A seabed bottom material advanced detection device and method for a seabed mining vehicle

Abstract

The present invention relates to the technical field of seabed sediment advanced detection devices and methods for subsea mining vehicles, and provides a seabed sediment advanced detection device and method for subsea mining vehicles, which can simultaneously obtain the seabed topography and conduct multi-parameter detection of seabed sediments, and cooperate with the mining vehicle to ensure the smooth progress of the rear mining vehicle during deep-sea seabed detection. It includes a sea surface data processing system and a frame with a "field" - shaped cross-section. On the frame, there are a master control device, a signal receiver, and at least 4 detection modules arranged in a matrix. The master control device is used to control each detection module, and the signal receiver is used to transmit information between the detection module and the sea surface receiving device; the detection module includes a side-scan sonar module for quickly obtaining the front topography, a transverse push tooth plate for cutting into the soil, a turbidity meter module for measuring the concentration of suspended particles and dissolved substances in the seabed, and a lower pressing plate module for obtaining the bearing capacity and subsidence index of seabed sediments.

Description

Technical Field

[0001] The present invention relates to the technical field of seabed sediment advanced detection devices and methods for subsea mining vehicles, and specifically, to a seabed sediment advanced detection device and method for subsea mining vehicles. Background Art

[0002] Deep-sea sediments contain rich biological and mineral resources. At the same time, the sediments also record paleoclimate and environmental information. The research on sediments is of great significance for marine environmental protection and resource development. The seabed environment is extremely extreme and complex and changeable, which restricts the research and development of marine resources. Therefore, it is of great importance to develop effective detection and research equipment.

[0003] At present, the means of deep-sea detection and sampling are relatively single. After simple detection and sampling, data and samples are processed in the laboratory, which adds a lot of difficulties for data interpretation and sample analysis. Although China has made a series of breakthroughs in the field of deep-sea detection technology, there are still bottlenecks in some key technologies. Problems such as deep-sea navigation and high-precision measurement have led to few research and development of deep-sea advanced detection devices.

[0004] For example, the Chinese invention patent with the publication number CN114264502A discloses an underwater detection device for ocean engineering. Although this device can conveniently take underwater samples, it cannot well complete the real-time detection function, and the device structure is complex and large in size. When the device dives during deep-sea experiments, it is easily affected by the complex deep-sea environment. At the same time, the device is easily damaged by bumps when it lands on the bottom. Facilities such as subsea mining vehicles that are配套 with detection devices often have high volume and weight restrictions, and it is very difficult to use this device in cooperation with them.

[0005] In order to overcome the above problems, there is an urgent need to design a new detection device and detection method that can directly measure key mechanical parameters after sampling and provide a basis for judging the drivability and path adjustment of the rear vehicle body. Summary of the Invention

[0006] One of the purposes of the present invention is to propose a seabed sediment advanced detection device for a subsea mining vehicle, which can simultaneously obtain the seabed topography and perform multi-parameter detection of seabed sediments, and cooperate with the mining vehicle to ensure the smooth progress of the rear mining vehicle during deep-sea seabed detection.

[0007] The technical solution of the present invention is as follows:

[0008] A seabed sediment advanced detection device for a subsea mining vehicle includes a sea surface data processing system, which includes a frame with a "field" - shaped cross-section. A master control device, a signal receiver, and at least 4 detection modules arranged in a matrix are provided on the frame. The master control device is used to control each detection module, and the signal receiver is used to transmit information between the detection module and the sea surface receiving device;

[0009] The detection module comprises a side-scan sonar module for quickly obtaining the terrain in front, a horizontal pushing tooth plate for cutting into the soil body, a turbidity meter module for measuring the concentration of suspended particles and dissolved substances in the seabed, and a pressure plate module for obtaining the bearing capacity and subsidence index of seabed sediments.

[0010] Further, the side-scan sonar module is connected with the sea surface sonar processing system and is arranged on the front end of the frame.

[0011] Further, the horizontal pushing tooth plate is arranged at the front end of the frame and horizontally adjoins the side-scan sonar module.

[0012] The horizontal pushing tooth plate comprises a movable tooth plate and a pressure sensor arranged on the bottom surface of the movable tooth plate, and the movable tooth plate is connected with a tooth plate horizontal telescopic mechanism, and the movable tooth plate can make a horizontal, vertical state flipping action and an up-down movement action.

[0013] Further, the turbidity meter module is arranged at the rear end of the horizontal pushing tooth plate.

[0014] The turbidity meter module comprises a turbidity meter and a first driving mechanism for driving the turbidity meter to move up and down.

[0015] Further, the pressure plate module is arranged at the rear end of the side-scan sonar module and horizontally adjoins the turbidity meter module.

[0016] The pressure plate module comprises a pressure plate, a pressure sensor, a displacement sensor, and a second driving mechanism for driving the pressure plate to move up and down.

[0017] The pressure sensor and the displacement sensor are both arranged on the pressure plate and connected with the sea surface data processing system.

[0018] Further, the first driving mechanism is a telescopic cylinder and is connected with the frame through four support rods.

[0019] The four support rods and the frame form a four-pyramid structure, the first driving mechanism is fixed at one end of the four support rods connected with each other and is perpendicular to the horizontal plane, and the turbidity meter is arranged at the output end of the first driving mechanism.

[0020] Further, the second driving mechanism is a telescopic cylinder, and the second driving mechanism is connected with the frame through four fixed rods.

[0021] The four fixed rods and the frame form a four-pyramid structure, and the four-pyramid structure fixed with the frame is fixed at one end of the four support rods connected with each other and is perpendicular to the horizontal plane, and the pressure plate is arranged at the output end of the second driving mechanism and is perpendicular to the output shaft of the pressure plate telescopic cylinder.

[0022] Further, the rear end of the frame comprises a mine car connecting frame with a trapezoidal cross section, which is integrally formed with the frame.

[0023] Another object of the present application is to provide a seabed bottom material advanced detection method for a seabed mining vehicle.

[0024] S100: After the seabed bottom material advanced detection device reaches the vicinity of the designated area of the seabed, first start the side-scan sonar module, select a suitable position in the topography of the designated area according to the seabed image transmitted back to the sea surface by the side-scan sonar module, and make the seabed bottom material advanced detection device fall to the seabed;

[0025] S200: After the device falls to the seabed, the total control device controls the ground supporting cylinder to adjust the device to be placed horizontally, ensuring the balance and stability of the device;

[0026] S300: Start the side-scan sonar module, when working, the emitted sound waves project in a long strip shape on the seabed area, the reverse scattering signals from each point in the irradiation area are received, amplified, processed and recorded, and the image of the seabed is displayed on the sonar processing system, and the acquired topography and geomorphology in front of the seabed are saved and recorded;

[0027] S400: Turn on the horizontal pushing tooth plate, turn the horizontal pushing tooth plate from parallel to the horizontal plane to vertical, and the sea surface control system sends a command to push the horizontal pushing tooth plate to the designated horizontal pushing position;

[0028] S500: Adjust the track of the horizontal pushing tooth plate up and down according to the depth of the tooth into the soil, to achieve different depths of action and meet the different working conditions of actual action requirements;

[0029] S600: After the pushing speed is stabilized, collect the data of the active soil pressure sensors distributed on the horizontal pushing tooth plate during the pushing process, directly measure the soil reaction force received by the horizontal pushing tooth plate during the pushing process, and perform multiple measurements back and forth to ensure the reliability of the data;

[0030] S700: After the turbidity meter reaches the designated position, the turbidity meter starts to work, adjusts and sets the appropriate light intensity according to the actual working environment of the device, measures the water turbidity based on the principle of scattering or transmission of light by the seabed water body, and transmits the data to the sea surface data processing system in real time;

[0031] S800: The sea surface control system can pre-set different pressure amounts and depression depths according to the actual seabed sediment characteristics, make the depression plate fall to contact the seabed soil, then the depression plate slowly depresses the seabed soil at a slower speed, and at this time the pressure sensor array and displacement sensor on the depression plate also start to work, the pressure sensor records and saves the pressure data, the displacement sensor continuously records the depression depth in groups, and transmits the data to the sea surface data processing system in real time;

[0032] S900: After the completion of the region ahead of the detection task, the seabed ahead of the detection device is sent to the next designated position, and the above steps are repeated until all the ahead of the detection task is completed, and finally the device is recycled to the sea surface.

[0033] Further, the horizontal pushing tooth plate, turbidity meter module and lower pressing plate module can be opened simultaneously or sequentially according to the detection requirement during the detection process.

[0034] The beneficial effects of the present application are:

[0035] The present application can simultaneously perform ahead of the seabed detection by configuring four detection devices, and quickly, conveniently and economically obtain the front terrain and topography through the side-scan sonar module.

[0036] The horizontal pushing tooth plate cuts into the soil, and a dynamic soil pressure sensor is installed on the plate surface to measure the soil reaction force during the shearing process. According to the depth of the mine car crawler tooth into the soil, the working depth of the device is flexibly adjusted to adapt the device to different working environments.

[0037] The turbidity meter module measures the concentration of suspended particles and dissolved substances on the seabed, and a temperature sensor is set to correct the measurement data through an algorithm to ensure data accuracy. Meanwhile, the light intensity is controllable, and the monitoring range and sensitivity of the instrument can be changed by different light intensities.

[0038] The lower pressing plate module obtains the seabed sediment bearing capacity and subsidence index, and different pressure and pressing depth can be preset through the sea surface control system to adapt to different seabed geological and sediment conditions.

[0039] The seabed data is obtained through remote control, which is safe and convenient to operate, and provides a basis for judging the drivability and path adjustment of the subsequent vehicle body. BRIEF DESCRIPTION OF DRAWINGS

[0040] The present application will be further described in detail below in combination with the drawings and specific embodiments.

[0041] Figure 1 It is a schematic diagram of the overall structure of Example 1.

[0042] Figure 2 It is a top view of Example 1.

[0043] Figure 3 It is a schematic diagram of the structure of the horizontal pushing tooth plate.

[0044] Figure 4 It is a side view of the turbidity meter module and the horizontal pushing tooth plate.

[0045] Figure 5 It is a side view of the turbidity meter module and the lower pressing plate module.

[0046] Figure 6 It is a block diagram of the signal transmission module in Embodiment 2.

[0047] Figure 7 It is a perspective view of Embodiment 1.

[0048] Figure 8 It is a schematic diagram of the turbidity meter in Embodiment 1.

[0049] Figure 9 It is a schematic diagram of the automatic locking structure in Embodiment 1.

[0050] In the figure: 1, frame; 2, side-scan sonar module; 3, master control device; 4, signal receiver; 5, fixed steel frame; 6, fixing bolt; 7, horizontal telescopic mechanism of toothed plate; 8, upper and lower opening and closing buckle; 81, rear rotating shaft; 82, rear runner; 9, horizontal pushing toothed plate; 10, first driving mechanism; 11, turbidity meter; 12, second driving mechanism; 13, lower pressing plate; 14, plate surface track; 15, pressure sensor; 16, temperature sensor; 17, pressure controller; 18, intelligent temperature control bin; 19, circuit bin; 20, cabin body; 21, heat insulation material; 22, ventilation channel; 23, optical window; 24, PTC graphene heating film; 25, micro air pump; 26, intelligent pressure control bin; 27, temperature controller; 28, ground supporting cylinder; 29, servo motor head; 30, servo motor rod; 31, fixing block; 32, fixing piece. Specific embodiments [[ID=B]]

[0051] Hereinafter, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments of the present invention fall within the scope of protection of the present invention.

[0052] Embodiment 1

[0053] Figures 1-9 As shown, a seabed sediment advanced detection device for a seabed mining vehicle includes a sea surface data processing system, including a frame 1 with a "field" - shaped cross-section structure. On the frame 1, there are a master control device 3, a signal receiver 4, and at least 4 detection modules arranged in a matrix. The master control device 3 is used to control each detection module, and the signal receiver 4 is used to transmit information between the detection module and the sea surface receiving device. The master control device 3 and the signal receiver 4 are also provided with waterproof and anti-corrosion covers to prevent corrosion by seawater and improve service life. A mine car connection frame with a trapezoidal cross-section structure is provided at the rear end of the frame 1. The mine car connection frame and the frame 1 are integrally formed to improve the structural strength and facilitate the connection of the mine car.

[0054] In addition, each detection module in the embodiment includes a side-scan sonar module 2 for quickly obtaining the terrain in front, a horizontal pushing tooth plate 9 for cutting into the soil, a turbidity meter 11 module for measuring the concentration of suspended particles and dissolved substances on the seabed, and a pressure plate 13 module for obtaining the bearing capacity and subsidence index of seabed sediments.

[0055] Specifically, the side-scan sonar module 2 in the embodiment is connected with the sea surface sonar processing system and arranged at the front end of the frame 1, horizontally fixed on the two fixed steel frames 5, and transmits the real-time terrain of the seabed to the sea surface sonar processing system on the sea surface through the signal transmission device in the side-scan sonar module 2.

[0056] The horizontal pushing tooth plate 9 is arranged at the front end of the frame 1 and horizontally adjacent to the side-scan sonar module 2. The horizontal pushing tooth plate 9 includes a movable tooth plate and a pressure sensor 15 (dynamic soil) arranged on the bottom surface of the movable tooth plate. The movable tooth plate is connected with a tooth plate horizontal telescopic mechanism 7 (one air cylinder is arranged on the left and right of the recess in the main body frame 1, and the two air cylinders are pushed towards each other to realize the horizontal left-right movement of the horizontal pushing tooth plate 9 according to the control warehouse instruction). The movable tooth plate can be flipped by the up-down opening and closing buckle 8, respectively, to perform horizontal, vertical state flipping action and up-down movement action. The horizontal, vertical state flipping action means that the buckle can be flipped into horizontal and vertical states, and the up-down movement action means that the rear wheel 82 behind the buckle and the plate surface track 14 can change the cutting depth of the tooth plate.

[0057] Therefore, the embodiment is additionally provided with the tooth plate horizontal telescopic mechanism 7 and the up-down opening and closing buckle 8. When the detection operation is not performed, the tooth plate horizontal telescopic mechanism 7 is retracted, the pressure sensor 15 (dynamic soil) is arranged on the horizontal pushing tooth plate 9, and the up-down opening and closing buckle 8 is opened, so that the originally vertically placed plate surface is turned upward to be placed horizontally. Then, the up-down opening and closing buckle 8 is automatically locked to fix the horizontal pushing tooth plate 9 on the horizontal plane, so as to prevent the horizontal pushing tooth plate 9 from being collided or affected during the sinking process of the detection device to the seabed and the landing process. The horizontal pushing tooth plate 9 can be protected by the up-down opening and closing buckle 8, and the horizontal pushing tooth plate 9 can be adjusted up and down by the plate surface track 14.

[0058] The up-down opening and closing buckle 8 supplies power to the rear shaft 81 through the built-in power supply, drives the rear shaft 81 to rotate, and thus drives the rear wheel 82 to rotate. The rear wheel 82 is installed on the plate surface track 14, and the rear wheel 82 rotates to drive the horizontal pushing tooth plate 9 to move up and down, so as to flexibly control the cutting depth of the soil.

[0059] The automatic locking structure is composed of two servo motor heads 29, a servo motor rod 30, three fixed blocks 31, and four fixed sheets 32 with fixed rings. The two servo motor heads 29 jointly drive the servo motor rod 30 to rotate. The three fixed blocks 31 are welded at the contact parts with the right half of the up-and-down opening-and-closing buckle 8. The four fixed sheets 32 with fixed rings are sleeved on the servo motor rod 30, and the parts in contact with the left half of the up-and-down opening-and-closing buckle 8 are welded. The servo motor head 29 drives the servo motor rod 30 to rotate, and the servo motor rod 30 drives the fixed blocks 31 to move with the right half of the up-and-down opening-and-closing buckle 8, thereby driving the horizontal push tooth plate 9 to overturn and fold upwards. At the same time, the built-in electromagnetic brake of the servo motor head 29 is automatically started and locked when the motor stops current output, thereby realizing the self-locking function.

[0060] In the original up-and-down opening-and-closing buckle 8 (installed on one side of the groove) that can be automatically opened and closed, a servo motor is installed inside. The other end of the tooth plate horizontal expansion and contraction mechanism 7 connected with the horizontal push tooth plate 9 is connected with the main body frame 1. At this position, a groove is opened along the x-axis in the direction shown in the figure on the side edge of the main body frame 1. The original horizontal push tooth plate 9 realizes movement along the y-axis in the direction shown in the figure through the expansion rod. The present horizontal push tooth plate 9 can not only move along the y-axis in the direction shown in the figure, but also move along the x-axis through the groove of the main body frame 1. At the same time, the servo motor can detect the mechanical properties of the seabed sediment at different depths according to the requirements of the sea surface regulation center, that is, control the up-and-down movement of the roller on the up-and-down opening-and-closing buckle 8, so that the seabed sediment mechanical detection module can realize spatial stereoscopic detection.

[0061] The turbidimeter 11 module is arranged at the rear end of the horizontal push tooth plate 9. The turbidimeter 11 module includes a turbidimeter 11 and a first driving mechanism 10 for driving the turbidimeter 11 to move up and down. The first driving mechanism 10 is preferably an expansion cylinder and is connected with the frame 1 through four support rods. The four support rods and the frame 1 form a four-pyramid structure. The first driving mechanism 10 is fixed at one end of the four support rods connected with each other and is perpendicular to the horizontal plane. The turbidimeter 11 is arranged at the output end of the first driving mechanism 10.

[0062] In the initial state, the first driving mechanism 10 is contracted, and the turbidimeter 11 is pulled up to the protection range of the four support rods to prevent the turbidimeter 11 from malfunctioning due to collision.

[0063] In addition, in addition to integrating the micro temperature sensor 16 and the micro pressure sensor 15 in the turbidimeter 11, the embodiment also adds a control bin between the connecting rod and the turbidimeter 11. The control bin has three layers, the upper layer is an intelligent pressure control bin 26, the middle layer is an intelligent temperature control bin 18, and the lower layer is a circuit bin 19, which is responsible for adjusting the internal pressure and temperature of the turbidimeter 11 in real time according to the sensor monitoring condition, and ensures normal operation. The turbidimeter 11 is designed with a sealed shell, and the main body and the optical window 23 are sealed by laser welding to ensure the air tightness in a high pressure environment. The internal pressure is adjusted through the feedback of the micro pressure sensor 15 to avoid deformation of the optical element. The PTC graphene heating film 24 is laid inside, and the interlayer between the shell and the inside is filled with thermal insulation material 21, which can not only keep warm, but also automatically start the heating mode in a low temperature environment to ensure that the turbidimeter 11 operates at a normal temperature.

[0064] The lower pressing plate 13 module is arranged at the rear end of the side scan sonar module 2 and horizontally adjoins the turbidimeter 11 module. The lower pressing plate 13 module includes the lower pressing plate 13, the pressure sensor 15, the displacement sensor, and the second driving mechanism 12 for driving the lower pressing plate 13 to move up and down. The pressure sensor 15 and the displacement sensor are arranged on the lower pressing plate 13 and connected with the sea surface data processing system. The second driving mechanism 12 is preferably a telescopic air cylinder, and the second driving mechanism 12 is connected with the frame 1 through four fixed rods. The four fixed rods and the frame 1 form a four-pyramid structure, which is fixed to one end of the four supporting rods and perpendicular to the horizontal plane. The lower pressing plate 13 is arranged at the output end of the second driving mechanism 12 and perpendicular to the output shaft of the telescopic air cylinder of the lower pressing plate 13.

[0065] In the initial state, the second driving mechanism 12 also shrinks to pull the lower pressing plate 13 up to the protection range of the four fixed rods to prevent collision damage to the lower pressing plate 13. The pressure sensor 15 array is arranged and fixed.

[0066] In the embodiment, the signal receiver 4 is also provided on the main frame 1, which is used to receive the instructions of the sea surface control system and transmit the instructions to the general control device 3, so that the general control device 3 uniformly allocates the operation of each module.

[0067] Embodiment 2

[0068] A seabed bottom material advanced detection method for a seabed mining vehicle, comprising the following steps:

[0069] S100: After the seabed bottom material advanced detection device reaches the vicinity of the designated area of the seabed, first start the side scan sonar module 2, select a suitable position in the topography of the designated area according to the seabed image transmitted back to the sea surface by the side scan sonar module 2, and make the seabed bottom material advanced detection device fall to the seabed;

[0070] S200: After the device falls to the seabed, the total control device 3 controls the branch ground cylinder 28 to adjust the device to horizontal placement, ensuring the balance and stability of the device;

[0071] S300: Start the side-scan sonar module 2. When working, the emitted sound waves project on the seabed area in the form of a long strip. The reverse scattering signals from each point in the irradiation area are amplified, processed and recorded, and the image of the seabed is displayed on the sonar processing system. The terrain topography in front of the seabed is saved and recorded;

[0072] S400: simultaneously or sequentially open the horizontal pushing tooth plate 9, turbidity meter 11 and lower pressing plate 13.

[0073] When the horizontal pushing tooth plate 9 is opened, first loosen the up-down opening and closing buckle 8, control the plate to slowly turn to the vertical plane with the bottom up, and turn the horizontal pushing tooth plate 9 from parallel to the horizontal plane to vertical. The sea surface control system sends a command to push the horizontal pushing tooth plate 9 to the specified horizontal pushing position until the horizontal pushing tooth plate 9 reaches the specified horizontal pushing position, and then lock the up-down opening and closing buckle 8 to ensure the stability of the horizontal pushing tooth plate 9.

[0074] Specifically, the sea surface control system sends a command. First, the control horizontal telescopic mechanism internal cylinder is pushed towards each other until the horizontal pushing tooth plate 9 reaches the specified position in the x-axis direction. Then control the tooth plate horizontal telescopic mechanism 7 to extend forward until the horizontal pushing tooth plate 9 reaches the specified position in the y-axis direction. Then loosen the built-in electromagnetic brake of the servo motor, and at the same time, the servo motor shaft 30 rotates, controls the up-down opening and closing buckle 8 to turn down, and makes the plate slowly turn to the vertical plane with the bottom up, and turns the horizontal pushing tooth plate 9 from parallel to the horizontal plane to vertical. Then make the servo motor stop current output, and the brake will automatically start and lock the motor shaft, and then lock the up-down opening and closing buckle 8 to realize self-locking.

[0075] S500: During the falling process, the edge of the horizontal pushing tooth plate 9 cuts the seabed soil, and part of the plate enters the soil;

[0076] According to the depth of the track shoe of the mining vehicle into the soil, the track is adjusted up and down along the horizontal pushing tooth plate 9 to achieve different action depths and meet the different working conditions of the actual action requirements.

[0077] Specifically, after the horizontal pushing tooth plate 9 reaches the specified monitoring point in the x, y-axis plane position and is converted into a vertical plate, the sea surface control system continues to send a command to determine the required shear depth of the detected soil as H, and at this time the z-axis position of the plate is HB. Then control the servo motor with a rotating wheel in the plate track 14 to rotate, so that the horizontal pushing tooth plate 9 plate moves downward by H-HB. In the process, the edge of the horizontal pushing tooth plate 9 cuts the seabed soil, and part of the plate enters the soil, and finally reaches the specified three-dimensional space point.

[0078] According to the actual operation requirements of the device, the horizontal pushing tooth plate 9 can be adjusted up and down along the track to achieve different action depths, so that the device has the ability to detect the mechanical properties of the soil at all points in the region, and meets the different working conditions of the actual operation requirements.

[0079] S600: During operation, the first telescopic rod is extended to drive the horizontal pushing tooth plate 9 to move forward, and the speed of the movement is controlled by the instructions from the sea surface staff;

[0080] After the movement speed is stable, the data of the active soil pressure sensor 15 distributed on the horizontal pushing tooth plate 9 during the movement is collected, the soil reaction force received by the horizontal pushing tooth plate 9 during the movement is directly measured, and multiple measurements can be performed back and forth to ensure the reliability of the data;

[0081] S700: After the turbidimeter 11 reaches the specified position, the turbidimeter 11 starts to work, the first driving mechanism 10 slowly falls, the micro temperature sensor 16 and the micro pressure sensor 15 start to work, and real-time data is transmitted to the pressure controller 17 and the temperature controller 27 to control the micro air pump 25 and the PTC graphene heating film 24 to adjust the temperature and pressure of the cabin body 20 of the turbidimeter 11. When the pressure sensor 15 monitors that the external pressure P is greater than the normal working pressure PE of the turbidimeter 11 (such as the submersion working condition and the deep water working condition of the turbidimeter 11), the pressure controller 17 starts the micro air pump 25 to inject inert gas (such as nitrogen) into the cavity to maintain the stability of the internal pressure of the cavity and ensure the normal work of the turbidimeter 11; when the pressure sensor 15 monitors that the external pressure P is less than the normal working pressure PE of the turbidimeter 11 (such as the floating working condition and the shallow water working condition of the turbidimeter 11), the pressure controller 17 starts the micro air pump 25 to actively pump air to release pressure, so as to avoid the expansion of the cavity to cause sealing failure, maintain the stability of the internal pressure of the cavity, and ensure the normal work of the turbidimeter 11. When the temperature sensor 16 monitors that the external temperature T is less than the normal working temperature TE of the turbidimeter 11 (common in deep sea environment), the temperature controller 27 activates the PTC graphene heating film 24 covering the inner wall to heat up to the set value at a gradient of 1℃ / min, to prevent low temperature fogging or optical element performance drift; when the temperature sensor 16 monitors that the external temperature T is greater than the normal working temperature TE of the turbidimeter 11, the heating film is automatically turned off. After the temperature and pressure are adjusted, the appropriate light intensity is set according to the actual working environment of the device, the water turbidity is measured according to the principle of scattering or transmission of light by the seabed water, and the data is transmitted to the sea surface data processing system in real time;

[0082] S800: The sea surface control system can pre-set different pressure amounts and pressure depths according to the actual seabed sediment characteristics, and the second driving mechanism 12 slowly lowers the pressure plate 13 to contact the seabed soil;

[0083] Subsequently, the lower plate 13 is pressed down at a slower speed to press the seabed soil, at this time, the pressure sensor 15 array and the displacement sensor on the lower plate 13 also start to work, the pressure sensor 15 saves the pressure data record, the displacement sensor continuously records the depth of the lower plate 13 in groups and transmits the data to the sea surface data processing system in real time;

[0084] S900: After completing the area advanced detection task, the seabed bottom material advanced detection device is sent to the next designated position, and the above steps are repeated until all advanced detection tasks are completed, then the turbidity meter 11 and the lower plate 13 are retracted upward with the first driving mechanism 10, protecting the safety of the two modules of the instrument, at the same time, the built-in electromagnetic brake of the servo motor of the horizontal pushing tooth plate 9 is released, the servo motor rod 30 rotates, the up-down opening and closing buckle 8 is rotated upward, the plate surface is slowly turned to the horizontal plane, the horizontal pushing tooth plate 9 is turned from vertical to parallel, then the servo motor stops current output, the brake will automatically start and lock the motor shaft, then the up-down opening and closing buckle 8 is locked, realizing self-locking, then the first driving mechanism 10 is retracted, ensuring the safety of the horizontal pushing tooth plate 9.

[0085] Finally, the device is recovered to the sea surface.

[0086] In addition, the horizontal pushing tooth plate 9, the turbidity meter 11 and the lower plate 13 in the above steps can be opened at the same time or opened in turn according to the detection requirements.

[0087] The above is only a preferred embodiment of the present application, and is not used to limit the present application, any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A seabed bottom material advanced detection device for a seabed mining vehicle, comprising a sea surface data processing system, characterized in that, It includes a frame (1) with a "field" - shaped cross - section structure. A master control device (3), a signal receiver (4), and at least 4 detection modules arranged in a matrix are provided on the frame (1). The master control device (3) is used to control each detection module, and the signal receiver (4) is used to transmit information between the detection module and the sea - surface receiving device; The detection module includes a side - scan sonar module (2) for quickly obtaining the terrain and landform ahead, a transverse pushing tooth plate (9) for cutting into the soil body, a turbidity meter (11) module for measuring the concentration of suspended particles and dissolved substances on the seabed, and a lower pressing plate (13) module for obtaining the bearing capacity and subsidence index of the seabed sediment; The side - scan sonar module (2) is connected to the sea - surface sonar processing system and is arranged on one side of the front end of the frame (1); The transverse pushing tooth plate (9) is arranged at the front end of the frame (1) and is horizontally adjacent to the side - scan sonar module (2); The transverse pushing tooth plate (9) includes a movable tooth plate and a pressure sensor (15) arranged on the bottom surface of the movable tooth plate. The movable tooth plate is connected to a tooth - plate horizontal telescopic mechanism (7). The movable tooth plate can perform flipping actions in horizontal and vertical states, and up - and - down displacement actions; The turbidity meter (11) module is arranged at the rear end of the transverse pushing tooth plate (9); The turbidity meter (11) module includes a turbidity meter (11) and a first driving mechanism (10) for driving the turbidity meter (11) to move up and down; The lower pressing plate (13) module is arranged at the rear end of the side - scan sonar module (2) and is horizontally adjacent to the turbidity meter (11) module; The lower pressing plate (13) module includes a lower pressing plate (13), a pressure sensor (15), a displacement sensor, and a second driving mechanism (12) for driving the lower pressing plate (13) to move up and down; The pressure sensor (15) and the displacement sensor are both arranged on the lower pressing plate (13) and are connected to the sea - surface data processing system.

2. The seabed bottom material advanced detection device for the seabed mining vehicle according to claim 1, characterized in that, The first driving mechanism (10) is a telescopic cylinder and is connected to the frame (1) through four support rods; The four support rods and the frame (1) form a quadrangular pyramid - shaped structure. The first driving mechanism (10) is fixed at one end where the four support rods are connected and is perpendicular to the horizontal plane. The turbidity meter (s11) is arranged at the output end of the first driving mechanism (10).

3. The seabed bottom material advanced detection device for a seabed mining vehicle according to claim 2, characterized in that, The second driving mechanism (12) is a telescopic cylinder. The second driving mechanism (12) is connected to the frame (1) through four fixed rods; The four fixed rods and the frame (1) form a quadrangular pyramid - shaped structure. The structure formed with the frame (1) is fixed at one end where the four support rods are connected and is perpendicular to the horizontal plane. The lower pressing plate (13) is arranged at the output end of the second driving mechanism (12) and is perpendicular to the output shaft of the lower - pressing - plate (13) telescopic cylinder.

4. The seabed bottom material advanced detection device for a seabed mining vehicle according to claim 3, characterized in that, The rear end of the frame (1) includes a mine - car connecting frame with a trapezoidal cross - section structure, and the mine - car connecting frame is integrally formed with the frame (1).

5. The method of detecting the seabed bottom condition in front of the seabed mining vehicle according to any one of claims 1-4, characterized in that, It includes the following steps: S100: After the seabed bottom condition advanced detection device reaches the vicinity of the designated area of the seabed, first start the side-scan sonar module (2), select the suitable position of the topography in the designated area according to the seabed image transmitted back to the sea surface by the side-scan sonar module (2), and make the seabed bottom condition advanced detection device fall to the seabed; S200: After the device falls to the seabed, the general control device (3) controls the ground supporting cylinder (28) to adjust the device to be placed horizontally, ensuring the balance and stability of the device; S300: Start the side-scan sonar module (2), when working, the emitted sound waves project in the form of a long strip on the seabed area, the reverse scattering signals from each point in the irradiation area are received, amplified, processed and recorded, and the image of the seabed is displayed on the sonar processing system, and the terrain topography in front of the seabed is saved and recorded; S400: Open the horizontal pushing tooth plate (9), and change the horizontal pushing tooth plate (9) from parallel to the horizontal plane to vertical, the sea surface control system sends a command to push the horizontal pushing tooth plate (9) to the designated horizontal pushing position; S500: Adjust up and down along the track of the horizontal pushing tooth plate (9) according to the depth of the tooth into the soil, to achieve different depths of action and meet the different working conditions of the actual action requirements; S600: After the pushing speed is stable, collect the data of the active soil pressure sensor (15) distributed on the horizontal pushing tooth plate (9) during the pushing process, directly measure the soil reaction force received by the horizontal pushing tooth plate (9) during the pushing process, and can be measured back and forth to ensure the reliability of the data; S700: After the turbidimeter (11) reaches the designated position, the turbidimeter (11) starts to work, adjusts and sets the appropriate light intensity according to the actual working environment of the device, measures the water turbidity according to the principle of scattering or transmission of light by the seabed water, and transmits the data to the sea surface data processing system in real time; S800: The sea surface control system can pre-set different pressure and depth according to the actual seabed sediment characteristics, make the lower pressing plate (13) fall to contact the seabed soil, then the lower pressing plate (13) slowly presses the seabed soil, at this time the pressure sensor (15) array and displacement sensor on the lower pressing plate (13) also start to work, the pressure sensor (15) records and saves the pressure data, the displacement sensor continuously records the depth of the lower pressing plate (13), and transmits the data to the sea surface data processing system in real time; S900: After completing the advanced detection task in this area, send the seabed bottom condition advanced detection device to the next designated position, and repeat the above steps until all the advanced detection tasks are completed, and finally recycle the device to the sea surface.

6. The method according to claim 5, wherein: The horizontal pushing tooth plate (9), turbidimeter (11) module and lower pressing plate (13) module can be opened simultaneously or sequentially according to the detection requirements during the detection process.

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