finally transported to the drain of the suction pump 61 through the water pipe 7 and discharged into the ocean. After completing the sampling action of one sampling tube 55, the suction action of the suction pump 61 is stopped by the controller. The drill bit 2 is withdrawn from the sampling formation from bottom to top through the cooperation of the drive mechanism 3 and the lifting mechanism 4. After the drill bit 2 is completely separated from the sampling formation, the frame 1 is moved to the second sampling point by the unmanned remote-controlled submersible. The frame 1 is fixed at the second sampling point by the manipulator. The controller drives the motor 571 to drive the rotating rod 543 to rotate 60° around its own axis, so that the second unsampled sampling tube 55 rotates to the coaxial position with the water inlet hole 521 and the water outlet hole 531, so that the second unsampled sampling tube 55 is connected to the water inlet hole 521 and the water outlet hole 531. Next, the drive mechanism 3 and lifting mechanism 4 are restarted via the controller, causing the drill pipe 21 and drill bit 22 to rotate and move vertically downwards. This allows the drill pipe 21 to drill into the sampling stratum while the suction pump 61 is restarted to draw seawater, thus completing the core sampling at the second sampling point in the second sampling tube 55. The above steps are repeated to complete the core sampling at multiple different sampling points in multiple different sampling tubes 55 until core samples are collected at all sampling points. Finally, the unmanned remotely operated vehicle and frame 1 are retrieved.

[0046] Although the present invention has been described using the above preferred embodiments, it is not intended to limit the scope of protection of the present invention. Any changes and modifications made by those skilled in the art to the above embodiments without departing from the spirit and scope of the present invention shall still fall within the scope of protection of the present invention.

Claims

1. A multi-point segmented core sampling device based on an unmanned remotely operated vehicle, characterized in that, The system includes a frame (1), on which a drill bit (2) is mounted. The drill bit (2) includes a vertically mounted drill pipe (21), with a drill bit (22) connected to the bottom of the drill pipe (21). A core tube (23) is rotatably connected to the inside of the drill pipe (21), and a drive mechanism (3) for driving the drill pipe (21) to rotate is connected to the outside of the drill pipe (21). A lifting mechanism (4) is mounted on the frame (1) for driving the drill bit (2) and the drive mechanism (3) to rise and fall together. A water supply pipe (7) is connected to the top of the core tube (23), and the core tube (23) is connected to a suction mechanism (6) for circulating and absorbing seawater through the water supply pipe (7). A storage mechanism (5) for segmented storage of the core sample is connected to the water supply pipe (7). The unmanned remotely operated vehicle (UAV) equipped with a frame (1), a storage mechanism (5), and a suction mechanism (6) is launched into the sea. After the frame (1) is fixed at the first sampling point by the UAV, the drill pipe (21) is drilled into the sampling stratum by the cooperation of the drive mechanism (3) and the lifting mechanism (4). The seawater at the sampling point is sucked up by the suction mechanism (6) and stored in the storage mechanism (5). After completing one sampling action, the suction action of the suction mechanism (6) is stopped. The drill pipe (21) is removed from the sampling stratum by the cooperation of the drive mechanism (3) and the lifting mechanism (4). The frame (1) is moved to the second sampling point by the UAV. The storage mechanism (5) includes a cylindrical body (51), with an inlet cap (52) and an outlet cap (53) connected to both sides of the cylindrical body (51). The inlet cap (52) has an inlet hole (521) at an eccentric position for connecting to the water supply pipe (7) for water intake, and the outlet cap (53) has an outlet hole (531) at an eccentric position for connecting to the water supply pipe (7) for water discharge. The center of the inlet hole (521) and the center of the outlet hole (531) are located at... On the same horizontal line, a circular support frame (54) is rotatably connected between the water inlet end cap (52) and the water outlet end cap (53) inside the cylinder (51). Sampling tubes (55) are evenly spaced around the circumference of the circular support frame (54). A filter screen (56) is provided on the end of the sampling tube (55) on one side of the water outlet end cap (53). The circular support frame (54) is connected to a power component (57) for driving the circular support frame (54) to rotate around its own center. The suction mechanism (6) includes a suction pump (61), and the water inlet of the suction pump (61) is connected to the water outlet hole (531) on the water outlet cover (53) through a water supply pipe (7).

2. The multi-point segmented core sampling device based on an unmanned remotely operated vehicle as described in claim 1, characterized in that, The drive mechanism (3) includes a hydraulic motor (31) fixed on the frame (1), and the output shaft of the hydraulic motor (31) is connected to the drill pipe (21) through a transmission mechanism.

3. The multi-point segmented core sampling device based on an unmanned remotely operated vehicle according to claim 2, characterized in that, The frame (1) includes a top plate (11), a middle plate (12) and a bottom plate (13) arranged sequentially from top to bottom. The top plate (11) is fixedly connected to the middle plate (12) through a connecting rod (14). A vertical sliding rod (15) is provided on the bottom plate (13). The top plate (11) and the middle plate (12) are slidably connected to the sliding rod (15) respectively. The drive mechanism (3) is fixed on the middle plate (12). The lifting mechanism (4) is a hydraulic lifting mechanism, including a hydraulic cylinder (41) vertically fixed on the base plate (13), and the piston rod (42) of the hydraulic cylinder (41) is fixedly connected to the top plate (11).

4. The multi-point segmented core sampling device based on an unmanned remotely operated vehicle according to claim 3, characterized in that, The hydraulic cylinder (41) includes a cylinder bottom (411) fixed on a base plate (13), a cylinder barrel (413) connected above the cylinder bottom (411) via a first flange (412), a cylinder head (415) connected above the cylinder barrel (413) via a second flange (414), and a piston rod (42) movably connected to the cylinder barrel (413).

5. The multi-point segmented core sampling device based on an unmanned remotely operated vehicle according to claim 1, characterized in that, The circular support frame (54) includes a first rotating disk (541) rotatably connected to the inlet end cap (52), a second rotating disk (542) rotatably connected to the outlet end cap (53), and a rotating rod (543) for connecting the first rotating disk (541) and the second rotating disk (542). The first rotating disk (541) and the second rotating disk (542) are each provided with a plurality of circumferentially spaced through holes. The two ends of the sampling tube (55) are connected to the first rotating disk (541) and the second rotating disk (542) respectively through the through holes. One end of the rotating rod (543) passes through the second rotating disk (542) and the outlet end cap (53) in sequence and is then connected to the power assembly (57).

6. The multi-point segmented core sampling device based on an unmanned remotely operated vehicle according to claim 5, characterized in that, The power assembly (57) includes a motor (571), the output shaft of which is connected to a rotating rod (543) via a coupling (572).

7. The multi-point segmented core sampling device based on an unmanned remotely operated vehicle according to claim 5, characterized in that, The storage mechanism (5) also includes a limiting component (58) for limiting the rotational position of the circular support frame (54).

8. The multi-point segmented core sampling device based on an unmanned remotely operated vehicle according to claim 7, characterized in that, The limiting component (58) includes a limiting post (581) and a limiting groove (582) corresponding to the water inlet end cap (52). The number of limiting grooves (582) is the same as the number of sampling tubes (55). The limiting post (581) is connected to the first rotating disk (541) by a spring (583).

Images