Liquid pulse type water area sand source investigation device and method

Abstract

The invention discloses a liquid pulse type water area sand source investigation device and method, and belongs to the field of water engineering sand source investigation. The device comprises a hull structure, a supporting structure, a pipeline structure, a drilling structure and a control system, the drilling structure is driven by multiple strands of independent water flow pulses to vertically penetrate into a sand layer, and an integrated sensor collects sand source mechanical parameters (end resistance, side resistance and pore water pressure) in real time and synchronously recovers a sand sample. The computer control center dynamically adjusts the water flow pulse pressure by collecting drilling structure perpendicularity parameters in real time through the integrated sensor, drilling perpendicularity closed-loop control is achieved, and sand source investigation can be completed without casing running. The problems that traditional drilling depends on a sleeve, an operation window is narrow and labor cost is high are solved, and the method has the advantages of accurate positioning, efficient operation and digital intelligent control and is suitable for various water area sand source investigation scenes.

Description

Technical Field

[0001] This invention belongs to the field of sand source investigation and exploration for water-related projects such as water transport, water conservancy, and marine engineering, and particularly relates to a device and method for investigating sand sources in liquid pulse-type water areas. Background Technology

[0002] In water-related projects such as water transport, water conservancy, and marine engineering, sand source surveys are frequently conducted. The purpose of a sand source survey is to investigate the particle size distribution, color, density, and other indicators of the sand at underwater sand source sites. For example, for sand used in beach construction, it is necessary to know the particle size distribution and color of the sand; for sand extraction operations on water, it is necessary to know the density index of the sand, assess the sand grade, and predict construction costs.

[0003] The most common existing method for underwater sand source investigation is the conventional mechanical drilling and sampling method. The problems with this traditional method include:

[0004] Drilling operations require the deployment of multiple anchors for positioning, impacting navigation: Traditional drilling machinery for surface drilling requires deploying V-shaped anchors on board for positioning, casing installation, and then drilling and sampling. In waters with high traffic density, the suitable time for deploying V-shaped anchors for positioning is limited, affecting the progress of drilling work; at the same time, once V-shaped anchors are deployed for operations, they will have a certain impact on navigation.

[0005] Traditional drilling operations are highly dependent on external conditions such as weather and waves: Traditional drilling operations in small inland waterways are largely unaffected by the weather; however, drilling operations in large rivers, lakes, and seas must be carried out in winds of force 6 or below. At the same time, at sea, operations can only be carried out during periods of low tide and low water flow. Otherwise, strong winds and waves will break the casing, affect the horizontal stability of the drilling rig, and lead to operational accidents.

[0006] Traditional drilling methods have limited working windows, are labor-intensive, and are economically inefficient: Traditional drilling methods typically require at least 4-5 people per offshore drilling team, making it a labor-intensive industry. Furthermore, working windows are limited, especially in offshore drilling operations, which are heavily influenced by weather, ocean currents, and tides. Generally, in winds of force 6 or below, while anchored vessels can maintain basic stability, casing operations can only be conducted during low tide and high tide without the aid of a guide frame. During high and low tides, when current speeds are highest, operations must be suspended. This results in short daily working hours and slow progress. Therefore, traditional methods are labor-intensive and economically inefficient.

[0007] Traditional drilling methods require casing installation, which is highly dependent on casing and inefficient. Casing installation typically requires high or low tide or low current velocity; otherwise, high current velocities can easily cause the casing to tilt or even break during installation. A day has two high and two low tides, roughly one during the day and one at night, with particularly high current velocities during these periods. This makes casing installation unsuitable for deeper waters (greater than 10 meters). Additionally, spring tides occur around the 1st and 15th of the lunar month, totaling approximately 15 days, with exceptionally high current velocities, also making them unsuitable for casing installation in deeper waters (greater than 10 meters). Therefore, traditional drilling methods are dependent on casing, have limited application scenarios, are prone to breakage, and have high maintenance costs. Summary of the Invention

[0008] To solve the above-mentioned technical problems, the first objective of this invention is to provide a device for investigating sand sources in water bodies using liquid pulses, and the second objective is to provide a method for investigating sand sources in water bodies using the device.

[0009] To achieve the aforementioned first objective, the present invention provides a technical solution for a device for investigating sand sources in liquid pulse-type water areas, comprising a hull structure, a support structure, a pipeline structure, a drilling structure, and a control system;

[0010] The hull structure includes a hull, deck, anchor chain and anchor, wherein the anchor chain is connected to the anchor and is used for hull positioning;

[0011] The support structure is fixed to the deck by supports and diagonal braces, and its end is provided with guides to guide the pipeline structure.

[0012] The pipeline structure includes a pipeline, an inlet pipe, a sand outlet pipe, an inlet tank, and a sand outlet tank. The pipeline has a built-in data cable. The inlet pipe is connected to a high-pressure water pump to provide water flow pulses. The sand outlet pipe is connected to a negative pressure pump to recover sand samples.

[0013] The drilling structure includes a penetrometer, a connecting pipe, a guiding end, and a pulse tube. The pulse tube is connected to the water inlet pipe to generate water flow pulses to drive the drilling. The guiding end integrates sensors, including a verticality sensor and a mechanical parameter measuring element.

[0014] The control system includes a computer control center, which receives sensor data via a data cable and dynamically adjusts the water flow pulse pressure to achieve closed-loop control of drilling verticality.

[0015] Furthermore, the number of anchor chains in the hull structure is 1 to 2, and the anchor is used to basically fix the position of the hull, without the need for figure-eight anchor positioning.

[0016] Furthermore, the guide component of the support structure is a fixed pulley, and the support structure includes a first support, a second support, and a diagonal brace, with the middle part of the diagonal brace hinged to the second support.

[0017] Furthermore, the pipeline structure consists of four inlet pipes distributed around the data cable, and the sand outlet pipe is arranged in a ring around the inlet pipe. The pipelines are filled with high polymer and high-strength steel wire, with an overall compressive strength ≥200MPa and tensile strength ≥400MPa.

[0018] Furthermore, the pulse tube of the drilling structure contains four independent water flow pulses, which are driven by a high-pressure water pump. The pressure adjustment range of a single pulse is 0.5–2.5 MPa, and the total pressure is constant at 3±

[0019] 0.2MPa.

[0020] Furthermore, the verticality sensor built into the guidance end is a MEMS dual-axis tilt sensor with a sampling frequency ≥100Hz, and the mechanical parameter measurement elements include an end resistance measurement element, a side resistance measurement element, and a pore pressure dissipation sensor.

[0021] Furthermore, the connecting tube is a rigid circular tube, one end of which is rigidly connected to the rear end of the penetrator, and the other end is provided with an outer flange; the guiding end is provided with an inner flange at a corresponding position, the outer flange and the inner flange are matched and nested and movably connected relative to each other, and a spring is arranged between the outer flange and the inner flange.

[0022] Furthermore, the guiding end is provided with a chamber to facilitate the reciprocating motion of the connecting pipe relative to the guiding end. The chamber is hydraulically divided into four independent hydraulic chambers, each corresponding to one of the four independent water flow pulses. The side wall of the chamber is provided with four water outlets corresponding to the four independent hydraulic chambers, and the direction of the water outlets is opposite to the drilling direction of the guiding end. The penetrometer is provided with a return water end, and the return water end is provided with a return water port connected to the return water pipe. The return water port faces the impact direction of the water flow pulse at the water outlet and draws back the mixture of water and sand that has been impacted and diffused by the water outlet.

[0023] Furthermore, the return water pipe is connected to the sand outlet pipe, and the sand outlet pipe is connected to a negative pressure pump. The negative pressure pump can be controlled by the computer control center to control the sampling timing and sampling amount of the recovered sand sample.

[0024] Furthermore, the four water flow pulses originate from four pulse tubes, which are connected to an inlet pipe. The inlet pipe is connected to a high-pressure pump, which has a four-channel driver. The four-channel driver controls the four water flow pulses respectively. By controlling the high-pressure pump through the computer control center, the pressure of each hydraulic chamber can be adjusted to achieve independent control of the water flow pulse at the outlet, thereby controlling the verticality of the vertical drilling at the guide end.

[0025] Furthermore, the four independent water flow pulses enter the four independent hydraulic chambers through the four pulse tube outlets respectively. The outlet diameter is smaller than the pulse tube outlet diameter to ensure that the pressure in the hydraulic chamber is sufficient to drive the guide end to move relative to the connecting pipe. The water pressure in the hydraulic chamber increases or decreases with the influence of the water flow pulses, driving the guide end to move in a telescopic motion relative to the connecting pipe, with a maximum telescopic stroke ≥500mm.

[0026] Furthermore, a depth sensor is integrated on the outer wall of the connecting pipe for real-time monitoring of the drilling depth.

[0027] To achieve the second objective mentioned above, the present invention provides a technical solution for a method of conducting aquatic sand source investigation using the aforementioned device, comprising the following steps:

[0028] Step S1. Vessel positioning: Sailing the vessel to the target waters and securing its position using anchors and anchor chains;

[0029] Step S2. Equipment Connection: Connect the inlet pipe to the inlet tank, the sand outlet pipe to the sand outlet box, the high-pressure / negative-pressure pump and the computer control center, and lower the pipeline and drilling structure underwater through the support structure;

[0030] Step S3. Drilling preparation: The system self-checks the status of sensors, water pumps and motors, and configures preset parameters;

[0031] Step S4. Vertical drilling: The high-pressure water pump generates water flow pulses to drive the drilling structure to penetrate the sand layer. The computer control center adjusts the water flow pulse pressure based on the verticality sensor data to maintain the drilling verticality.

[0032] Step S5. Data Acquisition and Sand Sample Recovery: Simultaneously collect the mechanical parameters of the sand source, and recover and analyze the sand sample through the sand outlet pipe using a negative pressure pump;

[0033] Step S6. Equipment recovery and relocation: After completing the single measuring point operation, recover the pipeline and drilling structure, and move it to the next measuring point to repeat the operation.

[0034] Furthermore, the preset parameters configured in step S3 include: target verticality deviation ≤ 0.5°, drilling depth 5m, and negative pressure pump power ≥ 250kW.

[0035] Furthermore, the verticality closed-loop control described in step S4 adopts a dual-axis PID algorithm, which uses the X / Y direction deviation angle as input to adjust the water flow pulse pressure. By adjusting the water flow pulse pressure in different directions, deviation correction is achieved. The adjustment amplitude is proportional to the deviation angle, and the proportional coefficient Kp = 0.8 MPa / °.

[0036] Furthermore, the water flow pulse in step S4 adopts an intermittent impact mode with a pulse frequency of 1-5 Hz and a duty cycle of 50%.

[0037] Furthermore, in step S5, sand sample recovery is achieved using a negative pressure pump with an operating pressure of -0.12~

[0038] At a pressure of -0.15 MPa, the sand-water mixture is separated by gravity sedimentation in the sand outlet box, and particle size analysis is performed simultaneously.

[0039] Furthermore, the mechanical parameters of the sand source mentioned in step S5 include: end resistance, side resistance, and pore water pressure.

[0040] Compared with traditional technologies, the beneficial effects achieved by this invention are as follows:

[0041] By utilizing the hull structure, support structure, pipeline structure, and drilling structure, it is possible to achieve waterborne positioning, automatically drill into the interior of the sand source, measure the end resistance, side resistance, and pore water pressure dissipation data of the sand source, and collect sand source data for particle size analysis. Simultaneously, the computer control center automatically adjusts the first to fourth water flow pulses to adjust the verticality of the penetrometer, ensuring drilling accuracy, saving manpower, and improving the efficiency of drilling and sand source collection. This significantly improves the accuracy and efficiency of underwater sand source investigation. Traditional drilling teams require 4-5 laborers plus 1 technician; this technology requires only 1 laborer plus 1 technician, saving over 50% in labor costs. Traditional drilling teams require high water flow velocity for casing installation, and without considering windy conditions (i.e., winds of force 6 or higher), the daily 24-hour utilization rate is approximately 25%, meaning an effective utilization time of only 6 hours per day. However, using this technology, regardless of windy conditions, the daily 24-hour utilization rate is 100%, meaning operation can be carried out 24 hours a day, increasing work efficiency by 4 times. Attached Figure Description

[0042] Figure 1 Flowchart of the method for investigating sand sources in water bodies using liquid pulse method, Embodiment 1 of the present invention.

[0043] Figure 2 : A side view schematic diagram of the device for liquid pulse-type water sand source investigation in Embodiment 1 of the present invention.

[0044] Figure 3 : Schematic diagram of the drilling structure of the device for liquid pulse type water sand source investigation in Embodiment 1 of the present invention.

[0045] Figure 4 : Figure 3 A schematic diagram of the central cross-section of the enlarged portion of section A.

[0046] Figure 5 : Figure 4 Schematic diagram of the BB cross section.

[0047] Figure 6 : Figure 4 Schematic diagram of the CC section.

[0048] Figure 7 : Schematic diagram of the water distribution pipe layout and connection method with high-pressure water pump of the liquid pulse type water sand source investigation device in Embodiment 1 of the present invention.

[0049] In the diagram: 100. Hull structure; 101. Hull; 102. Deck; 103. Anchor chain; 104. Anchor; 200. Support structure; 201. First support; 202. Second support; 203. Diagonal brace; 204. Fixed pulley; 300. Pipeline structure; 301. Cable reel; 302. Pipeline; 303. Inlet pipe; 304. Sand outlet pipe; 305. Inlet tank; 306. Sand outlet tank; 400. Drilling structure; 500. Water surface; 600. Sand source surface; 700. Control system; 400. Drilling structure; 401. Penetrator; 402. Return water end; 403. Inlet water end; 404. Connecting pipe; 405. Guiding end; 406. First water flow pulse; 407. Second water flow pulse; 408. Third water flow pulse; 409. Fourth water flow pulse ; 410, Pulse tube; 411, Data cable; 412, Return water pipe; 413, Verticality sensor; 414, Side resistance measuring element; 415, Orifice pressure dissipation sensor; 416, End resistance measuring element; 417, Negative pressure pump; 418, High-pressure water pump; 419, Computer control center; 420, Impact direction of water flow pulse; 421, Back suction direction of water and sand mixture; 422, Cable hole; 423, Spring; 424, Hydraulic chamber; 424a, First hydraulic chamber; 424b, Second hydraulic chamber; 424c, Third hydraulic chamber; 424d, Fourth hydraulic chamber; 425, Water outlet; 426, Return water outlet; 427, Pulse tube outlet; 428, Hydraulic baffle; 429, Hydraulic cable conduit; 430, Hydraulic chamber bottom plate; 431, Hydraulic chamber top plate. Detailed Implementation

[0050] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, it should be noted that, for ease of description, only the parts relevant to this application are shown in the accompanying drawings, not the entire structure. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application.

[0051] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0052] Example 1 provides a device for investigating sand sources in water bodies using a liquid pulse method, such as... Figure 2As shown, it includes: a hull structure 100, a support structure 200, a pipeline structure 300, a drilling structure 400, and a control system. The support structure 200 is fixed to the hull structure 100 by supports and diagonal braces 203. The pipeline structure 300 and the drilling structure 400 extend out to the water outside the hull through the support structure 200 to operate, realizing the integration of dynamic drilling of sand sources, data acquisition, and sand sample recovery.

[0053] The hull structure 100 includes: hull 101, deck 102, anchor chain 103 and anchor 104. One end of the anchor chain 103 is fixed to the end of the hull 101, and the other end is connected to the anchor 104. The anchor 104 is anchored to a fixed point below the sand source surface 600. The number of anchors is 1 to 2, which are used to basically fix the position of the hull (no need for traditional figure-eight anchor positioning). The hull tonnage is selected according to the water area where the operation is carried out, and it can operate stably in winds of force 6 and below.

[0054] The support structure 200 includes a first support 201, a second support 202, a diagonal brace 203, and a fixed pulley 204. The first support 201 and the second support 202 are fixed to the deck 102 of the hull structure 100. The middle part of the diagonal brace 203 is hinged to the second support 202. One end of the diagonal brace 203 is fixed to the deck 102, and the other end is connected to the fixed pulley 204, which is used to support and guide the pipeline 302.

[0055] The pipeline structure 300 includes a coil 301, a pipe 302, a water inlet pipe 303, a water inlet tank 305, a sand outlet pipe 304, and a sand outlet box 306. The coil 301 is formed by the pipe 302, and the center of the coil 301 is rotatably connected to the first support 201. The pipe 302 is wound and unwound by a motor. The pipeline 302 extends from the surface of the inclined brace 203 to the fixed pulley 204 and is guided to extend underwater and connect to the drilling structure 400; one end of the water inlet pipe 303 and the sand outlet pipe 304 is connected to the pipeline 302 of the cable reel 301, and the other end is connected to the water inlet tank 305 and the sand outlet tank 306; the water inlet tank 305 and the sand outlet tank 306 are installed on the deck 102 of the hull structure 100; the water inlet tank 305 is connected to the high-pressure water pump 418, and the sand outlet tank 306 is connected to the negative pressure pump 417, and the sand-water mixture is separated by gravity sedimentation in the sand outlet tank. The pipeline 302 has a cable hole 422 in the center, through which a data cable 411 runs. The data cable 411 includes multiple data lines, some of which are connected at one end to a computer control center 419 and at the other end to a verticality sensor 413, a bore pressure dissipation sensor 415, a side resistance measuring element 414, an end resistance measuring element 416, a negative pressure pump 417, and a high-pressure water pump 418. The water inlet pipe 303 includes four water pipes, evenly distributed around the cable hole 422. The sand outlet pipe 304 is circular and surrounds the water inlet pipe 303. The pipelines are filled with high polymer and high-strength steel wire, with an overall compressive strength ≥200MPa and a tensile strength ≥400MPa.

[0056] like Figures 3-5 As shown, the drilling structure 400 includes a penetrometer 401, a connecting pipe 404, a guiding end 405, and pulse pipes 410. The water flow pulses in the pulse pipes 410 include a first water flow pulse 406, a second water flow pulse 407, a third water flow pulse 408, and a fourth water flow pulse 409. The four pulse pipes 410 are respectively connected to the four water pipes of the water inlet pipe 303.

[0057] The penetrometer 401 has a return water end 402 at its front end, one end of which is connected to the sand outlet pipe 304, and the other end is connected to the return water pipe 412. The penetrometer 401 also has a water inlet end 403 at its front end, one end of which is connected to the water inlet pipe 303, and the other end is connected to the pulse pipe 410. The rear end of the penetrometer 401 is connected to the guidance end 405 via a connecting pipe 404. The water inlet end 403 includes four water flow pulses: a first water flow pulse 406, a second water flow pulse 407, a third water flow pulse 408, and a fourth water flow pulse 409. These four water flow pulses enter the four pulse pipes 410 within the connecting pipe 404 at the rear end of the penetrometer 401, and then enter the hydraulic chamber 424 through the pulse pipe outlet 427 on the pulse pipe 410. Figure 3 , Figure 4 As shown, the penetrator 401 is connected to a connecting pipe 404 at its rear end. The connecting pipe 404 is a rigid circular tube made of titanium alloy. One end is rigidly connected to the rear end of the penetrator 401 via a flange, and the other end has an outer flange. This outer flange matches, nests, and is relatively movably connected to the inner flange of the guide end 405. A spring 423 is disposed between the outer flange and the inner flange of the guide end 405. The spring 423 is made of stainless steel with a stiffness of 50 N / mm, and adapts to the initial volume of the hydraulic chamber 424 in its natural state. Figure 4 , Figure 6 As shown, the hydraulic chamber 424 is composed of a hydraulic chamber top plate 431 fixed to the lower part of the pulse tube, a hydraulic chamber bottom plate 430, the outer wall of the hydraulic cable 429, the inner wall of the cylindrical cavity at the connection part between the guide end 405 and the connecting pipe 404, and a hydraulic partition 428. The portion of the pulse tube 410 located in the hydraulic chamber 424 is provided with a pulse tube outlet 427. The portion at the connection between the guide end 405 and the connecting pipe 404 has a cylindrical cavity, which facilitates the reciprocating motion of the connecting pipe 404 relative to the guide end 405.

[0058] Four identical water outlets 425 are provided on the sidewall of the cylindrical cavity. Each of the four water outlets 425 corresponds to one of the four hydraulic chambers 424. The hydraulic chamber bottom plate 430 is located below the water outlets 425. The water outlets 425 are not affected by the relative movement between the guiding end 405 and the connecting pipe 404. The hydraulic partition 428 and hydraulic cable 429 both adopt a telescopic structure to accommodate the vertical height expansion and contraction of the hydraulic chambers. The hydraulic chamber bottom plate 430 is the bottom of the cylindrical cavity of the guiding end 405. Due to the rigid structure of the guiding end 405, its position is fixed relative to the guiding end 405. Figure 6 As shown, the hydraulic baffle 428 divides the cylindrical cavity of the guidance end 405 into four independent hydraulic chambers. Each hydraulic chamber 424 uses a nitrile rubber double-lip O-ring seal, and the pipeline connections use IP68 waterproof connectors. Figure 4 , Figure 6As shown, the pulse pipe 410 inside the hydraulic chamber 424 has a pulse pipe outlet 427 at its end. After water enters the pulse pipe 410, it enters four independent hydraulic chambers from the pulse pipe outlet 427. The four independent hydraulic chambers are: first hydraulic chamber 424a, second hydraulic chamber 424b, third hydraulic chamber 424c, and fourth hydraulic chamber 424d, corresponding to the first water flow pulse 406, second water flow pulse 407, third water flow pulse 408, and fourth water flow pulse 409, respectively. After the four water flow pulses enter the hydraulic chamber 424, they cause the hydraulic chamber 424 to expand and exit from the four outlets 425. As the water jets out, the increased flow rate (pressure) of the water pulse drives the increased pressure in the hydraulic chamber 424, causing the guide end 405 to drill relative to the connecting pipe 404. Once the spring 423 reaches its elastic limit, the movement of the guide end 405 relative to the connecting pipe 404 approaches a stop. At this point, the four water pulses (pressure) begin to decrease under the control of the high-pressure water pump, and the pressure inside the hydraulic chamber 424 decreases accordingly. The spring 423, under its elastic rebound, begins to reset, causing the guide end 405 to retract relative to the connecting pipe 404. With the pulsation of the water pulse and the increase or decrease of the pressure inside the hydraulic chamber 424, the guide end 405 retracts relative to the connecting pipe 404. The pipe 404 undergoes a reciprocating motion of extension and retraction. Four outlets 425 of the same diameter are provided on the side wall of the cylindrical chamber of the guiding end 405. These four outlets 425 are evenly distributed in an array on the side wall of the cylindrical chamber of the guiding end 405, each corresponding to one of the four independent hydraulic chambers 424. The water flow rate (orifice diameter) of the four outlets 425 is less than the water flow rate (orifice diameter) of the pulse tube outlet 427, ensuring that the hydraulic chambers have enough pressure to push the guiding end 405 relative to the connecting pipe 404. Under pressure, water is ejected from the outlets 425 through the hydraulic chambers 424. The impact direction 420 of the water flow pulse 425 is guided by the coordinated action of the four outlets 425 (the direction of the coordinated impact of the water flow pulse guided by the four outlets 425 at an angle is the direction that provides reaction force for the vertical downward drilling of the guiding end 405). This is set to the opposite direction of the vertical downward drilling of the guiding end 405. On the one hand, this provides a reverse force for the drilling of the guiding end 405, pushing it to drill (by controlling the high-pressure water pump 418, the water pressure in the four hydraulic chambers 424 can be controlled, thereby controlling the water output and pulse mode of the outlets 425). On the other hand, it facilitates the back suction of the water and sand mixture ejected during the impact; such as Figure 3 , Figure 4As shown, a return water inlet 426 is provided at the return water end 402. The direction of the return water inlet 426 is set to face the direction of the water flow pulse impact at the outlet 425, so as to facilitate the back suction of the water and sand mixture under the water flow pulse impact at the outlet 425. The return water inlet 426 is directly connected to the annular return water pipe 412. The water and sand mixture is back suctioned into the annular return water pipe 412 through the return water inlet 426. The guiding end 405 is a thruster. The guiding end 405 and the penetrometer 401 are connected by a connecting pipe 404. The connecting pipe 404 moves relative to the guiding end 405. While the guiding end 405 is digging downward, four streams of water impact the rear of the guiding end 405 through the outlet 425. The impacted liquid impacts and diffuses the sand sample. The water-mixed sand sample is back suctioned by the return water inlet 426 and then recovered by the return water pipe 412.

[0059] like Figure 3 , Figure 4 As shown, the conical end of the guidance end 405 is equipped with an end resistance measuring element 416, and the side wall groove contains a side resistance measuring element 414, a pore pressure dissipation sensor 415, and a MEMS dual-axis tilt angle verticality sensor 413 (measurement accuracy ±0.1°, sampling frequency ≥100Hz). The data lines are all connected to the data cable 411 in the center of the guidance end 405. The verticality sensor 413 transmits verticality data to the central data processor inside the computer control center 419 via data cable 411. The central processing unit processes the verticality information from the verticality sensor 413 according to the control logic of the control system and displays it on the large screen of the computer control center 419 in both three-dimensional schematic diagram and data form. The large screen can intuitively display the current angle between the verticality sensor 413 and the vertical line in the X and Y directions. After the central data processor sends the start sand-taking command to the water flow pulse controller, the high-pressure water pump 418 (with four independent channel drivers) independently pumps water into the four water bundles in the inlet pipe 303. The four water flow pulses are controlled by one-way valves, and the pump pressure is adjusted by the water flow pulse controller. The matching relationship between the verticality sensor 413 and the verticality sensor 413 is calibrated in the laboratory. The relationship between the change in the angle between the X and Y directions and the change in water pressure of the water flow pulse controller is used after calibration in the laboratory.

[0060] like Figure 2 , Figure 3 As shown, the water inlet pipe 303, the sand outlet pipe 304, and the data cable 411 together constitute the pipeline 302, which is wound into a disc-shaped coil 301 around the central axis; as Figure 5As shown, after the pipeline 302 enters the drilling mechanism 400, the sand outlet pipe 304 is connected to the return water pipe 412. The four water pipes in the inlet pipe 303 are connected to the four pulse pipes 410. The return water pipe 412 is in the shape of a ring and surrounds the four pulse pipes 410. The four pulse pipes 410 are evenly distributed and surround the data cable 411. The pipelines are filled with high polymer and high-strength steel wire. The four water pulses in the four pulse pipes 410 are independently controlled by the four-channel driver of the high-pressure water pump 418. The feedback is monitored in real time through a one-way valve and a pressure sensor. The computer control center 419 receives the data from the verticality sensor and sends a signal to the high-pressure water pump 418 according to the control logic of the control system. The high-pressure water pump 418 independently controls and adjusts the size of the four water streams through the four-channel driver, and adjusts the verticality of the drilling mechanism 400 by adjusting the size of the water streams.

[0061] like Figure 2 , Figure 7 As shown, at the rear end of pipe 302, the annular sand outlet pipe 304 is first connected to the negative pressure pump 417 through a special connector; in order not to disrupt the pressurization boundary conditions of the flow rate and velocity of the four water streams, the data cable 411 and the four water inlet pipes 303 are connected together into the high-pressure water pump 418; finally, the data cable 411 is passed out from the high-pressure water pump 418, and waterproof sealing is carried out during the process of passing through, and then connected to the computer control center 419.

[0062] The control system includes hardware and software. The hardware includes a computer control center 419, a data cable 411, a high-pressure water pump 418, and a negative pressure pump 417. The computer control center 419 includes a central data processor. The data cable 411 has an IP68 waterproof rating. The high-pressure water pump 418 is a four-channel independently driven pump, with each drive channel independently controlling one water flow pulse. The negative pressure pump 417 has an operating pressure of -0.12 to -0.15 MPa.

[0063] The software refers to the computer's automatic control logic, which is as follows:

[0064] (I) Control Architecture

[0065] The computer control center 419 adopts a hierarchical control architecture, including a perception layer, a decision-making layer, and an execution layer, to achieve full-process automation of data acquisition, processing, control, and feedback.

[0066] 1. Sensing layer: Real-time data is collected through MEMS verticality sensor 413, end resistance measurement element 416, side resistance measurement element 414, and pore pressure dissipation sensor 415. The sampling frequency is 100Hz, and the data is transmitted to the central data processor through waterproof data cable 411.

[0067] 2. Decision-making layer: Based on a central data processor (embedded industrial PC, clock speed ≥ 2.0GHz), the control algorithm runs, including:

[0068] Verticality PID closed-loop control: Taking the X / Y direction deflection angle (θx, θy) as input, it outputs four water flow pulse pressure regulation commands;

[0069] Drilling depth control: Based on depth sensor data, determine whether the preset drilling depth (e.g., 5m) has been reached;

[0070] Sand sample recovery trigger: When the drilling depth reaches the target or the end resistance exceeds the threshold (500kPa), the negative pressure pump 417 is started to recover the sand sample.

[0071] 3. Execution layer: The decision layer commands are executed through the high-pressure water pump driver (four-channel independent control), negative pressure pump relay, and coil motor controller, with a response delay of ≤10ms.

[0072] (II) Core Control Process

[0073] 1. System Initialization

[0074] System self-test: Checks the communication status of sensors, water pumps, and motors; if a fault is detected, an audible and visual alarm is triggered.

[0075] Parameter configuration: Read preset parameters (target verticality deviation ≤ 0.5°, drilling depth 5m, negative pressure pump power 250KW).

[0076] 2. Drilling Control Stage

[0077] Verticality adjustment:

[0078] 1. Real-time acquisition of θ x θ y Calculate the deviation Δθ x =θ x -0°、Δθ y =θ y -0°;

[0079] 2. If |Δθ x |>0.5° or |Δθ y |>0.5°, calculate the pulse pressure correction value (P1~P4) of the four water streams using the PID algorithm, and adjust the output of the high-pressure water pump 418 driver;

[0080] Drilling depth monitoring: Real-time reading of data from the pipe displacement sensor; when the depth is ≥5m, the sand sample recovery stage begins.

[0081] Data acquisition: Simultaneously record end resistance, side resistance, and orifice pressure data, and plot the curves of change with depth (sampling interval 0.1m).

[0082] 3. Sand sample recovery and final stage

[0083] Start the negative pressure pump 417 and draw the sand-water mixture into the sand outlet box 306 through the sand outlet pipe 304 for 30 seconds.

[0084] Turn off the high-pressure water pump 418, start the motor of the coil 301 (forward rotation), and retract the pipeline 302 and the drilling structure 400 through the fixed pulley 204;

[0085] Data storage: The sand sample number, coordinates, depth, and physical and mechanical parameters are packaged and stored in the local database.

[0086] (III) Exception Handling Mechanism

[0087] 1. Sensor failure: If the verticality sensor data is interrupted for more than 2 seconds, the water flow pulse pressure will be automatically reduced to 1MPa and drilling will stop, triggering an alarm;

[0088] 2. Overload protection: When the end resistance measuring element 416 detects a value > 500 kPa, the water flow pulse frequency is reduced to 1 Hz. If the overload persists for 5 seconds, the operation will stop.

[0089] 3. Communication interruption: When data cable 411 is disconnected, immediately start the emergency power supply to drive the reel motor to retract the drilling structure.

[0090] Example 1 also provides a method for conducting liquid pulse-type water source investigation using the device described in Example 1, such as... Figure 1 As shown, it includes the following steps:

[0091] Step 1, Hull Positioning: In winds of force 6 or below, sail the appropriate tonnage hull structure 100 to the waters where the sand source investigation is to be conducted, drop anchor 104, and the vessel will be basically fixed. It can be one anchor 104 or two anchors 104, as long as the vessel is basically fixed. There is no need to use a figure-eight anchor as in water drilling operations, which saves the time of dropping and raising anchor.

[0092] Step 2, Equipment Connection: Place the water inlet tank 305 and sand outlet tank 306 on the deck 102 of the hull structure 100. The water inlet tank 305 and sand outlet tank 306 can be cubes with a side length of 1m, made of metal or plastic. Insert the water inlet pipe 303 into the water inlet tank 305 and the sand outlet pipe 304 into the sand outlet tank 306. The water inlet pipe 303, the sand outlet pipe 304, and the data cable 411 (the data cable 411 is connected from the guidance end 405) are combined into a single pipe at the cable reel 301, which is the pipeline 302. The inlet pipe 303 contains four small water pipes connected to a high-pressure water pump 418 in the inlet tank 305. The high-pressure water pump 418 controls the flow rate and velocity of the water in the four small water pipes (connected to four pulse pipes 410), with the direction being the impact direction 420 of the water pulse. The sand outlet pipe 304 is connected to a negative pressure pump 417 in the sand outlet box 306, used to negatively absorb the mixture of water and sand carried out by the impact of the inlet pipe 303. The negative pressure absorption direction is the back suction direction 421 of the mixture of water and sand. The inlet pipe 303 and the sand outlet pipe 304 can be made of metal and composite organic materials, are resistant to high pressure, and have toughness. After the inlet pipe 303, sand outlet pipe 304, and data cable 411 are combined into a pipeline 302, the pipeline 302 is coiled onto a reel 301. The data cable 411 at the reel 301 is connected to the computer control center 419. At the same time, the computer control center 419 is connected to the high-pressure water pump 418 and the negative pressure pump 417. Based on the data from the data cable 411, the computer control center 419 automatically controls the on / off state, flow rate, and pressure status of the high-pressure water pump 418 and the negative pressure pump 417. Finally, the other end of the pipeline 302 wound on the reel 301 is connected to the fixed pulley 204 of the support structure 200. The fixed pulley 204 lowers the pipeline 302 and the drilling structure 400 into the water outside the hull structure 100.

[0093] Step 3, Drilling Preparation: Throw the drilling structure 400, which extends down from the fixed pulley 204, along with the pipeline 302, into the water area. After the drilling structure 400 touches the bottom, measure and calculate the water bottom elevation and height of the throwing point. Usually, the water bottom elevation is calculated by measuring the water surface elevation of 500 and the water depth. The coordinates are the coordinates of the water surface of the throwing point at 500. System initialization includes: system self-check to check the communication status of sensors, water pumps, and motors. If there is a fault, an audible and visual alarm will be triggered. Read the preset parameters (target verticality deviation ≤ 0.5°, drilling depth 5m, negative pressure pump power ≥ 250kW).

[0094] Step 4, Vertical Drilling: The computer control center 419 is activated. The computer control center 419 contains core hardware such as a central data processor and a water flow pulse controller, along with supporting software. After the central data processor sends the start sand extraction command to the water flow pulse controller, the high-pressure water pump 418 (with four drivers) independently pumps water into the four water pipes in the inlet pipe 303. The inlet pipe 303 gradually draws four water flow pulses from the inlet tank 305 through the high-pressure water pump 418. The four water flow pulses pass through the pipeline 302 to the pulse tube 410 of the penetrometer 401, and then converge at the pulse tube outlet 427 into the four independent hydraulic chambers 424 of the penetrometer 401. 4. As the internal pressure increases, the guiding end 405 moves forward relative to the connecting pipe 404. When the pressure inside the hydraulic chamber 424 increases to a certain threshold, it pushes the hydraulic chamber bottom plate 430 to move towards the cylindrical chamber of the guiding end 405. When the hydraulic chamber bottom plate 430 moves to the outlet 425 or below, the water is ejected from the outlet 425 under pressure. The water is simultaneously ejected and washes around, forming a mixture of water and sand. At the same time, the verticality sensor 413 inside the guiding end 405 transmits the verticality information to the computer control center 419 through the data cable 411 (the data cable 411 passes through the hydraulic cable pipe 429 inside the penetrator 401 through the penetrator 401).

[0095] Water flow pulse impact and verticality closed-loop control: Based on the information collected by the computer control center 419 from the verticality sensor 413 at the guidance end 405, the working principle of the verticality sensor 413 is similar to that of the verticality sensor 413 in an inclinometer (the manufacture of inclinometer probes is a very mature technology in the field of foundation pit monitoring). Figure 5As shown, the second water flow pulse 407 and the fourth water flow pulse 409 are connected to form the X direction, and the first water flow pulse 406 and the third water flow pulse 408 are connected to form the Y direction. The X and Y directions are perpendicular to each other. If the vertical drilling direction is taken as the Z direction, the deflection of the guidance end 405 in the two two-dimensional planes XZ plane or YZ plane can be controlled by adjusting the water flow pressure or velocity difference between the second water flow pulse 407 and the fourth water flow pulse 409 or the first water flow pulse 406 and the third water flow pulse 408, thereby controlling the vertical drilling direction of the guidance end 405. The verticality information of the verticality sensor 413 is displayed on the large screen of the computer control center 419 in the form of a three-dimensional schematic diagram and data. The large screen can intuitively display the current angle between the verticality sensor 413 in the X and Y directions and the vertical line. Based on the current verticality data of the guidance end 405, the computer control... Based on the angles between the verticality sensor 413 and the vertical line in the X and Y directions displayed on the large screen, the control center 419 quickly calculates the relationship between these angles and the pumping pressure between the four drivers of the high-pressure water pump 418. Then, based on the calculation results, the central data processor sends a modification command to the high-pressure water pump 418. The computer automatically controls and adjusts the flow rate and velocity of the first water flow pulse 406 to the fourth water flow pulse 409, ensuring that the verticality data of the guidance end 405 remains approximately 90° vertically downward, with the deviation controlled within a reasonable range of 1% to 3%. This ensures proper verticality control of the guidance end 405, allowing the entire drilling system to maintain approximately 90° vertical downward pulsed drilling, with the deviation controlled within a reasonable range of 1% to 3%.

[0096] The verticality closed-loop control employs a dual-axis PID closed-loop control algorithm, using the X / Y direction deflection angle (θ) acquired by the MEMS verticality sensor. x θ y The feedback quantity is used to achieve dynamic adjustment of the water flow pulse through the following steps:

[0097] 1. Deviation Calculation: Set the target verticality deviation threshold to ≤0.5°, and calculate the current deflection angle (θ) in real time. x θ y The deviation Δθ from the target value x , Δθ y .

[0098] 2. Control output: Based on the deviation Δθ x , Δθ y The central data processor (response time ≤ 10ms) outputs pressure regulation commands for four water flow pulses, with the following regulation rules:

[0099] 2.1 X-direction correction: when θx When the pressure is >0 (right skew), increase the pressure of the first / third water flow pulse (P1, P3) and decrease the pressure of the second / fourth water flow pulse (P2, P4), adjusting the amplitude to Δθ. x Proportional (proportionality coefficient Kp = 0.8 MPa / °, calibrated in the laboratory);

[0100] 2.2, Y-direction correction: when θ y When the pressure is >0 (forward deviation), increase the pressure of the second / fourth water flow pulse (P2, P4) and decrease the pressure of the first / third water flow pulse (P1, P3), adjusting the amplitude to Δθ. y Proportional (proportional coefficient Kp = 0.8 MPa / °);

[0101] 2.3 Dynamic Equilibrium: The sum of the pulse pressures of the four water streams remains constant (P). 总 =3±0.2MPa), to avoid fluctuations in drilling impact force.

[0102] The parameter coordination method for the water flow pulse impact is as follows:

[0103] Pressure adjustment range: The pressure of a single water flow pulse can be continuously adjusted within the range of 0.5 to 2.5 MPa, which is achieved through four independent servo drives of the high-pressure water pump;

[0104] Flow compensation mechanism: When the pressure of a single water flow exceeds 2MPa, flow compensation is automatically activated to prevent pipeline vibration caused by excessive pressure.

[0105] The anti-interference design of the verticality closed-loop control is as follows:

[0106] Filtering algorithm: Kalman filtering is applied to the raw sensor data to eliminate high-frequency noise caused by water flow impact (filtering window 50ms);

[0107] Fault redundancy: If a water flow pulse fails, the system will automatically increase the pressure of the adjacent water flow by 30% to maintain basic verticality control (the deviation is allowed to temporarily increase to ≤1.5°).

[0108] Synchronous data acquisition: The computer control center 419 automatically adjusts the first water flow pulse 406 to the fourth water flow pulse 409, continuously impacting the hydraulic chamber 424. The hydraulic chamber 424 expands, driving the guide end 405 to drill vertically downwards. Simultaneously, the end resistance measuring element 416, side resistance measuring element 414, and pore pressure dissipation sensor 415 of the guide end 405 automatically upload data on the end resistance, side resistance, and pore water pressure dissipation of the soil to the computer control center 419, automatically plotting the relationship curve between depth and this data. Using this data, combined with engineering geology manuals and relevant soil mechanics knowledge, a scientific analysis and judgment of the sand source's compaction, unit weight, and soil type can be made. This facilitates geotechnical engineers' understanding of the basic physical and mechanical properties of the sand source, providing corresponding parameter indicators for the next stage of sand source construction.

[0109] Step 5, Sand Sample Recovery: During the gradual downward penetration of the drilling structure 400, the negative pressure pump 417 in the sand outlet box 306 works synchronously, and the return water end 402 of the penetrometer 401 automatically sucks away the mixture of water and sand impacted by the water flow pulse around it. The mixture is then sucked back into the sand outlet box 306 through the sand outlet pipe 304. The mixture of water and sand in the sand outlet box 306 is manually collected for color observation and particle size testing of the sand particles (the ship is equipped with a laser particle size analyzer or sieve testing device). The particle composition of the sand source is analyzed, and a particle size distribution curve is plotted.

[0110] Step Six: Equipment Recovery and Relocation: When the penetration and data collection at a coordinate point is completed, the motor installed on the reel 301 drives the reel 301 to rotate the fixed pulley 204, pulling the drilling structure 400 and pipeline 302 out from underwater; at the same time, the anchor 104 and anchor chain 103 are retrieved, and the ship's machinery structure is transferred to the next position, repeating the process of the first step to start a new sand source investigation.

[0111] Example 2

[0112] Example 2 provides a device for investigating sand sources in a liquid pulse-type water area. Unlike Example 1, the pulse tube outlet 427 is equipped with an inlet valve, which is an electromagnetic ball valve. This valve controls the opening of the pulse tube outlet 427 and the water flow rate. When the pressure inside the hydraulic chamber 424 is lower than a preset threshold of the control system, the inlet valve increases its opening degree and the flow rate of the water pulse. More water enters the hydraulic chamber 424, increasing the pressure inside and causing the connecting pipe 404 to elongate relative to the guide end 405. When the pressure inside the hydraulic chamber 424 reaches the preset threshold of the control system, the central controller sends a "reduction" signal, causing the inlet valve to decrease its opening degree and the flow rate of the water pulse. As the flow rate of the water pulse decreases, the pressure inside the hydraulic chamber 424 decreases, causing the connecting pipe 404 to shorten relative to the guiding end 405. This drives the guiding end 405 to drill vertically. The water pulse impacts the rear of the guiding end 405 through the outlet 425. Under the condition that the opening degree of the inlet valve is constant, the water pulse can also adopt an intermittent impact mode. In this case, the pulse frequency needs to be adjusted by the PLC. The pulse frequency is 1-5Hz with a duty cycle of 50%. Each pulse pushes the guiding end 405 to extend 15mm relative to the connecting pipe 404. The impact speed is positively correlated with the pulse frequency. A depth sensor is integrated on the outer wall of the connecting pipe 404 to monitor the drilling depth in real time. When the preset depth is reached, the system automatically stops and triggers sand sample recovery. When the end resistance measuring element 416 detects soil resistance > 500kPa, the system automatically reduces the water pulse pressure to 2MPa and extends the pulse interval (frequency drops to 1Hz) to prevent the connecting pipe 404 from overloading.

[0113] This invention employs a hull structure with an anchor and anchor chain. After the hull structure reaches the designated water area, the anchor and anchor chain are deployed to essentially secure the vessel. Then, the water inlet pipe and water tank on the winch reel are connected, as are the sand outlet pipe and sand outlet box. Data cables, high-pressure water pumps, negative pressure pumps, and a computer control center are connected. The pipelines, along with the drilling structure and fixed pulleys, are connected, and coordinate elevation data is measured, completing the preparatory work. During operation, the flow rate and velocity of the high-pressure water pump are adjusted based on data received from the guidance end by the computer control center, ensuring the verticality of the guidance end remains within a reasonable range for downward drilling. Simultaneously, the negative pressure pump draws water and sand mixture from around the penetrometer through the sand outlet pipe to the sand outlet box. After the operation is completed, the pipelines and drilling structure are removed from the water area via the fixed pulley by turning the winch reel. The anchor and anchor chain are then retrieved, and the vessel structure is moved to the next designated location for sand source investigation. The present invention can achieve precise positioning of sand source investigation in water areas through the above method, with a small number of anchors required, without affecting navigation; at the same time, because there is no need to install casing, the requirements for weather and water flow are low, the working window is long, and the working efficiency is high; the drilling quality is controlled by computer throughout the process, with a high degree of digitalization and saving labor costs, thus possessing technological and cost advantages.

[0114] The above description of the embodiments is provided to enable those skilled in the art to understand and use the present invention. It will be apparent to those skilled in the art that various modifications can be easily made to these embodiments, and the general principles described herein can be applied to other embodiments without inventive effort. Therefore, the present invention is not limited to the above embodiments, and any improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the present invention are within the protection scope of the present invention.

Claims

1. A device for investigating sand sources in water bodies using liquid pulse-type methods, characterized in that, This includes the hull structure, support structure, pipeline structure, drilling structure, and control system. The hull structure includes a hull, deck, anchor chain and anchor, wherein the anchor chain is connected to the anchor and is used for hull positioning; The support structure is fixed to the deck by supports and diagonal braces, and its end is provided with guides to guide the pipeline structure. The pipeline structure includes a pipeline, an inlet pipe, a sand outlet pipe, an inlet tank, and a sand outlet tank. The pipeline has a built-in data cable. The inlet pipe is connected to a high-pressure water pump to provide water flow pulses. The sand outlet pipe is connected to a negative pressure pump to recover sand samples. The drilling structure includes a penetrometer, a connecting pipe, a guiding end, and a pulse tube. The pulse tube is connected to the water inlet pipe to generate water flow pulses to drive the drilling. The guiding end integrates sensors, including a verticality sensor and a mechanical parameter measuring element. The control system includes a computer control center, which receives sensor data via a data cable and dynamically adjusts the water flow pulse pressure to achieve closed-loop control of drilling verticality.

2. The apparatus for liquid pulse-type water sand source investigation according to claim 1, characterized in that, The hull structure has 1 to 2 anchor chains, and the anchor is used to basically fix the position of the hull, without the need for figure-eight anchor positioning.

3. The apparatus for liquid pulse-type water sand source investigation according to claim 1, characterized in that, The pipeline structure consists of four inlet pipes that are distributed around the data cable. The sand outlet pipe is arranged in a ring around the inlet pipe. The pipelines are filled with high polymer and high-strength steel wire. The overall compressive strength is ≥200MPa and the tensile strength is ≥400MPa.

4. The apparatus for liquid pulse-type water sand source investigation according to claim 1, characterized in that, The pulse tube of the drilling structure contains four independent water flow pulses, which are driven by a high-pressure water pump. The pressure adjustment range of a single pulse is 0.5 to 2.5 MPa, and the total pressure is constant at 3 ± 0.2 MPa.

5. The apparatus for liquid pulse-type water sand source investigation according to claim 1, characterized in that, The verticality sensor built into the guidance end is a MEMS dual-axis tilt sensor with a sampling frequency ≥100Hz. The mechanical parameter measurement elements include an end resistance measurement element, a side resistance measurement element, and a pore pressure dissipation sensor.

6. The apparatus for liquid pulse-type water sand source investigation according to claim 1, characterized in that, The connecting tube is a rigid circular tube. One end of the connecting tube is rigidly connected to the rear end of the penetrator, and the other end is provided with an outer flange. The guiding end is provided with an inner flange at a corresponding position. The outer flange and the inner flange are matched and nested and are movably connected relative to each other. A spring is arranged between the outer flange and the inner flange.

7. The apparatus for liquid pulse-type water sand source investigation according to claim 6, characterized in that, The guiding end is provided with a chamber to facilitate the reciprocating movement of the connecting pipe relative to the guiding end. The chamber is hydraulically divided into four independent hydraulic chambers, each corresponding to one of the four independent water flow pulses. The side wall of the chamber is provided with four water outlets corresponding to the four independent hydraulic chambers, and the direction of the water outlets is opposite to the drilling direction of the guiding end. The penetrometer is provided with a return water end, and the return water end is provided with a return water port connected to the return water pipe. The return water port faces the impact direction of the water flow pulse at the water outlet and draws back the mixture of water and sand that has been impacted and diffused by the water outlet.

8. The apparatus for liquid pulse-type water sand source investigation according to claim 7, characterized in that, The return water pipe is connected to the sand outlet pipe, and the sand outlet pipe is connected to a negative pressure pump. The negative pressure pump is controlled by the computer control center, which can control the sampling timing and sampling amount of the recovered sand sample.

9. The apparatus for liquid pulse-type water sand source investigation according to claim 7, characterized in that, The four water flow pulses originate from four pulse tubes, which are connected to an inlet pipe. The inlet pipe is connected to a high-pressure pump, which has a four-channel driver. The four-channel driver controls the four water flow pulses respectively. By controlling the high-pressure pump through the computer control center, the pressure of each hydraulic chamber can be adjusted to achieve independent control of the water flow pulse at the outlet, thereby controlling the verticality of the vertical drilling at the guide end.

10. The apparatus for liquid pulse-type water sand source investigation according to claim 8, characterized in that, The four independent water flow pulses enter the four independent hydraulic chambers through the four pulse tube outlets. The outlet diameter is smaller than the pulse tube outlet diameter to ensure that the pressure in the hydraulic chamber is sufficient to drive the guide end to move relative to the connecting pipe. The water pressure in the hydraulic chamber increases or decreases with the influence of the water flow pulses, driving the guide end to move in extension and retraction relative to the connecting pipe. The maximum extension and retraction stroke is ≥500mm.

11. A method for investigating sand sources in a liquid pulse-type water body, characterized in that, Includes the following steps: Step S1. Vessel positioning: Sailing the vessel to the target waters and securing its position using anchors and anchor chains; Step S2. Equipment Connection: Connect the inlet pipe to the inlet tank, the sand outlet pipe to the sand outlet box, the high-pressure / negative-pressure pump and the computer control center, and lower the pipeline and drilling structure underwater through the support structure; Step S3. Drilling preparation: The system self-checks the status of sensors, water pumps and motors, and configures preset parameters; Step S4. Vertical drilling: The high-pressure water pump generates water flow pulses to drive the drilling structure to penetrate the sand layer. The computer control center adjusts the water flow pulse pressure based on the verticality sensor data to maintain the drilling verticality. Step S5. Data Acquisition and Sand Sample Recovery: Simultaneously collect the mechanical parameters of the sand source, and recover and analyze the sand sample through the sand outlet pipe using a negative pressure pump; Step S6. Equipment recovery and relocation: After completing the single measuring point operation, recover the pipeline and drilling structure, and move it to the next measuring point to repeat the operation.

12. The method for investigating sand sources in a liquid pulse-type water area according to claim 11, characterized in that, The preset parameters configured in step S3 include: target verticality deviation ≤ 0.5°, drilling depth 5m, and negative pressure pump power ≥ 250kW.

13. The method for investigating sand sources in a liquid pulse-type water area according to claim 11, characterized in that, The verticality closed-loop control described in step S4 adopts a dual-axis PID algorithm, which uses the X / Y direction deviation angle as input to adjust the water flow pulse pressure. By adjusting the water flow pulse pressure in different directions, deviation correction is achieved. The adjustment amplitude is proportional to the deviation angle, and the proportional coefficient Kp = 0.8MPa / °.

14. The method for investigating sand sources in a liquid pulse-type water area according to claim 11, characterized in that, The water flow pulse mentioned in step S4 adopts an intermittent impact mode with a pulse frequency of 1-5 Hz and a duty cycle of 50%.

15. The method for investigating sand sources in a liquid pulse-type water area according to claim 11, characterized in that, In step S5, sand sample recovery is achieved by a negative pressure pump with a working pressure of -0.12 to -0.15 MPa. The sand-water mixture is separated by gravity sedimentation in the sand outlet box, and particle size analysis is performed simultaneously.

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