Continuous sea bed type static cone penetrometer

Abstract

The application discloses a seabed type static sounding device with automatic penetration and connection, which comprises a probe rod storage mechanism, a probe rod connection mechanism and a controller. The probe rod storage mechanism is used for storing a plurality of probe rods and moving the stored probe rods to a connection position in sequence, and any two probe rods can be connected in a rod direction. The probe rod connection mechanism is used for moving the probe rods in the connection position to the outside of the device shell in a rod direction and penetrating into the seabed at least partially. The controller is in communication connection with the probe rod connection mechanism, and is used for recording the force received by the probe rod when penetrating into the seabed during the movement of the probe rod connection mechanism. The application realizes automatic conveying, connection and continuous penetration of the probe rod, greatly reduces manual intervention, improves operation efficiency and safety, can seamlessly connect the probe rods during the penetration process without interrupting the operation, and is particularly suitable for long-time and large-depth static sounding operation in deep water and complex sea conditions.

Description

Technical Field

[0001] This invention relates to the field of seabed exploration and geological survey technology, specifically to a continuous seabed static cone penetration test device. Background Technology

[0002] Seabed static cone penetration testing (DCPT) is a widely used method in marine engineering geological exploration. It obtains the mechanical properties of the soil by uniformly pressing the probe into the soil layer and measuring the resistance of the soil layer to the probe. Conventional seabed static cone penetration testing systems require manual connection of multiple probe sections on the deck before the equipment is lowered into the seabed. At the same time, to keep the probes vertical, constant tension steel cables are installed at the top of the probes to tighten them in the water. This traditional operation method has the following significant drawbacks: (1) The operation of connecting and disconnecting probes is complex, highly dependent on manual labor, inefficient, and risky in harsh sea conditions; (2) When a large detection depth is required, the pre-connected probe length is too long, which will cause the center of gravity of the equipment to be too high, seriously affecting its stability and safety on the seabed, thus limiting the detection depth; (3) When trying to cooperate with the seabed drilling tool store and manipulator for underwater probe connection and disconnection, the process is cumbersome, and continuous penetration of the probes cannot be achieved. The penetration process needs to be frequently interrupted to complete the probe connection, resulting in low operation efficiency and poor reliability. Therefore, there is an urgent need for a device that can automatically connect and continuously insert probes to overcome the above-mentioned defects. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a seabed static cone penetration test device that can be connected and disconnected as needed, in order to solve the problems of manual intervention required for probe connection, inability to continuously penetrate, low operating efficiency and poor safety in the prior art.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: The static cone penetrometer includes, A device housing; The device housing is equipped with a probe storage mechanism, a probe connection mechanism, and a controller. The probe storage mechanism is used to store at least two probes and can move the stored probes sequentially to a continuous position, and any two probes can be connected along the rod direction; The probe penetration mechanism is used to move the probe at the penetration position along the rod direction to the outside of the device housing and penetrate at least partially into the seabed; The controller is communicatively connected to the probe penetration mechanism and is used to record the forces acting on the probe as it penetrates the seabed during the process of the probe penetration mechanism moving the probe.

[0005] In some embodiments disclosed in this invention The device housing is divided into a drive compartment and a probe compartment in the vertical direction. The drive compartment is equipped with a first drive mechanism and a second drive mechanism. The driving ends of the first driving mechanism and the second driving mechanism respectively extend into the probe cabin; The probe storage mechanism is connected to the drive end of the first drive mechanism and is used to move at least two stored probes sequentially to the penetration position under the drive of the first drive mechanism. The probe penetration mechanism is connected to the drive end of the second drive mechanism and is used to move the probe in the penetration position vertically downward to the outside of the device housing and at least partially penetrate the seabed under the drive of the second drive mechanism. The controller is located inside the drive compartment.

[0006] In some embodiments disclosed in this invention The probe storage mechanism includes a rotating disk disposed in the probe compartment. The rotating disk is provided with at least two probe fixing seats in the circumferential direction. The bottom of each probe fixing seat can be releasably connected to the top of a probe disposed in a vertical direction. The driving end of the first driving mechanism extends into the probe chamber and drives the rotating disk to rotate in a horizontal plane; At least two probe fixing seats are provided on the circumferential direction of the rotating disk; The bottom of each probe holder can be releasably connected to the top of a vertically positioned probe; Each of the probe holders can be moved to the penetration position by the rotation of the rotating disk.

[0007] In some embodiments disclosed in this invention The bottom of the probe fixing base has a fixing groove; The top of the probe rod is fitted into the fixing groove, and the outer wall of the probe rod near the top is constructed with a stepped surface, the radial dimension of which is greater than the radial dimension of the top of the probe rod.

[0008] The probe penetration mechanism is used to press against the stepped surface of the probe in the penetration position under the drive of the second drive mechanism.

[0009] In some embodiments disclosed in this invention The rotating disk is provided with at least two protrusions along its circumference for serving as the probe fixing seat, and the bottom of the protrusions is provided with the fixing groove.

[0010] In some embodiments disclosed in this invention The probe penetration mechanism includes a U-shaped claw; The U-shaped claw is configured to pass through the probe holder and press against the stepped surface of the probe.

[0011] In some embodiments disclosed in this invention The first drive mechanism includes a drive motor and an output converter; The drive motor is used as the input to the output converter; One output shaft of the output converter extends into the probe chamber and drives the rotating disk to rotate, while the other output shaft is connected to an angle detection component in the drive chamber. The angle detection component is used to detect the rotation angle of the rotating disk to determine whether the probe fixing seat has moved to the penetration position.

[0012] In some embodiments disclosed in this invention The second driving mechanism is a linear displacement mechanism; The drive end of the linear displacement mechanism extends into the probe chamber and connects to the probe penetration mechanism.

[0013] In some embodiments disclosed in this invention The bottom of the probe compartment is provided with a probe outlet hole; The probe insertion mechanism is used to move the probe to partially or completely pass through the probe hole.

[0014] In some embodiments disclosed in this invention In the probe storage mechanism, the probe initially moved to the penetration position is the probe head, and the bottom of the probe head is provided with a tip for penetrating the soil layer.

[0015] Compared with existing technologies, this invention, through an integrated probe storage and penetration mechanism, in conjunction with a controller, realizes automatic delivery, docking, and continuous penetration of probes, greatly reducing manual intervention and improving operational efficiency and safety. It can seamlessly connect probes during penetration without interrupting operations, making it particularly suitable for long-term, deep-sea static cone penetration operations in deep water and complex sea conditions. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A schematic diagram of the overall structure of a continuous seabed static cone penetration test device; Figure 2 A schematic diagram of the internal structure of a continuous seabed static cone penetration test device; Figure 3 A partial schematic diagram of the interior of a continuous seabed static cone penetration test device; Figure 4 This is a structural schematic diagram of the linear displacement mechanism and the probe penetration mechanism; Figure 5 This is a schematic diagram of the horizontal rotation mechanism and the probe storage mechanism. Figure 6 A schematic diagram of the structure that coordinates the probe insertion mechanism and the probe storage mechanism.

[0018] Attached image captions: 10. Device housing; 101. Upper mounting plate; 1011. Lifting section; 102. Middle mounting plate; 103. Lower mounting plate; 1031. Rod outlet hole; 104. Upper mounting column; 105. Lower mounting column; 11. Drive compartment; 12. Probe compartment; 210. Linear displacement mechanism; 211. Movable rod; 212. Limiting rod; 220. U-shaped claw; 310. Horizontal rotation mechanism; 311. Drive motor; 312. Output converter; 313. Angle detection component; 320. Rotary disk; 400, probe; 401, stepped surface. Detailed Implementation

[0019] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0020] Please see Figure 1 This invention provides a continuous, on-demand seabed static cone penetration test device. The static cone penetration test device is entirely encapsulated within a device housing 10. The device housing 10 provides a waterproof and pressure-resistant protective space for the internal mechanisms and serves as the overall load-bearing frame of the device.

[0021] Please refer to the following: Figure 1 and Figure 2The device housing 10 is vertically divided into at least two compartments. Specifically, the device housing 10 is divided into upper and lower parts by an upper mounting plate 101, a middle mounting plate 102, and a lower mounting plate 103. The upper compartment is the drive compartment 11, and the lower compartment is the probe compartment 12. The upper mounting plate 101 and the middle mounting plate 102 are fixedly connected by multiple upper mounting posts 104, thereby forming the drive compartment 11. The middle mounting plate 102 and the lower mounting plate 103 are fixedly connected by multiple lower mounting posts 105, thereby forming the probe compartment 12. The bottom ends of the multiple lower mounting posts 105 extend below the lower mounting plate 103, forming support legs for insertion into the seabed to stabilize the device.

[0022] Furthermore, in this embodiment, a controller (not shown in the figure), a first drive mechanism, and a second drive mechanism are provided within the drive compartment 11. The controller can be a PLC, an industrial computer, or an embedded microcontroller. The drive ends of the first and second drive mechanisms respectively pass downward through the central mounting plate 102 and extend into the probe compartment 12. The controller is communicatively connected to both the first and second drive mechanisms, and is used to control their actions and receive action feedback data.

[0023] Furthermore, this embodiment includes a probe storage mechanism and a probe connection mechanism within the probe compartment 12. The probe storage mechanism stores at least two probes 400. The probe storage mechanism is connected to the drive end of a first drive mechanism extending into the probe compartment 12. Driven by the first drive mechanism, the probe storage mechanism can sequentially move the stored probes 400 to a designated connection position. Any two probes 400 can be connected along the rod direction via a mating structure at their ends.

[0024] Furthermore, the probe penetration mechanism is connected to the drive end of the second drive mechanism that extends into the probe housing 12. Driven by the second drive mechanism, the probe penetration mechanism can grab or press down the probe 400 that has just moved to the penetration position, and move it out of the device housing 10 in a vertically downward direction, and penetrate at least partially into the seabed soil layer.

[0025] Meanwhile, as the probe 400 is moved into the seabed by the probe penetration mechanism, the controller records and processes data related to penetration resistance in real time. For example, the controller can receive force sensor signals mounted on the second drive mechanism, which reflect the forces acting on the probe 400 when penetrating soil layers at different depths, thereby obtaining static penetration curves.

[0026] Please refer to the following: Figure 2 , Figure 5 and Figure 6One specific implementation of the probe storage mechanism includes a horizontally positioned rotating disk 320. The rotating disk 320 is rotatably mounted within the probe compartment 12 via bearings or other structures. A first drive mechanism is used to drive the rotating disk 320 to rotate in the horizontal plane.

[0027] Please see Figure 5 The first driving mechanism is a horizontal rotation mechanism. This horizontal rotation mechanism includes a drive motor 311 and an output converter 312. The drive motor 311 is fixedly installed inside the drive compartment 11. The output shaft of the drive motor 311 serves as the input and is connected to the output converter 312. The output converter 312 has two output shafts: the first output shaft extends downward into the probe compartment 12 and is connected to the central shaft of the rotating disk 320 via a coupling or other components, thereby driving the rotating disk 320 to rotate; the second output shaft is connected to an angle detection component 313 inside the drive compartment 11. The angle detection component 313 is used to detect the rotation angle of the second output shaft. Since the rotation of the first and second output shafts is linked, by detecting the rotation angle of the second output shaft, the rotation angle of the rotating disk 320 can be indirectly and accurately determined, thereby determining whether a specific position on the rotating disk 320 has rotated to the penetration position.

[0028] Preferably, the output converter 312 can be a reducer with dual output shafts. The reducer internally reduces and distributes power through a gear system, ultimately outputting through the two shafts. One output shaft (the first output shaft) extends downwards to drive the rotating disk; the other output shaft (the second output shaft) connects to an angle detection component (such as an encoder). The dual-output-shaft reducer has high integration, a compact structure, smooth transmission, and is easy to procure standard parts, making it suitable for mass production and assembly of the device of this invention.

[0029] Preferably, the angle detection component 313 may include an encoder or grating mounted on the second output shaft, and a corresponding sensor. Angle detection can also be achieved using a combination of a flywheel with a notch and an infrared pair.

[0030] Of course, the method of determining whether the probe holder has reached the penetration position is not limited to using the angle detection component 313. A position sensor (such as a proximity switch or photoelectric sensor) can also be installed near the penetration position, triggering a signal when the probe holder moves into the sensor's sensing area. Alternatively, a visual recognition system can be used to identify the marked position of the probe holder via a camera.

[0031] Furthermore, at least two probe holders are provided on the rotating disk 320 along its circumference. Each probe holder is used to releasably fix the top of a probe 400 and keep the probe 400 in a vertically suspended state. When the rotating disk 320 rotates, the probe holders fixing the probes 400 move in a circular motion, thereby passing through and accurately positioning themselves at the penetration position.

[0032] Of course, the probe storage mechanism is not limited to the rotary structure of the rotating disk 320. The probe storage mechanism can also be a linearly arranged chain conveyor, belt conveyor, or multi-axis robotic gripper. As long as the mechanism can store multiple probes 400 and transport them sequentially and automatically to the same designated connection position, it is acceptable.

[0033] Please see Figure 6 One specific structure of the probe holder is that multiple outwardly protruding protrusions are formed circumferentially along the edge of the rotating disk 320, and a fixing groove is machined at the bottom of each protrusion. The top shape of the probe 400 matches the fixing groove, allowing it to be inserted and placed in the fixing groove.

[0034] Preferably, to ensure that the probe 400 can be reliably and temporarily fixed to the probe mounting base and can be easily released when needed, a magnetic adsorption component, such as a permanent magnet, can be provided in the mounting groove. Accordingly, the top of the probe 400 is made of a material that can be magnetically attracted (such as low-carbon steel). Through magnetic adsorption, the probe 400 can be stably suspended on the rotating disk 320.

[0035] Of course, the method by which the probe rod holder secures the probe rod 400 is not limited to magnetic adsorption. The probe rod holder can also use active or passive clamping mechanisms such as pneumatic grippers, electromagnets, or mechanical pins to achieve a releasable fixation of the top of the probe rod 400. The key is to ensure stable suspension of the probe rod 400 during transport and smooth release during penetration.

[0036] Furthermore, a radially protruding stepped surface 401 is machined on the outer wall of the probe 400 near the top. The radial dimension (i.e., outer diameter) of the stepped surface 401 is larger than the radial dimension of the top of the probe 400. The stepped surface 401 is used to cooperate with the probe penetration mechanism to withstand the downward top pressure.

[0037] Please refer to the following: Figure 2 , Figure 3 and Figure 4 The probe insertion mechanism includes a U-shaped claw 220 for inserting the probe 400, which is in the insertion position, downwards. The probe insertion mechanism is connected to the drive end of the second drive mechanism. The second drive mechanism is a linear displacement mechanism 210. The linear displacement mechanism 210 is fixedly installed inside the drive compartment 11, and its drive end (e.g., Figure 4The movable rod 211 in the middle can move linearly in the vertical direction. The drive end passes downward through the mounting plate 102 and extends into the probe chamber 12. The end of the drive end of the linear displacement mechanism 210 is connected to a U-shaped claw 220. The U-shaped claw 220 has a downward-opening "U"-shaped structure. The opening width of the U-shaped claw 220 is designed so that it can pass through the protrusion (i.e., the probe fixing seat) on the rotating disk 320 from the side without interference.

[0038] When the probe 400 needs to be inserted, the linear displacement mechanism 210 drives the U-shaped claw 220 to move downward. The U-shaped claw 220 first passes through the probe fixing seat at the penetration position, and then the bottom inner surface of its U-shaped structure presses against the stepped surface 401 of the probe 400. As it continues to move downward, the downward pressure applied by the U-shaped claw 220 will overcome the magnetic attraction (or other fixing force) of the probe fixing seat on the probe 400, causing the probe 400 to detach from the probe fixing seat and be continuously pushed downward.

[0039] Please see Figure 1 and Figure 2 A rod exit hole 1031 is provided on the lower mounting plate 103 at the bottom of the probe compartment 12. The probe 400, pushed by the U-shaped claw 220, passes through the rod exit hole 1031 and is eventually penetrated into the seabed. By recording the force sensor signal and the displacement of the linear displacement mechanism 210, the controller can calculate the penetration resistance at different depths and calculate the total length of the probe 400 that has been penetrated in real time, thereby obtaining an accurate detection depth.

[0040] Furthermore, in this embodiment, the rod outlet hole 1031 on the lower mounting plate 103 at the bottom of the probe compartment 12 is initially covered with a high-pressure waterproof membrane. The high-pressure waterproof membrane is made of a waterproof material with a certain strength and elasticity, such as rubber, silicone, or thermoplastic polyurethane (TPU). During the process of lowering the entire device of this invention to the seabed, the high-pressure waterproof membrane effectively prevents seawater from entering the probe compartment 12 through the rod outlet hole 1031, protecting internal components such as the probe storage mechanism and the probe insertion mechanism. When the probe insertion mechanism drives the first probe (i.e., the probe head) downwards, the tip at the bottom of the probe head can easily pierce the high-pressure waterproof membrane, allowing the probe 400 to pass through smoothly. The membrane remaining after the high-pressure waterproof membrane is pierced will not obstruct the subsequent probe 400's passage and serves to seal the probe compartment 12.

[0041] Furthermore, in some embodiments, the probe 400 stored in the probe storage mechanism and ultimately inserted integrates a data acquisition and communication module. The probe 400 internally houses a power supply (such as a high-voltage battery), a microprocessor, and one or more of a positioning sensor, temperature sensor, pressure sensor, and vibration sensor. Simultaneously, the probe 400 also integrates an underwater communication module, such as an underwater acoustic communication module or an inductively coupled communication module. After the last probe 400 is inserted and implanted into the seabed, the mother ship can retrieve the entire static cone penetrometer using the hook 1011 at the top of the device hull 10, leaving only the sensor-integrated probe 400 at a predetermined depth on the seabed. Thereafter, the probe 400 can serve as a long-term seabed observation station, independently collecting parameters such as temperature, pore water pressure, and vibration of the surrounding soil, and transmitting the collected data to a receiving device or relay buoy on the sea surface via its communication module. Preferably, the probe 400 can also be equipped with a wireless charging receiving coil, which can interface with a self-propelled wireless charger that moves and operates on the seabed to achieve wireless power replenishment, thereby greatly extending its working life for long-term seabed monitoring.

[0042] In some implementations, the probe 400 initially moved to the penetration position and used for the first penetration in the probe storage mechanism is a specially designed probe head. The bottom of the probe head is provided with a sharp cone or spearhead to more easily break through the soil layer and achieve the initial penetration.

[0043] In some embodiments, the driving form of the first and second driving mechanisms is not limited to motor drive. The first and second driving mechanisms can also be fluid drive forms such as hydraulic cylinders, hydraulic motors, pneumatic cylinders, or pneumatic motors.

[0044] Preferably, the force sensor used to measure the penetration resistance of the probe 400 may not be mounted on the linear displacement mechanism 210. Alternatively, the force sensor can be directly integrated at the connection between the U-shaped claw 220 and the movable rod 211 of the linear displacement mechanism 210, or integrated on the contact surface between the U-shaped claw 220 and the stepped surface 401 of the probe 400. Furthermore, the penetration resistance can also be indirectly calculated by detecting changes in the current of the motor driving the linear displacement mechanism 210.

[0045] Finally, it should be noted that the above embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the scope of the technology disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention. All should be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

[0046] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

[0047] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A continuous, interconnected seabed static cone penetration test device, characterized in that, The static cone penetrometer includes, A device housing; The device housing is equipped with a probe storage mechanism, a probe connection mechanism, and a controller. The probe storage mechanism is used to store at least two probes and can move the stored probes sequentially to a continuous position, and any two probes can be connected along the rod direction; The probe penetration mechanism is used to move the probe at the penetration position along the rod direction to the outside of the device housing and penetrate at least partially into the seabed; The controller is communicatively connected to the probe penetration mechanism and is used to record the forces acting on the probe as it penetrates the seabed during the process of the probe penetration mechanism moving the probe.

2. The continuous seabed static cone penetration test device according to claim 1, characterized in that, The device housing is divided into a drive compartment and a probe compartment in the vertical direction. The drive compartment is equipped with a first drive mechanism and a second drive mechanism. The driving ends of the first driving mechanism and the second driving mechanism respectively extend into the probe cabin; The probe storage mechanism is connected to the drive end of the first drive mechanism and is used to move at least two stored probes sequentially to the penetration position under the drive of the first drive mechanism. The probe penetration mechanism is connected to the drive end of the second drive mechanism and is used to move the probe in the penetration position vertically downward to the outside of the device housing and at least partially penetrate the seabed under the drive of the second drive mechanism. The controller is located inside the drive compartment.

3. The continuous seabed static cone penetration test device according to claim 2, characterized in that, The probe storage mechanism includes a rotating disk disposed in the probe compartment. The rotating disk is provided with at least two probe fixing seats in the circumferential direction. The bottom of each probe fixing seat can be releasably connected to the top of a probe disposed in a vertical direction. The driving end of the first driving mechanism extends into the probe chamber and drives the rotating disk to rotate in a horizontal plane; At least two probe fixing seats are provided on the circumferential direction of the rotating disk; The bottom of each probe holder can be releasably connected to the top of a vertically positioned probe; Each of the probe holders can be moved to the penetration position by the rotation of the rotating disk.

4. The continuous seabed static cone penetration test device according to claim 3, characterized in that, The bottom of the probe fixing base has a fixing groove; The top of the probe rod is fitted into the fixing groove, and the outer wall of the probe rod near the top is constructed with a stepped surface, the radial dimension of which is greater than the radial dimension of the top of the probe rod. The probe penetration mechanism is used to press against the stepped surface of the probe in the penetration position under the drive of the second drive mechanism.

5. The continuous seabed static cone penetration test device according to claim 4, characterized in that, The rotating disk is provided with at least two protrusions along its circumference for serving as the probe fixing seat, and the bottom of the protrusions is provided with the fixing groove.

6. The continuous seabed static cone penetration test device according to claim 4, characterized in that, The probe penetration mechanism includes a U-shaped claw; The U-shaped claw is configured to pass through the probe holder and press against the stepped surface of the probe.

7. The continuous seabed static cone penetration test device according to claim 3, characterized in that, The first drive mechanism includes a drive motor and an output converter; The drive motor is used as the input to the output converter; One output shaft of the output converter extends into the probe chamber and drives the rotating disk to rotate, while the other output shaft is connected to an angle detection component in the drive chamber. The angle detection component is used to detect the rotation angle of the rotating disk to determine whether the probe fixing seat has moved to the penetration position.

8. The continuous seabed static cone penetration test device according to claim 2, characterized in that, The second driving mechanism is a linear displacement mechanism; The drive end of the linear displacement mechanism extends into the probe chamber and connects to the probe penetration mechanism.

9. The continuous seabed static cone penetration test device according to claim 2, characterized in that, The bottom of the probe compartment is provided with a probe outlet hole; The probe insertion mechanism is used to move the probe to partially or completely pass through the probe hole.

10. The continuous seabed static cone penetration test device according to claim 1, characterized in that, In the probe storage mechanism, the probe initially moved to the penetration position is the probe head, and the bottom of the probe head is provided with a tip for penetrating the soil layer.

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