CN109094742B

CN109094742B - In-situ measurement device for mechanical properties of submarine sediments suitable for full sea depth

Info

Publication number: CN109094742B
Application number: CN201811244538.1A
Authority: CN
Inventors: 贾永刚; 张红; 刘晓磊; 单红仙
Original assignee: Ocean University of China
Current assignee: Ocean University of China
Priority date: 2018-10-24
Filing date: 2018-10-24
Publication date: 2023-11-14
Anticipated expiration: 2038-10-24
Also published as: CN109094742A

Abstract

The invention discloses an in-situ measuring device suitable for the mechanical properties of submarine sediments at full sea depth, which comprises an observation platform and a measuring mechanism; the observation platform comprises a frame main body, a floating body, a wing plate, a floating ball cabin, a leveling mechanism, a counterweight and a release mechanism, wherein the floating body, the wing plate, the floating ball cabin, the leveling mechanism, the counterweight and the release mechanism are arranged on the frame main body; the floating ball cabin sealing system circuit controls the wing plates to be unfolded when the frame type main body descends to reach a set height from the seabed, so that the platform stably lands, and controls the leveling mechanism to adjust the frame type main body to horizontally stand on the seabed when the frame type main body reaches the seabed; and after the measuring device finishes underwater operation, the system circuit controls the release mechanism to discard the counterweight so as to realize recovery. The measuring mechanism comprises a conical penetration measuring mechanism, a spherical penetration measuring mechanism, a cross plate shearing measuring mechanism and a sampling mechanism. The measuring device adopts a cable-free laying mode, is not limited by the length of a cable, and can realize mechanical property in-situ measurement on the submarine sediment of the whole sea depth.

Description

In-situ measurement device for mechanical properties of submarine sediments suitable for full sea depth

Technical Field

The invention belongs to the technical field of ocean observation, and particularly relates to a measuring device for detecting mechanical properties of submarine sediments.

Background

At present, sea research has been carried out in the full sea depth age, and sea areas with water depths ranging from 6000m to 11000 m are called "sea chest deep ocean" (Hadal trench) by scientists, and are the deepest sea areas on the earth. The region is mainly distributed at the edge of continents and is composed of ditches, and the vertical depth of the region accounts for 45% of the full depth of the ocean although the region accounts for only 1% -2% of the global seabed area, so that the region has important significance in a marine ecosystem. At present, the deep-sea bucket research has become the latest leading-edge field of ocean research, and the research simultaneously marks that the ocean science has entered the full-sea deep scientific investigation era. Numerous ocean engineering based on submarine soil mass are developed, and accurate acquisition of mechanical properties of submarine sediments is extremely important for deep sea scientific research, resource energy development engineering activities and ocean safety national defense engineering.

The device for measuring the mechanical properties of the submarine sediment is continuously developed under the requirement, and the working area is continuously developed from shallow sea to deep sea. The existing test device is mainly arranged in a cable mode, and long-term stable observation can be achieved on the seabed with the depth of less than 6000 m. However, as the working water depth increases, particularly when the observation area is the sea chest deep-in-the-air area, the working cannot be performed due to the limitation of the length of the geological cable on the scientific investigation vessel. In order to realize in-situ detection of deep sea sediments, the conventional in-situ measuring device for mechanical properties of sediments with working water depth greater than 6000m is laid out by carrying a submersible (for example, a dragon number). However, the use of a submersible is expensive, and the task requirement of long-term continuous operation cannot be met, so that the submersible is difficult to popularize and apply.

Disclosure of Invention

The invention aims to provide an in-situ measuring device for the mechanical properties of the seabed sediment, which is suitable for the whole sea depth, can submerge to the deep sea bottom by self without carrying a submersible, realizes in-situ measurement of the mechanical properties of the seabed sediment, and is convenient to lay and recover.

In order to solve the technical problems, the invention is realized by adopting the following technical scheme:

the in-situ measurement device for the mechanical properties of the submarine sediment suitable for the full sea depth comprises an observation platform and a measurement mechanism carried on the observation platform; the observation platform comprises a frame type main body, a floating body, a wing plate, a height measuring device, a floating ball cabin, a leveling mechanism, a counterweight and a release mechanism, wherein the floating body, the wing plate, the height measuring device, the floating ball cabin, the leveling mechanism and the counterweight and release mechanism are arranged on the frame type main body; the floating ball cabin is in a floating ball shape and is used for sealing a system circuit while providing buoyancy; the height measuring device is used for detecting the height of the frame type main body from the seabed and feeding back the height to the system circuit; when the system circuit detects that the frame type main body descends to reach a set height from the seabed, the wing plates are controlled to be unfolded outwards relative to the frame type main body so as to reduce the descending speed of the frame type main body, and when the frame type main body reaches the seabed, the leveling mechanism is controlled to adjust the posture of the frame type main body, so that the frame type main body stably stands on a seabed sediment; after the measuring device finishes underwater operation, the system circuit controls the release mechanism to discard the counterweight and controls the wing plate to retract, so that the measuring device floats out of the water under the buoyancy action of the floating body; the measuring mechanism comprises one or more of a conical penetration measuring mechanism, a spherical penetration measuring mechanism, a cross plate shearing measuring mechanism and a sampling mechanism.

Furthermore, a slow-descending oil cylinder is further arranged in the observation platform, one end of the slow-descending oil cylinder is hinged to the frame-type main body, the other end of the slow-descending oil cylinder is hinged to the wing plate, and the system circuit drives the wing plate to extend or retract by controlling a piston rod of the slow-descending oil cylinder to stretch.

Preferably, four wing plates are preferably arranged around the frame-type main body, and two descent control oil cylinders are preferably hinged on each wing plate. The configuration of two descent control oil cylinders can provide larger driving force for the wing plates so as to overcome larger seawater pressure and adapt to deep sea operation requirements.

As a preferable structural design of the leveling mechanism, the leveling mechanism is provided with a plurality of leveling support legs and a plurality of leveling oil cylinders, wherein the leveling support legs are positioned at the bottom of the frame-type main body, and each leveling support leg is connected with one leveling oil cylinder; an attitude sensor is arranged in the floating ball cabin, detects the attitude of the frame type main body, generates attitude data and sends the attitude data to the system circuit; when the frame type main body reaches the sea floor, the system circuit controls the leveling oil cylinder to drive the leveling support legs to stretch and retract according to the received posture data so as to adjust the posture of the frame type main body, so that the frame type main body can stand on the sea floor stably and reach a horizontal state.

As a preferable structural design of the release mechanism, the invention is provided with a release oil cylinder, a fixed pulley, a cable and a hook; the fixed pulley is arranged on the frame-type main body, the cable is wound on the fixed pulley, one end of the cable is connected with the release oil cylinder, and the other end of the cable is connected with the hook; the hook stretches into a hanging hole of the counterweight in a default state to hook the counterweight so as to increase the weight of the observation platform and enable the measuring device to automatically descend to the seabed; when the measuring device is recovered, the system circuit controls the release oil cylinder to release the cable, so that the hook rotates under the dead weight and is separated from the hanging hole of the counterweight, the counterweight is separated from the frame-type main body, and the counterweight is released.

Preferably, the floating body preferably comprises a floating ball and a buoyancy plate, and is mounted on the top of the frame-type main body, and the floating ball preferably comprises a plurality of floating balls which are arranged to form an array structure.

In order to facilitate a scientific investigation ship to quickly find a measuring device floating on the water, the invention is characterized in that an iridium beacon and an optical beacon are also arranged on the top of the frame type main body, the iridium beacon automatically transmits a positioning signal after the measuring device is discharged, and the geographical coordinates of the measuring device are informed to the scientific investigation ship; the light beacon automatically emits visible light after the measuring device discharges water to indicate the scientific investigation ship to find the position of the light beacon.

As a preferable structural design of the conical penetration measuring mechanism, the conical penetration measuring mechanism comprises a bracket, a conical probe, a probe rod connected with the conical probe and a penetration driving mechanism for driving the probe rod to carry the conical probe to move up and down, wherein the bracket is arranged on a frame type main body, and a pore water pressure sensor and a penetration resistance sensor are arranged in the conical probe.

As a preferable structural design of the spherical penetration measuring mechanism, the spherical penetration measuring mechanism comprises a bracket, a spherical probe, a probe rod connected with the spherical probe and a penetration driving mechanism for driving the probe rod to carry the spherical probe to move up and down, wherein the bracket is arranged on a frame type main body, and a pore water pressure sensor and a penetration resistance sensor are arranged in the spherical probe.

As an optimized structural design of the cross plate shearing measuring mechanism, the cross plate shearing measuring mechanism comprises a bracket, a cross plate probe, a probe rod connected with the cross plate probe, a penetration driving mechanism for driving the probe rod to carry the cross plate probe to move up and down, and a shearing driving device for driving the cross plate probe to rotate, wherein the bracket is arranged on a frame type main body, and a torque sensor for detecting shearing torque of the cross plate probe is arranged in the shearing driving device.

As a preferable structural design of the sampling mechanism, the sampling mechanism comprises a bracket, a sampling tube, a penetration driving mechanism for driving the sampling tube to move up and down and a hydraulic device for extracting the submarine sediment to the sampling tube, wherein the bracket is arranged on a frame type main body.

Further, the system circuit comprises a data acquisition unit, a control unit, a power driving unit and a battery; the battery supplies power for the data acquisition unit, the control unit and the power driving unit; the data acquisition unit acquires sensing signals output by the pore water pressure sensor, the penetration resistance sensor and the torque sensor, and transmits the sensing signals to the control unit for calculating the mechanical characteristics of the submarine sediment; the power driving unit is connected with the control unit and is used for generating driving voltage required by the measuring device.

As a preferred structural design of the penetration driving mechanism, the penetration driving mechanism comprises a penetration oil cylinder, a pulley block, a steel cable wound on the pulley block and a sliding plate pulled by the steel cable; the pulley block comprises a fixed pulley block and a movable pulley block, the movable pulley block is connected with a piston rod of the penetration oil cylinder, and the system circuit controls the piston rod of the penetration oil cylinder to stretch out and draw back so as to drive the movable pulley block to move up and down and further drive the steel cable to pull the sliding plate to move up and down. The probe rod in the conical penetration measuring mechanism, the probe rod in the spherical penetration measuring mechanism and the sampling tube in the sampling mechanism are respectively and fixedly arranged on the sliding plates of the respective penetration driving mechanisms, and the probe rod or the sampling tube is driven by the sliding plates to be inserted into or withdrawn from the submarine sediment.

As an optimal structural design of the shearing driving device, the shearing driving device comprises a motor and a coupler, wherein the motor is arranged on a sliding plate penetrating into a driving mechanism in a cross plate shearing measuring mechanism and used for receiving the driving voltage, a rotating shaft of the motor is connected with a probe rod shaft connected with a cross plate probe through the coupler, and the cross plate probe is driven to rotate to destroy a seabed soil body so as to realize measurement of shearing torque required by soil body destruction.

As a preferable structural design of the hydraulic device, the hydraulic device comprises a hydraulic cylinder and a sealing plug, wherein the hydraulic cylinder is arranged on a sliding plate of a penetration driving mechanism in a sampling mechanism, the sealing plug is arranged in the sampling tube and is connected with a piston rod of the hydraulic cylinder, and the system circuit controls the hydraulic cylinder to drive the sealing plug to move upwards so as to reduce air pressure in the sampling tube and extract submarine sediments.

In order to further increase the buoyancy of the measuring device, the invention is preferably provided with four floating ball cabins, the data acquisition unit, the control unit, the power driving unit and the battery are respectively arranged in four different floating ball cabins, each floating ball cabin is provided with a watertight connector, waterproof cables are connected between the watertight connectors, and circuits arranged in different floating ball cabins are electrically connected through the waterproof cables so as to transmit power and signals.

In order to facilitate the installation of photographic or video equipment, the invention adopts transparent glass to manufacture the floating ball cabin, and the installation space of the camera or the video camera is reserved in the floating ball cabin, so that a transparent box body special for sealing the camera or the video camera is not required to be additionally mounted on an observation platform, and the purposes of simplifying the platform structure and the installation operation are achieved.

In order to realize reliable recovery of the measuring device, the invention is also provided with an underwater sound communication machine on the frame type main body, which is used for receiving the water instruction and transmitting the water instruction to the system circuit; when the underwater acoustic communication machine works normally, the system circuit can receive a load rejection instruction through the underwater acoustic communication machine and control the release mechanism to reject the counterweight after receiving the load rejection instruction; when the underwater acoustic communication machine cannot work normally, the system circuit automatically controls the release mechanism to discard the counterweight if the load rejection instruction is not received after the measuring device finishes underwater operation and delays for a period of time; if the system circuit fails and can not send a control signal to the release mechanism, a mechanical timing trigger device can be arranged in the release mechanism, the mechanical timing trigger device starts timing when the observation platform is put in, and the release mechanism is automatically triggered to discard the counterweight when the timing reaches a set maximum time threshold. By adopting the three control strategies, complementary control is realized on the release mechanism, and the reliable recovery of the measuring device can be ensured.

Compared with the prior art, the invention has the advantages and positive effects that: the in-situ measuring device for the mechanical properties of the submarine sediment adopts a cable-free laying mode, is not limited by the length of a cable, and can achieve 11000 meters or more in working water depth, so that in-situ measurement of the mechanical properties of the submarine sediment at full sea depth can be realized, and various scientific research requirements are met. In addition, the slow descending mechanism and the release mechanism are arranged on the measuring device, so that the measuring device can be ensured to automatically and stably descend to land, the measuring device can be ensured to be automatically and successfully thrown, carried and recovered, the auxiliary operation of a scientific investigation ship and a submersible can be omitted, long-term continuous observation operation can be independently carried out on the seabed at any depth, and comprehensive guarantee is provided for effective ocean research.

Other features and advantages of the present invention will become more apparent from the following detailed description of embodiments of the present invention, which is to be read in connection with the accompanying drawings.

Drawings

FIG. 1 is a schematic view of an embodiment of an observation platform for use in an in situ measurement apparatus for mechanical properties of a subsea sediment at full sea depth in accordance with the present invention;

FIG. 2 is a schematic diagram of an embodiment of the frame-type body of FIG. 1;

FIG. 3 is a schematic illustration of an embodiment of the counterweight of FIG. 1;

FIG. 4 is a schematic diagram of an embodiment of a weight and release mechanism;

FIG. 5 is a schematic view showing the structure of an embodiment of the in-situ measuring device for mechanical properties of seabed sediment at full sea depth according to the present invention;

FIG. 6 is a schematic diagram of an embodiment of the cone penetration measurement mechanism of FIG. 5;

FIG. 7 is a schematic diagram of an embodiment of the ball penetration measurement mechanism of FIG. 5;

FIG. 8 is a schematic diagram of an embodiment of the cross-plate shear measurement mechanism of FIG. 5;

FIG. 9 is a schematic diagram of an embodiment of the sampling mechanism of FIG. 5;

FIG. 10 is a schematic view of an embodiment of the penetration drive mechanism of FIG. 6;

fig. 11 is a schematic block circuit diagram of one embodiment of a system circuit.

Detailed Description

The following describes specific embodiments of the present invention in detail with reference to the drawings.

The in-situ measurement device for the mechanical properties of the submarine sediment in this embodiment mainly includes an observation platform and a measurement mechanism mounted on the observation platform, as shown in fig. 5. The observation platform is a cableless submarine observation platform and mainly comprises a frame-type main body 10, a floating body 20, a wing plate 30, a height measuring device, a floating ball cabin 40, a leveling mechanism 50, a counterweight 60, a release mechanism 70 and the like, wherein the floating body 20, the wing plate 30, the height measuring device, the floating ball cabin 40, the leveling mechanism 50, the counterweight 60 and the release mechanism are arranged on the frame-type main body 10, and the like are shown in fig. 1. The measuring mechanism is mainly various measuring instruments for mechanical property testing of the seabed sediment, including but not limited to one or more of a conical penetration measuring mechanism 100, a spherical penetration measuring mechanism 200 and a cross plate shearing measuring mechanism 300, and can also further comprise a sampling mechanism 400 for extracting a seabed sediment sample, so as to facilitate laboratory research in the future.

In the observation platform, the frame-type main body 10 is preferably formed by welding a titanium alloy material and a high-strength aluminum alloy, so that the whole weight of the main body 10 is reduced as much as possible while the bearing capacity and the compressive strength are ensured, and the recovery is facilitated. The present embodiment preferably designs the frame-type body 10 in a rectangular cage-type structure as shown in fig. 2, so as to mount thereon various measuring mechanisms and observation devices. As a preferred installation form of the present embodiment, the floating body 20 may be installed on the top of the frame-type body 10 for providing the measuring device with sufficient upward buoyancy when the measuring device is recovered, so that the measuring device can float out of the water by itself. The floating body 20 is preferably formed by combining a floating ball 21 and a buoyancy plate 22. Specifically, the top surface of the frame body 10 may be designed into a rectangular grid shape, and each of the rectangular grids 11 may be provided with one floating ball 20, so that the floating balls 20 may be arranged to form an array structure. Four assembly bars 12 are welded on each rectangular grid 11 respectively, each assembly bar 12 and one corner of the rectangular grid 11 form a triangle, and the assembly bars 12 can not only strengthen the rectangular grid 11, but also facilitate the installation and fixation of the floating balls 20 in the rectangular grid 11. The buoyancy plate 22 is wrapped around the top of the frame body 10, which can also play a role in buffering the impact force while increasing the buoyancy.

The wing plates 30 are installed at the middle part of the frame-type body 10 below the buoyancy plate 22, and the distance from the wing plates 30 to the bottom of the frame-type body 10 is preferably set to 2/3 of the total height of the frame-type body 10, so that the stability of the mechanical structure can be improved. In this embodiment, four wing plates 30 are preferably mounted on the frame-type main body 10, and distributed around the frame-type main body 10. Each of the flanges 30 is designed as a streamlined airfoil, the inner side of which is hinged to the frame-type body 10. The buffer cylinder 31 is used to drive the wing plate 30 to be extended or retracted outwardly or inwardly with respect to the frame type body 10, and specifically, one end (e.g., bottom of the cylinder tube) of the buffer cylinder 31 may be hinged to the frame type body 10, and the other end (e.g., piston rod 32) may be hinged to the bottom surface of the wing plate 30. The piston rod 32 of the slow-descent control cylinder 31 is controlled to extend to push the wing plate 30 to be unfolded so as to reduce the descending speed of the measuring device. Otherwise, the piston rod 32 of the slow-descending cylinder 31 is controlled to be retracted, and the wing plate 30 can be pulled back to reduce the descending resistance of the measuring device, so that the measuring device can be quickly sunk into the sea bottom. The slow-descending oil cylinder 31 is hinged with the frame type main body 10, so that the angle between the slow-descending oil cylinder 31 and the frame type main body 10 can be automatically adjusted along with the expansion or the retraction of the wing plate 30, and the movement track of the wing plate 30 can be adapted. According to the submergence depth of the measuring device, the extension length of the piston rod 32 of the slow-descent oil cylinder 31 is adjusted, the unfolding angle of the wing plate 30 can be adjusted, the effect of multi-stage speed regulation slow-descent is achieved, and the measuring device can stably land on the seabed.

Considering that the pressure of the sea floor is large during deep sea operation, the wing plates 30 need to overcome large resistance when being unfolded, in order to ensure that the wing plates 30 can be reliably unfolded in the deep sea environment, in this embodiment, two descent control cylinders 31 are preferably arranged for each wing plate 30, and are hinged on the left side and the right side of the bottom surface of the wing plate 30 as shown in fig. 1, so as to provide larger pushing force for the wing plates 30.

As shown in fig. 2, the orifice plate 13 is mounted on the bottom of the frame body 10, and a plurality of assembly holes having different sizes are formed in the orifice plate 13 for mounting the floating ball compartment 40, the leveling mechanism 50, and the measuring mechanisms 100, 200, 300, 400 to be mounted.

In order to seal the system circuitry of the observation platform so that the system circuitry can be adapted to the underwater operating environment, the present embodiment contemplates a floating pod 40 encapsulating the system circuitry. The float bowl 40 is preferably made of transparent glass, is designed in a float shape, and is mounted on the orifice plate 13 at the bottom of the frame body 10. The cabin body for packaging the system circuit is designed into a floating ball shape, so that auxiliary floating force can be provided for the measuring device while the packaging requirement is met. In addition, by designing the floating ball cabin 40 to be transparent, when photographic or video equipment is required to be installed, a camera or a video camera can be directly built in the floating ball cabin 40 without additionally mounting a box body special for packaging the camera or the video camera on the observation platform, thereby achieving the aim of simplifying the whole structure of the observation platform.

In order to obtain greater buoyancy, the present embodiment preferably mounts four floating ball wells 40 on the orifice plate 13 at the bottom of the frame body 10 for respectively enclosing the different functional circuits in the system circuit. As shown in fig. 11, the system circuit of the present embodiment mainly includes four parts of a data acquisition unit, a control unit, a power driving unit and a battery, and the four functional circuits are respectively disposed in four different floating ball cabins 40 to form a data acquisition cabin, a control cabin, a power driving cabin and a battery cabin. At least one watertight connector 41 is respectively arranged on each floating ball compartment 40, watertight cables are connected between the watertight connectors 41 on different floating ball compartments 40, and functional circuits built in different floating ball compartments are electrically connected through the watertight cables so as to transmit power supply, analog signals and/or digital signals.

The data acquisition cabin is mainly internally provided with a data acquisition unit, such as various interface boards, interface circuits, acquisition instruments and the like, and is used for connecting various measuring mechanisms carried on the observation platform so as to acquire measurement data detected by the various measuring mechanisms, processing the data and then transmitting the data to the control unit for data analysis and storage. The height measuring device (not shown) is preferably arranged on the frame-type body 10 separately from the system circuit and connected to the data acquisition unit. The height measuring device can be an altimeter, an acoustic range finder and the like, and is used for detecting the height of the frame main body 10 from the seabed, generating a height detection signal and sending the height detection signal to the data acquisition unit so as to be processed into a data format meeting the receiving requirement of the control unit and sending the data format to the control unit, so that the real-time monitoring of the descending position of the measuring device is realized. A space for installing a camera or a video camera can be reserved in the data acquisition cabin, and image data shot by the camera or the video camera is acquired by the data acquisition unit and sent to the control unit.

The control cabin is mainly internally provided with a control unit and sensing elements such as an attitude sensor (for example, a three-axis gyroscope, a three-axis accelerometer, a three-axis electronic compass and the like), a temperature sensor, a humidity sensor, a barometric sensor, a water leakage sensor and the like which are connected with the control unit, so as to be used for detecting the inclination angle of the observation platform after landing and the environmental parameters in the floating ball cabin 40. The control unit may include a controller (for example CPU, MCU, DSP, etc.) and a memory, where the controller serves as a control core of the entire system circuit, coordinates and controls the functional circuits, and sends the processed measurement data to the memory for storage.

The power driving cabin is mainly internally provided with a power driving unit, such as a motor driving circuit for driving a motor to run, and the power driving unit is used for externally connecting a measuring mechanism carried on the observation platform. When the operation of the motors in some measuring mechanisms is required to be controlled, a control signal can be output to the power driving unit through the control unit, then driving voltage is generated, and the operation of the motors in the measuring mechanisms is controlled, so that the mechanical property test or sampling operation of the submarine sediment is carried out.

The battery compartment is mainly internally provided with a lithium battery and a seawater battery, and is used for supplying power to the observation platform and the measurement mechanism mounted on the observation platform. The seawater battery can meet the electricity demand of the measuring device for continuous operation under water for a long time.

In order to enable the observation platform to maintain a horizontal state after landing on the sea floor to ensure accuracy of certain measurement data, the present embodiment mounts a leveling mechanism 50 including leveling feet 51 and leveling cylinders 52 at the bottom of the frame-type main body 10, as shown in fig. 1. In this embodiment, four leveling cylinders 52 are preferably arranged to control the balance states of the four leveling feet 51 to cooperate with the adjusting frame body 10. Specifically, the leveling feet 51 may be connected to the orifice plate 13 mounted on the bottom of the frame body 10 by leveling cylinders 52 with the piston rods facing downward. The frame type body 10 is adjusted to a horizontal state by adjusting the extension length of the piston rod of the leveling cylinder 52 to change the posture of the frame type body 10.

The weight 60 is attached to the bottom of the frame body 10, and the release mechanism 70 is attached to the frame body 10, and the weight 60 is suspended by the release mechanism 70. After the measuring device is put into the sea, the measuring device is pulled down into the sea by the weight of the counterweight 60, and mechanical properties of the sediment at the sea bottom are tested. After the test operation is completed, the release mechanism 70 is controlled to discard the weight 60, and the weight 60 is separated from the frame body 10. Then, the measuring device floats upwards under the combined action of the floating ball 21, the buoyancy plate 22 and the floating ball cabin 40, floats out of the sea surface and waits for salvage and recovery of the scientific investigation ship.

As a preferred structural design of the release mechanism 70, the present embodiment mounts a fixing bracket 71 on the frame body 10, as shown in fig. 1, mounts a fixed pulley 72 and a hook 73 on the fixing bracket 71, and is shown in fig. 4. A cable 74 is wound around the fixed pulley 72, and one end of the cable 74 is connected to the hook 73, and the other end is connected to the release cylinder 75. The release cylinder 75 may be mounted on the frame main body 10, and by controlling the piston rod of the release cylinder 75 to stretch, the cable 74 is pulled up or down, and then the angle of the hook 73 is changed, so as to achieve the hooking or releasing of the counterweight 60. Specifically, as shown in fig. 3 and 4, a hanging hole 61 may be formed in the counterweight 60, and in a default state, the release cylinder 75 controls the piston rod thereof to retract, and the cable 74 is pulled up so that the hook 73 faces upward and extends into the hanging hole 61 of the counterweight 60 to hang the counterweight 60. When it is desired to discard the counterweight 60, the release cylinder 75 is controlled to extend its piston rod, lowering the cable 74. At this time, the hook 73 is rotated by a certain angle by its own weight, and then is separated from the hanging hole 61 of the weight 60, as in the state shown in fig. 4, to release the weight 60. The measuring device floats up under the action of the float 20 and the float cabin 40, and the counterweight 60 is discarded for recovery.

As a preferred design of the present embodiment, the counterweight 60 and the release mechanism 70 are preferably configured with four sets, and are disposed at four bottom corner positions of the rectangular frame body 10, so as to balance the pull-down force applied to the frame body 10, and ensure that the posture of the measuring device is stable during the submergence process.

In order to provide hydraulic oil to the slow-descent oil cylinder 31, the leveling oil cylinder 52 and the release oil cylinder 75, the hydraulic station 14 is also installed on the observation platform in this embodiment, as shown in fig. 1, preferably, the middle position of the bottom orifice plate 13 of the frame main body 10 is installed, and the slow-descent oil cylinder 31, the leveling oil cylinder 52 and the release oil cylinder 75 are respectively communicated through different oil pipes. The electromagnetic valves are respectively arranged on the oil pipes connected with each oil cylinder, when one oil cylinder needs to be controlled to work, the electromagnetic valves on the oil pipes connected with the controlled oil cylinders can be firstly controlled to be opened through a system circuit, and then the hydraulic station 14 is controlled to supply oil or pump oil to the controlled oil cylinders so as to control the piston rods of the controlled oil cylinders to extend or retract, thereby meeting the working requirements of the controlled oil cylinders.

In addition, the iridium beacon 15 and the optical beacon 16 are also installed on the top of the frame-type main body 10 in this embodiment, as shown in fig. 1. The iridium beacon 15 may automatically transmit a positioning signal, such as a GPS signal, after the measuring device outputs water, so as to inform the scientific investigation ship of the geographic coordinates of the measuring device, so that the scientific investigation ship can quickly search the measuring device in the sea area. The light beacon 16 can automatically emit visible light after the measuring device discharges water, and sends an indication to the scientific investigation ship in a light signal mode, so that the scientific investigation ship can find the position of the scientific investigation ship, and the safe and rapid recovery of the measuring device can be ensured even at night.

A hoisting mechanism 17 is also mounted on top of the frame body 10 for cooperating with a salvaging device on a scientific investigation ship for facilitating throwing and salvaging the measuring device. When the sea water in the sea area to be measured is not deep, a cable mode can be adopted, a cable on a scientific investigation ship is connected to the hoisting mechanism 17 of the observation platform, and the measuring device is laid and recovered through the cable, so that the measuring device of the embodiment can support two laying modes of cable and non-cable so as to expand the application field of the measuring device.

In the measuring apparatus of the present embodiment, the measuring means for measuring the mechanical properties of the seabed sediment may be selected in various types, and mounted on the orifice plate 13 at the bottom of the frame-type body 10, and the mechanical properties of the seabed sediment may be detected by controlling the penetration of various measuring means into the seabed sediment. In this embodiment, a conical penetration measuring mechanism 100, a spherical penetration measuring mechanism 200, a cross plate shear measuring mechanism 300, and a sampling mechanism 400 are mounted on an observation stage, as shown in fig. 5.

The cone penetration measuring mechanism 100 of the present embodiment mainly includes a bracket 110, a cone probe 101, a probe rod 102 connected to the cone probe 101, and a penetration driving mechanism 120 for driving the probe rod 102 to carry the cone probe 101 up and down, as shown in fig. 6. The stand 110 is mounted on the frame type body 10 of the observation platform, and the penetration driving mechanism 120 is mounted on the stand 110. The penetration driving mechanism 120 includes a penetration cylinder 121, a slide plate 122, a pulley block, a wire rope 123, and the like, and is shown in fig. 6 and 10. The penetrating cylinder 121 is mounted on the base 111 of the bracket 110, the pulley block comprises a fixed pulley block and a movable pulley block, the movable pulley block is mounted on a bearing frame 132, the bearing frame 132 is mounted on a piston rod of the penetrating cylinder 121, and the movable pulley block is driven to move up and down by the penetrating cylinder 121. The fixed pulley block comprises four fixed pulleys: the first fixed pulley 124 and the second fixed pulley 125 are mounted on the base 111 of the bracket 110, and the third fixed pulley 126 and the fourth fixed pulley 127 are mounted on the top plate 112 of the bracket 110; the movable pulley block includes an upper movable pulley 128 and a lower movable pulley 129 which are connected to each other at an axial center and are positioned in a vertical relationship. The steel cable 123 is wound on the pulley block, and the winding sequence is as follows: first fixed pulley 124-lower movable pulley 129-second fixed pulley 125-third fixed pulley 126-upper movable pulley 128-fourth fixed pulley 127. Both ends of the wire rope 123 are fixed to the bracket 110, and the slide plate 122 is mounted on the wire rope 123, preferably, on the wire rope between the second fixed pulley 125 and the third fixed pulley 126, and the slide plate 122 is pulled up and down by the wire rope 123. To improve the stability of the movement of the slide plate 122, a guide rail 130 may be further installed on the bracket 110, and the slide plate 122 may be supported by the guide rail 130 such that the slide plate 122 may move up and down along the guide rail 130. A clamping mechanism 131 is mounted on the slide plate 122, and the upper half of the probe 102 is clamped by the clamping mechanism 131 so that the probe 102 can move up and down along with the slide plate 122. The cone-shaped probe 101 is mounted at the lower end of the probe rod 102 such that the cone-shaped probe 101 protrudes out of the base 111 of the holder 110 with the cone head facing downward.

When the mechanical property test is required to be performed on the submarine sediment by using the conical penetration measuring mechanism 100, a control signal is output by a control unit in a system circuit to control the hydraulic station 14 to provide hydraulic oil for the penetration oil cylinder 121, so that a piston rod of the penetration oil cylinder 121 extends out and the movable pulley block is controlled to move upwards. When the lower movable pulley 129 moves upwards, the steel cable 123 between the second fixed pulley 125 and the third fixed pulley 126 is moved downwards, and then the sliding plate 123 is driven to move downwards, so that the probe rod 102 is driven to carry the conical probe 101 downwards and penetrate into the submarine sediment. A displacement sensor (not shown) may be further installed on the third fixed pulley 126, and the penetration depth of the cone probe 101 into the seabed sediment may be calculated by detecting the rotation angle of the third fixed pulley 126. In this embodiment, the data acquisition unit in the system circuit may be used to receive the detection signal output by the displacement sensor and send the detection signal to the control unit, where the penetration depth of the cone probe 101 is calculated.

The pore water pressure sensor and the penetration resistance sensor can be packaged in the conical probe 102, the conical probe 102 detects the flowing state of the submarine sediment and the water pressure through the pore water pressure sensor in the process of penetrating the submarine sediment, and the penetration resistance sensor detects the resistance applied by the conical probe 102. The pore water pressure sensor and the penetration resistance sensor send the generated induction signals to a data acquisition unit in a system circuit, and the data acquisition unit is transmitted to a control unit after being processed so as to calculate the mechanical characteristics of the submarine sediment. The specific calculation method is the prior art, and this embodiment is not specifically described. The control unit combines the detection signals output by the displacement sensor, the pore water pressure sensor and the penetration resistance sensor to calculate the mechanical properties of the submarine sediment at different depths.

After the mechanical property test is completed, the control unit outputs a control signal to control the hydraulic station 14 to draw back hydraulic oil, so that a piston rod penetrating into the oil cylinder 121 is retracted, the pulley block is pulled downwards, then the steel cable 123 positioned between the second fixed pulley 125 and the third fixed pulley 126 pulls the sliding plate 122 upwards, the probe rod 102 is driven to carry the conical probe 101 to ascend, the probe rod is pulled out of the submarine sediment, the original state is restored, and the test task is completed.

The spherical penetration measuring mechanism 200 of the present embodiment mainly includes a bracket 210, a spherical probe 201, a probe rod 202 connected to the spherical probe 201, and a penetration driving mechanism 220 for driving the probe rod 202 to carry the spherical probe 201 up and down, as shown in fig. 7, a pore water pressure sensor and a penetration resistance sensor are encapsulated in the spherical probe 201. The connection relationship of the components in the spherical penetration measuring mechanism 200, the specific structure of the penetration driving mechanism 220, and the operation principle are the same as those of the conical penetration measuring mechanism 100 described above, and this embodiment will not be described here.

The cross plate shearing measurement mechanism 300 of the present embodiment includes a bracket 310, a cross plate probe 301, a probe rod 302 connected to the cross plate probe 301, a penetration driving mechanism 320 for driving the probe rod 302 to carry the cross plate probe 301 to move up and down, and a shearing driving device 330 for driving the cross plate probe 301 to rotate, as shown in fig. 8. The bracket 310 is mounted on the frame body 100, the penetration driving mechanism 320 is mounted on the bracket 310, and the specific structure and operation principle of the penetration driving mechanism 320 are the same as those of the penetration driving mechanism 120 in the cone penetration measuring mechanism 100, and the detailed description thereof will not be provided here. The shear driving device 330 is installed on the slide plate 322 penetrating the driving mechanism 320, and the shear driving device 330 is driven to move up and down by the slide plate 322. A motor 331 and a coupling 332 are provided in the shear driving device 330, and the motor 331 is mounted on the sled 322, and receives a driving voltage outputted from a power driving unit in a system circuit to control the operation of the motor 331. The rotation shaft of the motor 331 is connected with the probe rod 302 through a coupling 332, and the cross plate probe 301 is driven to rotate through the motor 331. A torque sensor is installed in the shear driving device 330 to detect a shear torque generated by the cross plate probe 301 when the rotation breaks the soil structure of the submarine sediment.

The working principle of the cross plate shearing measuring mechanism 300 is as follows: firstly, a control unit in a system circuit controls a sliding plate 322 penetrating into a driving mechanism 320 to carry a shearing driving device 330 to move downwards, and simultaneously, a motor 331 in the shearing driving device 330 is started to drive a cross plate probe 301 to rotate, so that the cross plate probe 301 penetrates into a submarine sediment while rotating. And transmitting the displacement signal detected by the displacement sensor and the torque signal detected by the torque sensor to a data acquisition unit in a system circuit, and transmitting the data acquisition unit to a control unit after processing the data acquisition unit so as to calculate the mechanical characteristics of the submarine sediments at different depths.

The sampling mechanism 400 of the present embodiment includes a holder 410, a sampling tube 401, a penetration driving mechanism 420 for driving the sampling tube 401 up and down, and a hydraulic device 430 for drawing out the seabed sediment to the sampling tube 401, as shown in fig. 9. Wherein the bracket 410 is mounted on the frame body 100, the penetration driving mechanism 420 is mounted on the bracket 410, and the specific structure and working principle of the penetration driving mechanism 420 are the same as those of the penetration driving mechanism 120 in the cone penetration measuring mechanism 100, which is not described in detail here. The hydraulic device 430 and the sampling tube 401 are mounted on the slide plate 422 penetrating the driving mechanism 420, and the hydraulic device 430 and the sampling tube 401 are driven to move up and down by the slide plate 422. Hydraulic cylinders and sealing plugs are provided in the hydraulic device 430, which are mounted on the slide 422 and connected to the hydraulic station 14 via oil lines. A sealing plug is placed in the sampling tube 401 and connected to the piston rod of the hydraulic cylinder.

When the seabed sediment needs to be extracted, the control unit in the system circuit firstly controls the penetration driving mechanism 420 to drive the sampling tube 401 to move downwards so as to penetrate into the seabed sediment. Then, the piston rod of the hydraulic cylinder is driven by the control hydraulic station 14 to drive the sealing plug to move upwards. Since the lower opening of the sampling tube 401 is penetrated into the seabed sediment, the upward movement of the sealing plug causes the volume of the section of space from the lower opening to the sealing plug in the sampling tube 401 to be increased, and then the air pressure of the section of space to be reduced, so that the seabed sediment can automatically enter the sampling tube 401 at the left and right of the external pressure, and the collection of the seabed sediment sample is realized.

In this embodiment, the sampling tube 401 is preferably designed to be cylindrical, and through penetration into the seabed sediment, a sediment undisturbed sample can be obtained, which is beneficial for indoor testing in the future.

According to the embodiment, the measuring mechanisms of various types are carried on the observation platform, so that not only can the proper measuring mechanisms be selected for mechanical testing aiming at different types of sediments so as to meet the measurement requirements of mechanical properties of the different types of sediments, but also the mechanical testing can be carried out simultaneously or in a time-sharing manner aiming at the seafloor sediments in the same area by utilizing the different measuring mechanisms so as to acquire multiple groups of measurement data for mutual verification, and therefore the accuracy of the measurement results of the mechanical properties of the seafloor sediments is improved.

The specific operation of the device for measuring mechanical properties of a seabed sediment in this embodiment will be described in detail.

After the scientific investigation ship carrying measuring device reaches the laying position of the sea area to be measured, the ship carrying steel cable lifting measuring device is used for transferring to the sea surface, the unhooking device is controlled to be separated, and the measuring device is put into the sea.

After the measuring device is put into the sea, the system circuit starts the height measuring device to detect the height of the measuring device from the sea bottom. The measuring device sinks under the gravity action of the measuring device and the counterweight 60, and in the initial stage, the measuring device is accelerated to submerge, and in the descending process, the measuring device enters a constant-speed submerging state under the action of the buoyancy. When the height measuring device detects that the measuring device reaches a set height from the sea floor, the control unit outputs a slow-descent control signal to control the piston rod 32 of the slow-descent oil cylinder 31 to extend so as to push the wing plate 30 to expand, so that the submergence speed of the measuring device is reduced, and the expansion angle of the wing plate 30 can be adjusted according to the change of the height of the measuring device from the sea floor, so that multi-stage speed regulation and slow descent are realized. For example, when the height measurement device detects that the measurement device is about 200 meters from the sea floor, the control flaps 30 are deployed at an angle of 45 ° relative to the frame body 10, reducing the submergence speed of the measurement device but not too slow. When the height measuring device detects that the measuring device is about 100 meters from the sea floor, the control wing plate 30 is further unfolded to enable the measuring device to be unfolded at an included angle of 90 degrees relative to the frame-type main body 10, and the measuring device is controlled to slowly submerge until the measuring device stably lands.

After the measuring device stably lands on the seabed, the control unit detects the inclination angle of the frame-type main body 10 after landing on the seabed through the attitude sensor, and then outputs a leveling control signal to control the leveling cylinders 52 to drive the four leveling legs 51 to stretch and retract until the frame-type main body 10 is adjusted to be in a horizontal state.

One or more of the cone penetration measuring mechanism 100, the sphere penetration measuring mechanism 200, and the cross plate shearing measuring mechanism 300 is controlled to penetrate into the seabed sediment for mechanical property testing, and the sampling mechanism 400 is controlled to collect a sample of the seabed sediment.

After the mechanism to be measured finishes the test operation, the control unit firstly controls the wing plate 30 to retract, and then controls the release mechanism 70 to discard the counterweight 60, so that the measuring device floats upwards under the buoyancy of the floating body 20 and the floating ball cabin 40 without power, and recovery is realized.

To ensure reliable recovery of the measurement device, this embodiment proposes three sets of complementary release control schemes:

the first scheme is as follows: in the main control scheme, the underwater acoustic communication device 80 is mounted on the observation platform, as shown in fig. 5, and may be specifically mounted on the frame-type main body 10. The underwater instructions, such as load rejection instructions, are received by the underwater acoustic communicator 80. The underwater acoustic communicator 80 is connected to a system circuit, specifically to a control unit in the system circuit. When the underwater acoustic communicator 80 receives the load rejection instruction, the received load rejection instruction is processed and then sent to the control unit, and a load rejection control signal is generated by the control unit to control the release mechanism 70 to reject the counterweight 60.

The second scheme is as follows: in a remedial scheme, if the underwater acoustic communication device 80 fails and cannot receive the load rejection instruction, the control unit may be set to reserve a waiting time (which may be specifically determined according to the actual situation) after the measurement device completes the underwater operation, and if the control unit does not receive the load rejection instruction after the waiting time arrives, the underwater acoustic communication device 80 is considered to fail, a load rejection control signal is automatically generated, and the self-control release mechanism 70 discards the counterweight 60.

Third scheme: the remedy is to set a mechanical timing trigger in the release mechanism 70 and to set a maximum time threshold in advance according to the actual working situation. When the measuring device is put in, the mechanical timing trigger device is started, and the working time of the measuring device is recorded. When the timing reaches the set maximum time threshold, the system circuit is considered to be abnormal, and the load rejection control signal cannot be normally sent. At this point, the release mechanism 70 may be triggered by a mechanical timing trigger to discard the counterweight 60 to ensure reliable recovery of the measurement device. In order to realize the triggering of the mechanical timing triggering device on the release mechanism 70, one way can be to design a mechanical timing triggering device to replace a system circuit to generate a load throwing control signal, control the hydraulic station 14 to convey hydraulic oil to the release cylinder 75 so as to control the piston rod of the release cylinder 75 to extend, so that the hook 73 is separated from the counterweight 60, and release the counterweight 60; alternatively, a mechanical timing trigger may be designed to sever the cable 74 when the timing reaches a set maximum time threshold to effect release of the counterweight 60.

After the measuring device floats out of the water, the iridium beacon 15 and the light beacon 16 are started, geographic coordinates of the measuring device are sent to the scientific investigation ship, and the scientific investigation ship is guided by the light to quickly find the position of the measuring device. After the scientific investigation ship reaches the position of the measuring device, a rope throwing gun can be used for transmitting a Kevlar cable, the Kevlar cable is connected with the measuring device, and the measuring device is salvaged and recovered.

The measuring device of this embodiment structural design scientific and reasonable not only can guarantee that measuring device wholly steadily deposits on the ground, can guarantee that measuring device successfully retrieves again, not only can realize mechanical properties test to submarine sediment, can also carry out long-term continuous observation operation to submarine environment, provides comprehensive guarantee for the effective development of submarine observation.

The foregoing is, of course, merely a preferred embodiment of the invention, and it should be noted that modifications and adaptations of the invention will occur to one skilled in the art and are intended to be comprehended within the scope of the invention without departing from the principles of the invention.

Claims

1. The in-situ measurement device for the mechanical properties of the submarine sediment suitable for the full sea depth comprises an observation platform and a measurement mechanism carried on the observation platform; it is characterized in that the method comprises the steps of,

The observation platform comprises a frame type main body, a floating body, a wing plate, a height measuring device, a floating ball cabin, a leveling mechanism, a counterweight and a release mechanism, wherein the floating body, the wing plate, the height measuring device, the floating ball cabin, the leveling mechanism and the counterweight and release mechanism are arranged on the frame type main body; wherein,

the floating ball cabin is in a floating ball shape and is used for sealing a system circuit while providing buoyancy; an attitude sensor is arranged in the floating ball cabin, detects the attitude of the frame type main body, generates attitude data and sends the attitude data to the system circuit;

the height measuring device is used for detecting the height of the frame type main body from the seabed and feeding back the height to the system circuit;

four wing plates are arranged on the frame type main body, are distributed around the frame type main body and are positioned below the floating body, and the distance from the bottom of the frame type main body is 2/3 of the total height of the frame type main body; each wing plate is provided with a streamline wing surface, and the inner side of each wing plate is hinged with the frame-type main body; two slow-descending oil cylinders are respectively arranged for each wing plate and are hinged to the left side and the right side of the bottom surface of the wing plate, one end of each slow-descending oil cylinder is hinged to the frame-type main body, and the other end of each slow-descending oil cylinder is hinged to the bottom surface of the wing plate;

when the system circuit detects that the frame type main body descends to reach a set height from the seabed, the wing plate is controlled to be unfolded outwards relative to the frame type main body so as to reduce the descending speed of the frame type main body, the extension length of a piston rod of the slow-descending oil cylinder is adjusted according to the descending depth of the measuring device so as to adjust the unfolding angle of the wing plate, and the measuring device is controlled to perform multistage speed regulation and slow descent until the measuring device stably lands on the seabed;

The leveling mechanism comprises a plurality of leveling support legs and a plurality of leveling oil cylinders, wherein the leveling support legs are positioned at the bottom of the frame-type main body, and each leveling support leg is connected with one leveling oil cylinder; when the frame type main body reaches the seabed, the system circuit controls the leveling oil cylinder to drive the leveling support legs to stretch according to the received attitude data so as to adjust the frame type main body to horizontally stand on the seabed;

after the measuring device finishes underwater operation, the system circuit controls the release mechanism to discard the counterweight and controls the wing plate to retract, so that the measuring device floats out of the water under the buoyancy action of the floating body; the release mechanism comprises a release oil cylinder, a fixed pulley, a cable and a hook; the fixed pulley is arranged on the frame-type main body, the cable is wound on the fixed pulley, one end of the cable is connected with the release oil cylinder, and the other end of the cable is connected with the hook; the hook stretches into a hanging hole of the counterweight in a default state to hook the counterweight so as to increase the weight of the observation platform and enable the measuring device to automatically descend to the seabed; when the measuring device is recovered, the system circuit controls the release oil cylinder to release the cable, so that the hook rotates under the dead weight and is separated from the hanging hole of the counterweight, and the counterweight is separated from the frame type main body;

A hydraulic station is further arranged at the middle position of a bottom pore plate of the frame type main body, the hydraulic station is respectively communicated with the slow-descending oil cylinder, the leveling oil cylinder and the release oil cylinder through different oil pipes, electromagnetic valves are respectively arranged on the oil pipes connected with each oil cylinder, when one oil cylinder needs to be controlled to work, the electromagnetic valves on the oil pipes connected with the controlled oil cylinders are firstly controlled to be opened through a system circuit, and then the hydraulic station is controlled to supply oil or pump oil to the controlled oil cylinders so as to control the extension or retraction of piston rods of the controlled oil cylinders;

the measuring mechanism comprises one or more of a conical penetration measuring mechanism, a spherical penetration measuring mechanism, a cross plate shearing measuring mechanism and a sampling mechanism.

2. The in-situ measurement device for the mechanical properties of the seabed sediment at full sea depth according to claim 1, wherein the floating body comprises a floating ball and a buoyancy plate, the floating ball is arranged at the top of the frame-type main body, and the floating ball comprises a plurality of floating balls which are arranged to form an array structure.

3. The in-situ measurement device for mechanical properties of seabed sediment applicable to full sea depth according to claim 1, wherein an iridium beacon and an optical beacon are further installed at the top of the frame type main body, the iridium beacon automatically emits a positioning signal after the measurement device is out of water, and the optical beacon automatically emits visible light after the measurement device is out of water.

4. The in situ measurement device for mechanical properties of seabed sediment at full sea depth as claimed in claim 1,

the conical penetration measuring mechanism comprises a bracket, a conical probe, a probe rod connected with the conical probe and a penetration driving mechanism for driving the probe rod to carry the conical probe to move up and down, the bracket is arranged on a frame type main body, and a pore water pressure sensor and a penetration resistance sensor are arranged in the conical probe;

the spherical penetration measuring mechanism comprises a bracket, a spherical probe, a probe rod connected with the spherical probe and a penetration driving mechanism for driving the probe rod to carry the spherical probe to move up and down, the bracket is arranged on a frame type main body, and a pore water pressure sensor and a penetration resistance sensor are arranged in the spherical probe;

the cross plate shearing measurement mechanism comprises a bracket, a cross plate probe, a probe rod connected with the cross plate probe, a penetration driving mechanism for driving the probe rod to carry the cross plate probe to move up and down, and a shearing driving device for driving the cross plate probe to rotate, wherein the bracket is arranged on a frame type main body, and a torque sensor for detecting the shearing torque of the cross plate probe is arranged in the shearing driving device;

The sampling mechanism comprises a bracket, a sampling tube, a penetrating driving mechanism for driving the sampling tube to move up and down, and a hydraulic device for extracting submarine sediment to the sampling tube, wherein the bracket is arranged on the frame-type main body;

the system circuit comprises a data acquisition unit, a control unit, a power driving unit and a battery; the battery supplies power for the data acquisition unit, the control unit and the power driving unit; the data acquisition unit acquires sensing signals output by the pore water pressure sensor, the penetration resistance sensor and the torque sensor, and transmits the sensing signals to the control unit for calculating the mechanical characteristics of the submarine sediment; the power driving unit is connected with the control unit and is used for generating driving voltage required by the measuring device.

5. The device for in-situ measurement of mechanical properties of a seabed sediment at full sea depth as claimed in claim 4,

the penetration driving mechanism comprises a penetration oil cylinder, a pulley block, a steel cable wound on the pulley block and a sliding plate pulled by the steel cable; the pulley block comprises a fixed pulley block and a movable pulley block, the movable pulley block is connected with a piston rod of the penetration oil cylinder, and the system circuit controls the piston rod of the penetration oil cylinder to stretch so as to drive the movable pulley block to move up and down and further drive the steel cable to pull the sliding plate to move up and down;

The probe rod in the conical penetration measuring mechanism, the probe rod in the spherical penetration measuring mechanism and the sampling tube in the sampling mechanism are respectively and fixedly arranged on the sliding plate of the respective penetration driving mechanism;

the shearing driving device comprises a motor and a coupler, the motor is arranged on a sliding plate penetrating through the driving mechanism in the cross plate shearing measuring mechanism, the driving voltage is received, and a rotating shaft of the motor is connected with a probe rod shaft connected with a cross plate probe through the coupler;

the hydraulic device comprises a hydraulic cylinder and a sealing plug, wherein the hydraulic cylinder is arranged on a sliding plate of a penetration driving mechanism in the sampling mechanism, the sealing plug is positioned in the sampling tube and is connected with a piston rod of the hydraulic cylinder, the hydraulic cylinder is controlled by a system circuit to drive the sealing plug to move upwards, and the air pressure in the sampling tube is reduced so as to extract submarine sediments.

6. The in-situ measurement device for mechanical properties of seabed sediment at full sea depth according to claim 4, wherein the floating ball compartment is made of transparent glass, comprising four, reserved with installation space for a camera or video camera; the data acquisition unit, the control unit, the power driving unit and the battery are respectively arranged in four different floating ball cabins, each floating ball cabin is provided with a watertight connector, waterproof cables are connected between the watertight connectors, and circuits arranged in the different floating ball cabins are electrically connected through the waterproof cables.

7. The in-situ measurement device for mechanical properties of seabed sediment at full sea depth according to any one of claims 1 to 6, wherein an underwater sound communication machine is further installed on the frame type main body for receiving the water command and transmitting to the system circuit;

when the system circuit receives the load rejection instruction, the release mechanism is controlled to discard the counterweight;

after the measuring device finishes underwater operation and delays for a period of time, if the load rejection instruction is not received yet, the system circuit automatically controls the release mechanism to discard the counterweight;

the release mechanism is provided with a mechanical timing trigger device, the mechanical timing trigger device starts timing when the measurement device is put in, and automatically triggers the release mechanism to discard the counterweight when the timing reaches a set maximum time threshold.