CN113607463B

CN113607463B - Deep sea sampling system based on ROV

Info

Publication number: CN113607463B
Application number: CN202110695031.3A
Authority: CN
Inventors: 周欣; 张志欣; 郭景松; 陈思宇; 曲大鹏; 刘文博; 王凤军; 孙杨; 赵国兴
Original assignee: First Institute of Oceanography MNR
Current assignee: First Institute of Oceanography MNR
Priority date: 2021-06-22
Filing date: 2021-06-22
Publication date: 2022-04-26
Anticipated expiration: 2041-06-22
Also published as: CN113607463A

Abstract

The invention provides a deep sea sampling system based on an ROV (remote operated vehicle), which relates to the technical field of marine science research sampling equipment and comprises a main body frame, a movable chassis, a first sampling device and a driving mechanism, wherein the main body frame is provided with a first sampling device and a second sampling device; the main body framework is driven to penetrate into the deep sea environment by using the remote control unmanned submersible; when main body frame got into the deep sea and need sampling, stretch out for main body frame through the activity chassis, utilize actuating mechanism to drive the first sampling device who stretches out main body frame and carry out the sampling operation, main body frame and first sampling device keep away from ROV main part propeller under water, main body frame can play good supporting role to ROV when touching the end sample, a plurality of sampling tool integration that have alleviated existence among the prior art when ROV, can shelter from to ROV main part propeller formation under water around, it is dangerous to increase ROV underwater operation, and when ROV main part carries on sampling tool directly to touch the end sample under water, cause the technical problem that ROV body destroyed easily.

Description

Deep sea sampling system based on ROV

Technical Field

The invention relates to the technical field of marine science research sampling equipment, in particular to a deep sea sampling system based on an ROV (remote operated vehicle).

Background

Scientific investigation type deep sea remote control unmanned submersible (ROV) is one of important deep sea investigation equipment necessary for a marine science comprehensive investigation ship, can realize accurate target observation, detection, sampling and the like under the condition of complex seabed, and provides a technical means and a platform for developing research and detection in the frontier fields of deep sea extreme environment and life process, earth deep process, dynamics and the like; the deep-sea remote control unmanned submersible (ROV) is provided with the lamplight illuminating device with reasonable design and excellent performance, and provides a technical means for operations such as deep-sea investigation, detection, sampling, seabed observation network construction, installation and maintenance.

In recent years, research in the fields of deep sea extreme environment detection, deep sea resource detection, marine science, earth system science and the like by using an ROV has become a focus of pursuing by various marine research institutions, and various kinds of ROV-dedicated sampling tools have been developed for the research.

However, the deep sea ROV in the prior art is designed for marine oil engineering applications, and the following problems are encountered when carrying a sampling tool for marine scientific research: the ROV underwater main body is single in carrying sampling tool by single submergence, and the single submergence operation efficiency is low; when the sampling tool is integrated on the ROV underwater main body, the periphery of a propeller of the ROV underwater main body can be shielded, so that the danger of ROV underwater operation is increased; in addition, when the ROV carries a sampling tool to directly carry out bottoming sampling, the ROV body is easy to damage, and the scientific investigation task cannot be carried out.

Disclosure of Invention

The invention aims to provide an ROV-based deep sea sampling system, which aims to solve the technical problems that in the prior art, when a plurality of sampling tools are integrated in an ROV underwater main body, shielding is formed around a propeller of the ROV underwater main body, the ROV underwater operation danger is increased, and when the ROV underwater main body carries the sampling tools to directly carry out bottoming sampling, an ROV body is easy to damage.

The invention provides a deep sea sampling system based on an ROV (remote operated vehicle), which comprises: the device comprises a main body frame, a movable chassis, a first sampling device and a driving mechanism;

the main body frame is connected with a remote control unmanned submersible vehicle, and the remote control unmanned submersible vehicle is used for driving the main body frame to penetrate into a deep sea environment;

the activity chassis is located main body frame's one end, just the activity chassis with main body frame sliding connection, first sampling device is located on the activity chassis, actuating mechanism is located main body frame is close to the one end on activity chassis, the activity chassis is used for driving first sampling device for main body frame stretches out, actuating mechanism is used for driving and stretches out main body frame first sampling device carries out the sampling operation.

In a preferred embodiment of the present invention, the movable chassis comprises a telescopic driving mechanism, a sampling tray, a tray slideway and a tray slideway;

the tray slide rails are at least two, wherein the two tray slide rails are respectively positioned at two ends of the sampling tray and are fixedly connected with the sampling tray;

the quantity of tray slide with the quantity of tray slide corresponds the setting, the tray slide with main body frame fixed connection, the tray slide with tray slide sliding connection, flexible actuating mechanism's both ends respectively with main body frame with the sampling tray is connected, flexible actuating mechanism be used for to the reciprocal effort is applyed to the sampling tray, so that the sampling tray passes through the tray slide along the tray slide for main body frame is reciprocal to be slided.

In a preferred embodiment of the present invention, the movable chassis further comprises an external hanging tray;

the external hanging tray is positioned at one end of the sampling tray, which is far away from the main body frame, and the external hanging tray is detachably connected with the sampling tray.

In a preferred embodiment of the present invention, the sampling tray includes a first placing area, a second placing area, and a third placing area, and the first placing area, the second placing area, and the third placing area are sequentially arranged along the direction perpendicular to the direction of the reciprocating movement of the sampling tray.

In a preferred embodiment of the invention, the first sampling device comprises a macrobiosampler, a sediment sampler, a sample tank and a gas-tight fluid pressure-holding sampler;

the macrobiosampler, the sediment sampler and the sample box are sequentially arranged in the first placing area, the second placing area and the third placing area, and the macrobiosampler, the sediment sampler and the sample box are respectively connected with the surface of the sampling tray; the airtight fluid pressure maintaining sampler is positioned on the external hanging tray, and the macro-biological sampler, the sediment sampler, the sample box and the airtight fluid pressure maintaining sampler are used for extending out of the main body frame along with the sampling tray;

the driving mechanism can act on the acquisition end of the macrobiosample sampler so that the macrobiosample sampler can acquire living marine organisms; the driving mechanism can act on the sediment sampler so that the sediment sampler can acquire surface sediment of the deep sea bottom; the driving mechanism can collect a rock or biological sample from the deep sea bottom and place the rock or biological sample in the sample box; the driving mechanism can act on the acquisition end of the airtight fluid pressure maintaining sampler so that the airtight fluid pressure maintaining sampler extracts a fluid sample at the sampling position.

In a preferred embodiment of the invention, the first sampling device comprises a sample box;

the sample boxes are provided with at least two, the sum of the areas of the first placing area and the second placing area is equal to the area of the third placing area, one of the sample boxes is placed on the first placing area and the second placing area, the other sample box is placed on the third placing area, each sample box is respectively connected with the surface of the sampling tray, the sample boxes are used for taking rock or biological samples of the deep sea bottom along with the sampling tray extending out of the main body frame, and the driving mechanism can collect the rock or biological samples and place the rock or biological samples in the sample boxes.

In a preferred embodiment of the invention, the first sampling device comprises a sediment sampler, a sample tank and an airtight fluid pressure-holding sampler;

the sediment sampler is provided with at least two sediment samplers, the sediment samplers are arranged side by side, the two sediment samplers are respectively arranged in the first placing area and the second placing area, the sample box is arranged in the third placing area, and the sample box and the sediment samplers are respectively connected with the surface of the sampling tray; the airtight fluid pressure maintaining sampler is positioned on the external hanging tray, and the sediment sampler, the sample box and the airtight fluid pressure maintaining sampler are used for extending out of the main body frame along with the sampling tray;

the driving mechanism can act on the sediment sampler so that the sediment sampler can acquire surface sediment of the deep sea bottom; the driving mechanism can collect a rock or biological sample from the deep sea bottom and place the rock or biological sample in the sample box; the driving mechanism can act on the acquisition end of the airtight fluid pressure maintaining sampler so that the airtight fluid pressure maintaining sampler extracts a fluid sample at the sampling position.

the airtight fluid pressure maintaining sampler is provided with at least two sediment samplers, wherein the two sediment samplers are respectively arranged on the second placing area and the plug-in tray, the sediment sampler is arranged in the first placing area, the sample box is arranged in the third placing area, and the sediment sampler, the sample box and the airtight fluid pressure maintaining sampler are used for extending out of the main body frame along with the sampling tray;

In a preferred embodiment of the present invention, the first sampling device comprises a macrobiosampler, a sample tank and an airtight fluid pressure-holding sampler;

the airtight fluid pressure maintaining sampler is provided with at least two sediment samplers, wherein the two sediment samplers are respectively arranged on the second placing area and the plug-in tray, the macro biological sampler is arranged in the first placing area, the sample box is arranged in the third placing area, and the macro biological sampler, the sample box and the airtight fluid pressure maintaining sampler are used for extending out of the main body frame along with the sampling tray;

the driving mechanism can act on the acquisition end of the macrobiosample sampler so that the macrobiosample sampler can acquire living marine organisms; the driving mechanism can collect a rock or biological sample from the deep sea bottom and place the rock or biological sample in the sample box; the driving mechanism can act on the acquisition end of the airtight fluid pressure maintaining sampler so that the airtight fluid pressure maintaining sampler extracts a fluid sample at the sampling position.

In a preferred embodiment of the invention, the macrobiosample sampler comprises an axial flow pump, a macrobiosample tube and a macrobiosample box;

the macrobiology sampling tube is connected with the macrobiology sampling tube through the axial flow pump, the macrobiology sampling tube can stretch out or shrink relative to the axial flow pump, the driving mechanism is used for driving the macrobiology sampling tube to face to a sampling article position, and the axial flow pump is used for pumping living marine organisms to the macrobiology sampling tube through the macrobiology sampling tube.

In a preferred embodiment of the invention, the sediment sampler comprises a sediment sampling base and a sediment sampling pipe;

the sediment sampling pipes are arranged in a plurality of numbers, the sediment sampling pipes are uniformly arranged on the sediment sampling base, the sediment sampling base is connected with the sampling tray, and the driving mechanism is used for grabbing a single sediment sampling pipe to extend into the surface position of the deep sea bottom, so that the surface sediment of the deep sea bottom can be obtained through the sediment sampling pipe.

In a preferred embodiment of the present invention, the driving mechanism includes a first robot and a second robot;

the first mechanical arm and the second mechanical arm are respectively located the main body frame is opposite two sides, and the first mechanical arm and the second mechanical arm are used for respectively acting on the movable chassis stretching out of the main body frame, so that the first sampling device is respectively sampled by the first mechanical arm and the second mechanical arm.

In a preferred embodiment of the present invention, the apparatus further comprises a second sampling device;

the second sampling device is located on the main body frame, and the second sampling device is connected with the main body frame.

In a preferred embodiment of the invention, the second sampling device comprises a hydraulic sediment sampler, a microbiological filtration sampler and a biological sampler;

the biological sampler is positioned in the main body frame, the acquisition end of the biological sampler extends out of one end of the main body frame, which faces the movable chassis, and the biological sampler is used for sampling a biological sample;

the microorganism filtering sampler is positioned at one end of the main body frame far away from the movable chassis, and is connected with the main body frame and used for filtering and sampling microorganisms;

the hydraulic pressure sediment sampler is located on the lateral wall of main body frame, just the hydraulic pressure sediment sampler with the lateral wall of main body frame is connected, the hydraulic pressure sediment sampler is used for obtaining 1 meter column deposit.

In a preferred embodiment of the present invention, the biological sampler comprises a rotary sampler, a water pump, a pipeline retractor and a telescopic sampling pipe;

the rotary sampler and the water pump are arranged in the main body frame, a water inlet of the water pump is connected with the rotary sampler, and the water pump is used for sucking a sample by the rotary sampler and providing power and water supply;

the one end of flexible sampling tube with rotatory sampler is connected, the other end of flexible sampling tube passes the pipeline contractor stretch to the one end on activity chassis, the pipeline contractor with main body frame connects, the pipeline contractor is used for adjusting the extension length of flexible sampling tube, actuating mechanism is used for driving flexible sampling tube is kept away from the one end of rotatory sampler, so that the sample position is treated to the tip orientation of flexible sampling tube, flexible sampling tube is used for will treating the biological transport of sample position extremely rotatory sampler position department.

In the preferred embodiment of the invention, the device also comprises an off-bottom height meter;

the off-bottom height meter is located at one end, far away from the remote control unmanned submersible, of the main body frame, the off-bottom height meter is connected with the remote control unmanned submersible through an electric signal, and the off-bottom height meter is used for conveying off-bottom height information to the remote control unmanned submersible.

In the preferred embodiment of the invention, the system further comprises an inertial navigation system;

the inertial navigation system is located at one end, far away from the remote-control unmanned submersible, of the main body frame, connected with the main body frame and electrically connected with the remote-control unmanned submersible, and used for conveying the attitude and heading information of the main body frame to the remote-control unmanned submersible.

In a preferred embodiment of the invention, the main body frame comprises a supporting frame, a connecting mechanism, an anti-collision grid, a buffer strip, a fixing pin and an anti-corrosion zinc block;

the anti-collision grid is connected with one side, away from the remote-control unmanned submersible vehicle, of the supporting frame, the anti-collision grid is fixedly connected with the supporting frame, the anti-collision grid and the supporting frame form an accommodating space for placing the second sampling device, the buffer strips are uniformly arranged along the circumferential direction of the supporting frame, and the buffer strips are fixedly connected with the side wall of the supporting frame;

the support frame is connected with the remote-control unmanned submersible vehicle through the connecting mechanism, the rotary sampler is mounted on the rotary sampler mounting base, the fixed pin is positioned in the middle of one end of the support frame close to the remote-control unmanned submersible vehicle, two ends of the fixed pin are respectively connected with the support frame and the remote-control unmanned submersible vehicle, and the fixed pin is used for limiting the stopping of the remote-control unmanned submersible vehicle and the support frame;

the anti-corrosion zinc blocks are arranged in a plurality of the supporting frames respectively, and each anti-corrosion zinc block is connected with the supporting frame.

In a preferred embodiment of the invention, the main body frame further comprises a rotary sampler mounting base, an above-ground height gauge mounting fixture, an inertial navigation system mounting fixture, a sampling tray mounting area, a hydraulic sediment sampler mounting fixture, a microbial filtration sampler mounting fixture, a driving mechanism mounting base, a monitoring system mounting fixture, a water pump mounting fixture and a telescopic sampling pipe sampling port fixing fixture;

the rotary sampler mounting base, the ground clearance gauge mounting clamp, the inertial navigation system mounting clamp, the sampling tray mounting area and the water pump mounting clamp are all located in the supporting frame, the rotary sampler is mounted in the rotary sampler mounting base, the water pump is mounted in the water pump mounting clamp, the ground clearance gauge is mounted in the ground clearance gauge mounting clamp, the inertial navigation system is mounted in the inertial navigation system mounting clamp, the movable chassis is slidably mounted in the sampling tray mounting area, and a filler is arranged between the movable chassis and the sampling tray mounting area;

the hydraulic sediment sampler mounting fixture is positioned on the side wall of the supporting frame, and the hydraulic sediment sampler is mounted in the hydraulic sediment sampler mounting fixture; the mounting fixture of the microbial filtration sampler is positioned at one end of the supporting frame, which is far away from the mounting area of the sampling tray, and the microbial filtration sampler is mounted in the mounting fixture of the microbial filtration sampler; the driving mechanism mounting base is positioned on the side wall of the supporting frame, and the driving mechanism is mounted in the driving mechanism mounting base; the monitoring system mounting clamp is positioned at one end of the supporting frame, which is far away from the sampling tray mounting area, and is used for mounting an external monitoring camera; the utility model discloses a sampling tray installation area, including support frame, flexible sampling tube sample connection mounting fixture, sampling tray installation area, flexible sampling tube sample connection mounting fixture is located being close to of support frame the sample connection of flexible sampling tube.

The invention provides a deep sea sampling system based on an ROV (remote operated vehicle), which comprises: the device comprises a main body frame, a movable chassis, a first sampling device and a driving mechanism; the remote control unmanned submersible is connected with the main body frame, and the main body frame can be driven to penetrate into a deep sea environment by the remote control unmanned submersible; furthermore, the main body frame can be used as an integrated platform of a sampling tool, the movable chassis is positioned at one end of the main body frame and is connected with the main body frame in a sliding manner, the first sampling device is positioned on the movable chassis, when the main body frame enters deep sea and needs to be sampled, the movable chassis extends out relative to the main body frame, and the driving mechanism is utilized to drive the first sampling device extending out of the main body frame to perform sampling operation, namely, the first sampling device can be integrated on the basis of not influencing the running of the ROV underwater main body, because the main body frame and the first sampling device are far away from the ROV underwater main body propeller, the influence on the propulsion and posture control of the ROV is small, the safety of ROV underwater operation is improved, meanwhile, the main body frame can play a good supporting role on the ROV when the ROV is sampled in a bottom contact manner, the ROV body is protected from being damaged, and the problem that when a plurality of sampling tools are integrated in the ROV underwater main body in the prior art is solved, can shelter from to forming around the ROV main part propeller under water, increase ROV underwater operation danger to and when ROV main part carries on the sampling tool directly to touch the end sample under water, cause the technical problem that ROV body destroyed easily.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic diagram of the overall structure of an ROV-based deep sea sampling system provided by an embodiment of the invention;

FIG. 2 is a schematic front structural view of an ROV-based deep sea sampling system provided by an embodiment of the invention;

FIG. 3 is a schematic structural diagram of a body frame of an ROV-based deep sea sampling system according to an embodiment of the present invention;

FIG. 4 is a schematic overall structural diagram of a body frame of an ROV-based deep sea sampling system according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a movable chassis of an ROV-based deep sea sampling system provided by an embodiment of the invention;

FIG. 6 is a schematic structural diagram of a first sampling device of an ROV-based deep sea sampling system in a deep sea environment, according to an embodiment of the invention;

FIG. 7 is a schematic structural diagram of a first sampling device of an ROV-based deep sea sampling system in a rock sample sampling environment according to an embodiment of the present invention;

FIG. 8 is a schematic structural diagram of a first sampling device of an ROV-based deep sea sampling system in a hot liquid area detection sampling environment according to an embodiment of the present invention;

FIG. 9 is a schematic structural diagram of a first sampling device of an ROV-based deep sea sampling system in a cold spring environment according to an embodiment of the present invention;

FIG. 10 is a schematic illustration of a first sampling device of an ROV-based deep sea sampling system in a cold spring biological sample acquisition environment in accordance with an embodiment of the present invention;

fig. 11 is a schematic structural diagram of an ROV-based deep sea sampling system on a remotely operated unmanned vehicle according to an embodiment of the present invention.

Icon: 100-remote control unmanned submersible; 200-a body frame; 201-a support frame; 202-a connection mechanism; 203-anti-collision grid; 204-buffer bar; 205-fixed pins; 206-anti-corrosion zinc blocks; 207-rotating the sampler mounting base; 208-height gauge mounting clip off the ground; 209-an inertial navigation system mounting clamp; 210-a sampling tray mounting area; 211-hydraulic sediment sampler mounting fixture; 212-microbiological filtration sampler mounting fixture; 213-drive mechanism mounting base; 214-monitoring system mounting fixture; 215-water pump mounting fixture; 216-fixing clamp for sampling port of telescopic sampling tube; 300-a movable chassis; 301-a telescopic drive mechanism; 302-a sampling tray; 312 — a first placement area; 322-a second placement area; 332-a third placement area; 303-pallet slide; 304-a tray slide; 305-an external tray; 400-a first sampling device; 401-macrobiosample; 411-axial flow pump; 421-macrobiosample tube; 431-macro biological sample box; 402-a sediment sampler; 412-a sediment sampling base; 422-a sediment sampling tube; 403-sample box; 404-airtight fluid pressure-holding sampler; 500-a drive mechanism; 501-a first manipulator; 502-a second manipulator; 600-a second sampling device; 601-hydraulic sediment sampler; 602-a microbial filtration sampler; 603-biological sampler; 613-rotating the sampler; 623-a water pump; 633-a line constrictor; 643-telescoping sampling tube; 700-off-bottom altimeter; 800-inertial navigation system.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 to 11, the present embodiment provides an ROV-based deep sea sampling system, including: a main body frame 200, a movable chassis 300, a first sampling device 400 and a driving mechanism 500; the main body frame 200 is connected with the remote-control unmanned submersible 100, and the remote-control unmanned submersible 100 is used for driving the main body frame 200 to penetrate into a deep sea environment; the movable chassis 300 is located at one end of the main body frame 200, the movable chassis 300 is slidably connected with the main body frame 200, the first sampling device 400 is located on the movable chassis 300, the driving mechanism 500 is located at one end of the main body frame 200 close to the movable chassis 300, the movable chassis 300 is used for driving the first sampling device 400 to extend out relative to the main body frame 200, and the driving mechanism 500 is used for driving the first sampling device 400 extending out of the main body frame 200 to perform sampling operation.

It should be noted that the deep sea sampling system based on the ROV provided in this embodiment is a deep sea extreme environment detection platform based on a scientific ROV, and is suitable for sampling biological, chemical, geological, seawater and other samples in a deep sea extreme environment, specifically, the main frame 200 can be installed with a plurality of sampling tools, and the first sampling device 400 is integrated by the movable chassis 300 capable of sliding back and forth relative to the main frame 200, that is, after the main frame 200 enters the deep sea environment under the action of the remotely-controlled unmanned submersible 100, the movable chassis 300 can extend out relative to the main frame 200, at this time, the first sampling device 400 extends out of the main frame 200, the driving mechanism 500 can drive and operate the first sampling device 400 in different sampling environments, so that the first sampling device 400 can complete sampling of biological, chemical, geological, seawater and other samples, the underwater operation efficiency of ROV ocean scientific investigation is improved; further, the main body frame 200 can be installed at the bottom of the ROV body, and the main body frame 200 and the first sampling device 400 can be far away from parts such as an ROV propeller, so that the influences on the propulsion and attitude control of the ROV body are small, and the safety of the ROV underwater operation is improved; meanwhile, the main body frame 200 adopts a frame structure, and can well support the ROV body when bottom sampling is performed, so that the ROV body is protected from being damaged, and the design is more reasonable.

The deep sea sampling system based on the ROV provided by the embodiment comprises: a main body frame 200, a movable chassis 300, a first sampling device 400 and a driving mechanism 500; the main body frame 200 is connected with the remote-control unmanned submersible 100, and the main body frame 200 can be driven to penetrate into the deep sea environment by the remote-control unmanned submersible 100; further, the main body frame 200 may be an integrated platform of a sampling tool, the movable chassis 300 is located at one end of the main body frame 200, the movable chassis 300 is slidably connected to the main body frame 200, the first sampling device 400 is located on the movable chassis 300, when the main body frame 200 enters deep sea and needs to be sampled, the movable chassis 300 extends relative to the main body frame 200, and the driving mechanism 500 is then used to drive the first sampling device 400 extending out of the main body frame 200 to perform sampling operation, i.e. integration of the first sampling device 400 can be realized on the basis of not influencing the operation of the ROV underwater main body, because the main body frame 200 and the first sampling device 400 are far away from the ROV underwater main body propeller, the ROV propulsion and attitude control are less influenced, the ROV underwater operation safety is increased, and meanwhile, the main body frame 200 can play a good supporting role for the ROV during bottoming sampling, the protection ROV body does not receive the damage, has alleviated that exist among the prior art when a plurality of sampling tool are integrated in the ROV main part under water, can shelter from the formation around the ROV main part propeller under water, increases ROV underwater operation danger to and when ROV main part under water carried sampling tool and directly touched the end sample, cause the technical problem that ROV body destroyed easily.

On the basis of the above embodiments, further, in the preferred embodiment of the present invention, the movable chassis 300 includes a telescopic driving mechanism 301, a sampling tray 302, a tray slide 303 and a tray slide 304; at least two tray slide rails 304 are arranged, wherein the two tray slide rails 304 are respectively positioned at two ends of the sampling tray 302, and the tray slide rails 304 are fixedly connected with the sampling tray 302; the number of tray slide 303 corresponds the setting with the number of tray slide 304, tray slide 303 and body frame 200 fixed connection, tray slide 304 and tray slide 303 sliding connection, telescopic driving mechanism 301's both ends are connected with body frame 200 and sampling tray 302 respectively, telescopic driving mechanism 301 is used for exerting reciprocal effort to sampling tray 302 to make sampling tray 302 pass through tray slide 304 and reciprocate for body frame 200 along tray slide 303.

In this embodiment, the telescopic driving mechanism 301 may adopt a hydraulic cylinder, specifically, one end of a pipeline of the hydraulic cylinder is connected to an ROV underwater main body hydraulic valve box, and the other end of the pipeline is connected to the hydraulic cylinder, and the sampling tray 302 is driven by the telescopic driving of the hydraulic cylinder to reciprocate relative to the main body frame 200; furthermore, the hydraulic oil cylinder and the pipeline of the hydraulic oil cylinder can be arranged at the central position right behind the sampling tray 302, namely the hydraulic oil cylinder can apply acting force to the sampling tray 302 at the central line position of the sampling tray 302, so that the stability of the sampling tray 302 in the stretching process is ensured; in addition, the tray slide rails 304 and the tray slide rails 303 are used for forming a tray in-out track, the tray slide rails 304 are installed on the left side and the right side of the sampling tray 302, although the sampling tray 302 moves together, the tray slide rails 303 are fixedly installed on the left side and the right side of the main frame, wherein the tray slide rails 303 and the tray slide rails 303 can be connected in a matched mode through T-shaped slide rail sliding grooves.

In the preferred embodiment of the present invention, the movable chassis 300 further comprises an external hanging tray 305; the plug-in tray 305 is positioned at one end of the sampling tray 302 far away from the main body frame 200, and the plug-in tray 305 is detachably connected with the sampling tray 302.

In this embodiment, the sampling tray 302 can carry the first sampling device 400, that is, the sampling tools can be installed through the sampling tray 302, and the positions of the sampling tools in the first sampling device 400 can be adjusted according to the space; further, in order to ensure the placement space of different sampling tools, an external tray 305 may be installed outside the sampling tray 302, and the external tray 305 and the sampling tray 302 may be detachably connected, that is, when the placement space of the sampling tray 302 cannot meet the placement of the first sampling device 400, the external tray 305 may be installed at one end of the sampling tray 302 far from the main body frame 200, and the external tray 305 may carry a tool for mobile sampling.

Since the sampling tray 302 is accommodated in the main body frame 200, that is, the area of the sampling tray 302 needs to be set according to the area of the main body frame 200, and meanwhile, considering the power of the scientific remote-controlled unmanned submersible vehicle 100, the carrying space of the sampling tray 302 is limited, in order to ensure that the carrying space of the sampling tray 302 can be maximally utilized, in a preferred embodiment of the present invention, the sampling tray 302 includes a first placing area 312, a second placing area 322, and a third placing area 332, and the first placing area 312, the second placing area 322, and the third placing area 332 are sequentially arranged along the direction of the sampling tray 302 perpendicular to the reciprocating direction.

It should be noted that the specific sampling tool of the first sampling device 400 may be provided with different solutions due to differences in the subsea environment and for different sampling purposes each time.

As shown in fig. 6, when sampling in a standard deep sea environment, in a preferred embodiment of the present invention, the first sampling device 400 includes a macro-biosampler 401, a sediment sampler 402, a sample tank 403, and an airtight fluid pressure-holding sampler 404; the macro biological sampler 401, the sediment sampler 402 and the sample box 403 are arranged in the first placing area 312, the second placing area 322 and the third placing area 332 in sequence, and the macro biological sampler 401, the sediment sampler 402 and the sample box 403 are respectively connected with the surface of the sampling tray 302; the airtight fluid pressure-holding sampler 404 is located on the external tray 305, and the macro-bio-sampler 401, the sediment sampler 402, the sample tank 403, and the airtight fluid pressure-holding sampler 404 are used to protrude outside the main body frame 200 along with the sampling tray 302; the drive mechanism 500 can act on the acquisition end of the macrosampler 401 to enable the macrosampler 401 to acquire living marine organisms; the drive mechanism 500 is capable of acting on the sediment sampler 402 to enable the sediment sampler 402 to capture deep sea floor surface sediment; the driving mechanism 500 is capable of taking a rock or biological sample of the deep sea floor and placing the rock or biological sample in the sample box 403; the drive mechanism 500 can act on the collection end of the hermetic fluid dwell sampler 404 to cause the hermetic fluid dwell sampler 404 to extract a fluid sample at the sampling location.

As shown in fig. 7, when only rock sampling is to be completed, in a preferred embodiment of the invention, the first sampling device 400 comprises a sample box 403; the sample containers 403 are provided with at least two, the sum of the areas of the first placement area 312 and the second placement area 322 is equal to the area of the third placement area 332, one of the sample containers 403 is placed on the first placement area 312 and the second placement area 322, the other sample container 403 is placed on the third placement area 332, and each sample container 403 is connected with the surface of the sampling tray 302, the sample containers 403 are used for collecting rock or biological samples on the deep sea floor as the sampling tray 302 extends out of the main body frame 200, and the driving mechanism 500 can collect the rock or biological samples on the deep sea floor and place the rock or biological samples in the sample containers 403.

When it is desired to sample a hot subsea area in a deep sea environment, as shown in fig. 8, in a preferred embodiment of the invention, the first sampling device 400 comprises a sediment sampler 402, a sample tank 403 and an airtight fluid dwell sampler 404; the sediment sampler 402 is provided with at least two, the sediment samplers 402 are arranged side by side, and two sediment samplers 402 are respectively arranged in the first placing area 312 and the second placing area 322, the sample box 403 is arranged in the third placing area 332, and the sample box 403 and the sediment samplers 402 are respectively connected with the surface of the sampling tray 302; an airtight fluid pressure-retaining sampler 404 is located on the externally-hanging tray 305, and a sediment sampler 402, a sample tank 403, and an airtight fluid pressure-retaining sampler 404 are used to protrude outside the main body frame 200 along with the sampling tray 302; the drive mechanism 500 is capable of acting on the sediment sampler 402 to enable the sediment sampler 402 to capture deep sea floor surface sediment; the driving mechanism 500 is capable of taking a rock or biological sample of the deep sea floor and placing the rock or biological sample in the sample box 403; the drive mechanism 500 can act on the collection end of the hermetic fluid dwell sampler 404 to cause the hermetic fluid dwell sampler 404 to extract a fluid sample at the sampling location.

As shown in fig. 9, when it is desired to sample a cold spring region in a deep sea environment, in a preferred embodiment of the present invention, the first sampling device 400 includes a sediment sampler 402, a sample tank 403, and an airtight fluid dwell sampler 404; the airtight fluid pressure retaining sampler 404 is provided with at least two, and two sediment samplers 402 are respectively arranged on the second placing area 322 and the external hanging tray 305, the sediment sampler 402 is arranged in the first placing area 312, the sample box 403 is arranged in the third placing area 332, and the sediment sampler 402, the sample box 403 and the airtight fluid pressure retaining sampler 404 are used for extending out of the main body frame 200 along with the sampling tray 302; the drive mechanism 500 is capable of acting on the sediment sampler 402 to enable the sediment sampler 402 to capture deep sea floor surface sediment; the driving mechanism 500 is capable of taking a rock or biological sample of the deep sea floor and placing the rock or biological sample in the sample box 403; the drive mechanism 500 can act on the collection end of the hermetic fluid dwell sampler 404 to cause the hermetic fluid dwell sampler 404 to extract a fluid sample at the sampling location.

As shown in fig. 10, when it is desired to sample living beings in a cold spring region in a deep sea environment, in a preferred embodiment of the present invention, the first sampling device 400 includes a macro bio-sampler 401, a sample tank 403, and an airtight fluid pressure-holding sampler 404; the airtight fluid pressure-retaining sampler 404 is provided with at least two, and two sediment samplers 402 are respectively arranged on the second placing area 322 and the external tray 305, the macro-biological sampler 401 is arranged in the first placing area 312, the sample tank 403 is arranged in the third placing area 332, and the macro-biological sampler 401, the sample tank 403 and the airtight fluid pressure-retaining sampler 404 are used for extending out of the main body frame 200 along with the sampling tray 302; the drive mechanism 500 can act on the acquisition end of the macrosampler 401 to enable the macrosampler 401 to acquire living marine organisms; the driving mechanism 500 is capable of taking a rock or biological sample of the deep sea floor and placing the rock or biological sample in the sample box 403; the drive mechanism 500 can act on the collection end of the hermetic fluid dwell sampler 404 to cause the hermetic fluid dwell sampler 404 to extract a fluid sample at the sampling location.

In a preferred embodiment of the present invention, the driving mechanism 500 includes a first robot 501 and a second robot 502; the first manipulator 501 and the second manipulator 502 are respectively located at two opposite sides of the main body frame 200, and the first manipulator 501 and the second manipulator 502 are respectively used for acting on the movable chassis 300 extending out of the main body frame 200 so as to respectively perform a sampling operation on the first sampling device 400 through the first manipulator 501 and the second manipulator 502.

The first manipulator 501 may be a switch type manipulator, the second manipulator 502 may be a servo type manipulator, and the first manipulator 501 and the second manipulator 502 may be connected to the remotely controlled unmanned submersible 100, that is, the remotely controlled unmanned submersible 100 may be capable of controlling the first manipulator 501 and the second manipulator 502, respectively, and operations of grabbing a sample and clamping a sampling tool to obtain the sample may be achieved by using the first manipulator 501 and the second manipulator 502.

Specifically, the macroorganisms in the deep sea are important resources in the deep sea, mainly organisms such as fish, shrimps and the like with the volume of more than 5mm, and the unique living environment of the macroorganisms makes the macroorganisms have extremely high scientific research value, wherein the macroorganisms sampler 401 is mainly used for acquiring living marine organisms, and in the preferred embodiment of the invention, the macroorganisms sampler 401 comprises an axial flow pump 411, a macroorganisms sampling pipe 421 and a macroorganisms sample box 431; the macrobiology sample box 431 is connected with a macrobiology sampling pipe 421 through an axial flow pump 411, the macrobiology sampling pipe 421 can extend or contract relative to the axial flow pump 411, the driving mechanism 500 is used for driving the macrobiology sampling pipe 421 to face a sampling position, and the axial flow pump 411 is used for pumping living marine organisms to the macrobiology sample box 431 through the macrobiology sampling pipe 421.

In this embodiment, the sampling port of the macrobiology sampling tube 421 is in a free state, and when the macrobiology needs to be sampled, the first manipulator 501 can be used to clamp the position of the sampling port of the macrobiology sampling tube 421 facing to the sample to be sampled, the axial flow pump 411 is controlled to be turned on, the macrobiology can be sucked into the macrobiology sample box 431 by the pumping of the axial flow pump 411 to be away from the sampling port, and the sampling of the macrobiology is completed.

The sample box 403 may be a box structure, and after the body frame 200 is bottomed, the first manipulator 501 and the second manipulator 502 may clamp the rock at the bottom of the deep sea and place the rock in the sample box 403 to store the rock sample.

Further, the airtight fluid pressure holding sampler 404 may be a hydrothermal fluid pressure holding sampler, which is capable of sampling a deep sea seafloor hydrothermal fluid by holding the whole device by the first manipulator 501 or the second manipulator 502 to align with a sampling position, and extracting the fluid for sampling.

In the preferred embodiment of the present invention, sediment sampler 402 includes a sediment sampling base 412 and a sediment sampling tube 422; the sediment sampling pipes 422 are provided in plurality, the plurality of sediment sampling pipes 422 are uniformly arranged on the sediment sampling base 412, the sediment sampling base 412 is connected with the sampling tray 302, and the driving mechanism 500 is used for grabbing a single sediment sampling pipe 422 to extend into the surface position of the deep sea bottom, so that the surface sediment of the deep sea bottom can be obtained through the sediment sampling pipe 422.

It should be noted that the sediment sampler 402(PUSH CORE) provided in this embodiment can be used for sampling deep sea bottom surface sediment, specifically, when sampling is required, the sediment sampling tube 422 is held by the first mechanical arm 501 or the second mechanical arm 502 to be separated from the sediment sampling base 412, and the sediment sampling tube 422 is brought into contact with the deep sea bottom surface sediment for sampling; wherein, the installation and sampling steps of the sediment sampler 402 are as follows: before sampling, a hard cutting head is arranged at the bottom of the sediment sampling tube 422, a gasket is arranged at the top of the sediment sampling tube 422, the cutting head and the gasket are tightly connected by a belt, and the sediment sampling tube 422 is clamped by the cutting head and the gasket; a rubber diaphragm is arranged in the cutting head, can expand under certain pressure and completely close the cutting head, and can ensure that a sample is well preserved when the sediment sampling pipe 422 is lifted; the sediment sampling tube 422 can be inserted into the sediment by using an expansion link and a top hammering head; before sampling, a piston is arranged in the cutting head, when the cutting head is positioned on the sediment, the piston is kept at a fixed height, when the sediment sampling pipe 422 descends, the piston is kept in a static state, and the sediment sampling pipe 422 is pushed into the sediment to surround the piston; after the sediment sampling tube 422 is sealed, the sample can be subdivided into smaller, non-destructive samples using a hydro-pneumatic discharge and separation system to complete the sampling.

In the preferred embodiment of the present invention, a second sampling device 600 is further included; the second sampling device 600 is located on the main body frame 200, and the second sampling device 600 is connected with the main body frame 200.

In the preferred embodiment of the present invention, the second sampling device 600 includes a hydraulic sediment sampler 601, a microbial filtration sampler 602, and a biological sampler 603; the biological sampler 603 is positioned inside the main body frame 200, the collecting end of the biological sampler 603 extends out of one end of the main body frame 200 facing the movable chassis 300, and the biological sampler 603 is used for sampling a biological sample; the microorganism filtering sampler 602 is positioned at one end of the main body frame 200 far away from the movable chassis 300, the microorganism filtering sampler 602 is connected with the main body frame 200, and the microorganism filtering sampler 602 is used for filtering and sampling microorganisms; the hydraulic sediment sampler 601 is located on the side wall of the main body frame 200, and the hydraulic sediment sampler 601 is connected with the side wall of the main body frame 200, and the hydraulic sediment sampler 601 is used for acquiring 1 m columnar sediment.

The microorganism filtering sampler 602 can be used for microorganism filtering, and the hydraulic sediment sampler 601 is mainly used for obtaining 1-meter cylindrical sediment; since the hydraulic sediment sampler 601 and the microbial filtration sampler 602 are conventional devices of marine sampling tools, the specific structures of the hydraulic sediment sampler 601 and the microbial filtration sampler 602 will not be described in detail herein.

In the preferred embodiment of the present invention, biological sampler 603 comprises a rotary sampler 613, a water pump 623, a tubing retractor 633 and a telescoping sampling tube 643; the rotary sampler 613 and the water pump 623 are arranged in the main body frame 200, the water inlet of the water pump 623 is connected with the rotary sampler 613, and the water pump 623 is used for providing power and supplying water for sucking the sample by the rotary sampler 613; one end of the telescopic sampling tube 643 is connected to the rotary sampler 613, the other end of the telescopic sampling tube 643 penetrates the pipeline retractor 633 and extends to one end of the movable chassis 300, the pipeline retractor 633 is connected to the main body frame 200, the pipeline retractor 633 is used for adjusting the extension length of the telescopic sampling tube 643, the driving mechanism 500 is used for driving the telescopic sampling tube 643 to move away from one end of the rotary sampler 613, so that the end of the telescopic sampling tube 643 faces the position to be sampled, and the telescopic sampling tube 643 is used for conveying the organism at the position to be sampled to the position of the rotary sampler 613.

In this embodiment, the rotary sampler 613 can complete sampling of a biological sample, and the water pump 623 can be a high-power water pump 623, specifically, the water pump 623 is installed in the main body frame 200, and has a water inlet connected to the rotary sampler 613 and a water outlet not connected, and mainly provides power for the rotary sampler 613 to suck the sample and supply water for a subsequent additional filtering and sampling tool; the middle part of the telescopic sampling tube 643 is installed in the pipeline retractor 633, the rear end of the telescopic sampling tube 643 is connected with the rotary sampler 613, the sampling port at the front end is fixed on the front end cover of the sample box 403 through a telescopic sampling tube sampling port fixing clamp 216 which is described below, the first manipulator 501 or the second manipulator 502 clamps the sampling port handle during operation, the telescopic sampling tube 643 is pulled out from the pipeline retractor 633, the telescopic sampling tube 643 automatically retracts after sampling is completed, and the working length of the telescopic sampling tube 643 is equal to the maximum working radius of the first manipulator 501 or the second manipulator 502.

In the preferred embodiment of the present invention, an off-bottom altimeter 700 is also included; the off-bottom height meter 700 is located at one end, far away from the remote-control unmanned underwater vehicle 100, of the main body frame 200, the off-bottom height meter 700 is connected with the main body frame 200, the off-bottom height meter 700 is in electrical signal connection with the remote-control unmanned underwater vehicle 100, and the off-bottom height meter 700 is used for transmitting off-bottom height information to the remote-control unmanned underwater vehicle 100.

In the preferred embodiment of the present invention, the present invention further comprises an inertial navigation system 800; the inertial navigation system 800 is located at one end of the main body frame 200 far away from the unmanned submersible vehicle 100, the inertial navigation system 800 is connected with the main body frame 200, the inertial navigation system 800 is in electrical signal connection with the unmanned submersible vehicle 100, and the inertial navigation system 800 is used for transmitting the information of the posture and heading of the main body frame 200 to the unmanned submersible vehicle 100.

In this embodiment, the off-bottom height gauge 700 and the inertial navigation system 800 are used to provide data such as off-bottom height, attitude, heading and the like for the scientific investigation type ROV in real time; by installing the off-bottom height gauge 700 and the inertial navigation system 800 on the main body frame 200, the situation that the scientific investigation type ROV carried on the off-bottom height gauge 700 and the inertial navigation system 800 can shield acoustic signals of two devices to cause incapability of use is avoided, and the reliability of the use environment is ensured by utilizing the specific installation position of the main body frame 200.

The inertial navigation system 800 is a marine instrument used in the fields of basic subjects of earth science, engineering and technical science, hydraulic engineering and transportation engineering, provides high-precision positioning by using a positioning, attitude and compass inertial navigation system through an autonomous navigation system, and has an inertial navigation function for making up for the problem that the position is calculated by using an attitude sensor and a direction when GPS data is lost.

In the preferred embodiment of the present invention, the main body frame 200 includes a support frame 201, a connection mechanism 202, a crash barrier 203, a bumper strip 204, a fixing pin 205, and an anti-corrosion zinc block 206; the anti-collision grid 203 is connected with one side, far away from the remote-control unmanned submersible vehicle 100, of the support frame 201, the anti-collision grid 203 is fixedly connected with the support frame 201, the anti-collision grid 203 and the support frame 201 form an accommodating space for placing the second sampling device 600, the buffer strips 204 are uniformly arranged along the circumferential direction of the support frame 201, and the buffer strips 204 are fixedly connected with the side wall of the support frame 201; the support frame 201 is connected with the remotely operated unmanned underwater vehicle 100 through a connecting mechanism 202, a rotary sampler 613 is installed on a rotary sampler installation base 207, a fixing pin 205 is located at the middle position of one end of the support frame 201 close to the remotely operated unmanned underwater vehicle 100, two ends of the fixing pin 205 are respectively connected with the support frame 201 and the remotely operated unmanned underwater vehicle 100, and the fixing pin 205 is used for limiting the stopping of the remotely operated unmanned underwater vehicle 100 and the support frame 201; the anti-corrosion zinc blocks 206 are provided in plurality, the anti-corrosion zinc blocks 206 are respectively arranged on the supporting frame 201, and each anti-corrosion zinc block 206 is connected with the supporting frame 201.

In this embodiment, the supporting frame 201 is a main structure of the main body frame 200, the supporting frame 201 includes a plurality of cross beams, vertical beams, and diagonal beams, the bottom of the supporting frame is provided with a bottom anti-collision grid 203, the side wall is provided with a buffer strip 204, the inside of the supporting frame is provided with various sampling tools of the second sampling device 600, and optionally, the buffer strip 204 may be a rubber strip; further, the connection mechanism 202 may include a plurality of connection bolts, through which the ROV underwater body can be connected with the support frame 201, and in addition, reference positioning when the ROV underwater body is butted with the support frame 201 can be ensured; specifically, four connecting bolts are mounted at 4 vertex angles of the end face of the supporting frame 201, and then mounted on a middle cross beam of the end face of the supporting frame 201 by using the four connecting bolts, and the fixing pin 205 can be located at the center position of one end of the supporting frame 201 close to the remote-control unmanned submersible vehicle 100 and used for stopping the butt joint of the ROV underwater main body and the supporting frame 201, so that the connecting bolts are protected from being damaged by transverse shear force; the anti-collision grid 203 positioned at the bottom of the supporting frame 201 is arranged at the bottom surface of the supporting frame 201 and is used for protecting the first sampling device 400 and the second sampling device 600 during bottom-touching sampling; the anti-corrosion zinc block 206 is positioned on the inner beam of the support frame 201 and is used as a sacrificial anode protection integral structure.

In a preferred embodiment of the present invention, the main body frame 200 further includes a rotary sampler mounting base 207, an above-ground height gauge mounting fixture 208, an inertial navigation system mounting fixture 209, a sampling tray mounting area 210, a hydraulic sediment sampler mounting fixture 211, a microbial filtration sampler mounting fixture 212, a driving mechanism mounting base 213, a monitoring system mounting fixture 214, a water pump mounting fixture 215, and a telescopic sampling tube sampling port fixing fixture 216; the rotary sampler mounting base 207, the ground clearance gauge mounting clamp 208, the inertial navigation system mounting clamp 209, the sampling tray mounting area 210 and the water pump mounting clamp 215 are all located in the supporting frame 201, the rotary sampler 613 is mounted in the rotary sampler mounting base 207, the water pump 623 is mounted in the water pump mounting clamp 215, the ground clearance gauge is mounted in the ground clearance gauge mounting clamp 208, the inertial navigation system 800 is mounted in the inertial navigation system mounting clamp 209, the movable chassis 300 is slidably mounted in the sampling tray mounting area 210, and fillers are arranged between the movable chassis 300 and the sampling tray mounting area 210; the hydraulic sediment sampler mounting fixture 211 is positioned on the side wall of the support frame 201, and the hydraulic sediment sampler 601 is mounted in the hydraulic sediment sampler mounting fixture 211; the microorganism filtering sampler mounting clamp 212 is positioned at one end of the supporting frame 201 far away from the sampling tray mounting area 210, and the microorganism filtering sampler 602 is mounted in the microorganism filtering sampler mounting clamp 212; the driving mechanism mounting base 213 is positioned on the side wall of the supporting frame 201, and the driving mechanism 500 is mounted in the driving mechanism mounting base 213; the monitoring system mounting clamp 214 is positioned at one end of the supporting frame 201 far away from the sampling tray mounting area 210, and the monitoring system mounting clamp 214 is used for mounting an external monitoring camera; the retractable sampling tube sampling port fixing clamp 216 is located at one end of the supporting frame 201 close to the sampling tray mounting area 210, and the retractable sampling tube sampling port fixing clamp 216 is used for clamping and fixing a sampling port of the retractable sampling tube 643.

Specifically, the rotary sampler mounting base 207 includes 2 trapezoidal base plates and 2 rubber strips, and the trapezoidal base plates and the rubber strips form a plane mounting rotary sampler 613; the ground clearance gauge mounting clamp 208 and the inertial navigation system mounting clamp 209 are used for mounting the ground clearance gauge and the inertial navigation system 800; the sampling tray mounting area 210 is used for mounting the assembled movable chassis 300, and a gap between the sampling tray mounting area and the movable chassis 300 can be filled with a rubber strip; the hydraulic sediment sampler mounting fixture 211 is positioned at the front end of one side of the outside of the supporting frame 201 and is used for mounting a hydraulic sediment sampler 601; the driving mechanism mounting base 213 may be a manipulator mounting base, which is located at the front end of the supporting frame 201 and is respectively located at the left and right sides of the supporting frame 201, wherein one side is provided with a servo manipulator, and the other side is provided with a switch manipulator; the microorganism filtering sampler mounting clamp 212 is positioned in the middle of the outer rear end of the supporting frame 201 and is used for mounting a microorganism filtering sampler 602; the monitoring system mounting clamp 214 is positioned at the right rear end in the supporting frame 201 and provides a mounting position for a monitoring camera; the water pump mounting clamp 215 is positioned on the right side of the rear end in the supporting frame 201 and is used for mounting a high-power water pump 623; a retractable sampling tube sample port fixing clamp 216 is located at the front end of the support frame 201 for fixing the sample port of the retractable sampling tube 643.

As shown in fig. 11, the method for assembling and using the ROV-based deep sea sampling system provided by this embodiment includes the following steps:

the first step is as follows: assembling the main body frame 200, firstly overturning the support frame 201 to enable the bottom to be upward, then fixing the anti-collision grid 203 by using a connecting bolt, and overturning the support frame 201 to restore the normal state after the installation is finished; installing buffer strips 204 at three positions, namely the outer side of the frame position of the supporting frame 201, the rotary sampler installing base 207 and the sampling tray installing area 210; installing an off-ground altimeter through an off-ground altimeter installing clamp 208 and installing an inertial navigation system 800 through an inertial navigation system installing clamp 209; and then assembling the movable chassis 300, namely firstly connecting the extension rod of the hydraulic oil cylinder of the component with the sampling tray 302, then connecting the extension rod of the hydraulic oil cylinder with a pipeline of the hydraulic oil cylinder, finally installing the externally hung tray 305, then installing the tray slide way 303 in the sampling tray installation area 210, then installing the assembled movable chassis 300 from the front end of the main body frame 200, butting the tray slide way 304 with the tray slide way 303, unfixed at the rear end of the hydraulic oil cylinder, finally installing the monitoring system of the sampling tool by using the monitoring system installation clamp 214, installing the anticorrosive zinc block 206 on a cross beam, installing the telescopic sampling pipe sampling port fixing clamp 216 on the right side of the main body frame 200, and completing the assembly of the chassis of the main body frame 200.

The second step is that: first, the rotary sampler 613 is pushed into the rotary sampler mounting base 207 from the rear end of the main body frame 200, and the rotary sampler 613 is fixed by bolts; then the water pump 623 is mounted on the water pump mounting clamp 215; then, a water inlet of the water pump 623 is connected with a water outlet of the rotary sampler 613; then, the telescopic sampling tube 643 is installed in the pipeline retractor 633, the pipeline retractor 633 is fixed on the main body frame 200, and the water outlet of the telescopic sampling tube 643 is connected with the water inlet of the rotary sampler 613; then the microbial filtration sampler 602 is mounted on the main body frame 200 by the microbial filtration sampler mounting jig 212; then the hydraulic sediment sampler 601 is installed on the left side of the main body frame 200 with the hydraulic sediment sampler installation jig 211; manually pushing the sampling tray 302 out of the main body frame 200, mounting the sample box 403 on the right side of the sampling tray 302, mounting the PUSH CORE (sediment sampler 402) in the middle of the sampling tray 302, and mounting the macro bio-sampler 401 on the left side of the sampling tray 302; then, a telescopic sampling tube sampling port fixing clamp 216 is installed on the front end cover of the sample box 403, and then a sampling port of a telescopic sampling tube 643 is fixed by the telescopic sampling tube sampling port fixing clamp 216; manually pushing the sampling tray 302 into the main body frame 200, and then mounting the airtight fluid pressure-retaining sampler 404 on the externally hanging tray 305; then, the switching type robot is installed on the left side of the driving mechanism installation base 213, and the servo type robot is installed on the right side of the driving mechanism installation base 213; and finally, fixing the rear end of the hydraulic oil cylinder at the rear end of the sampling tray 302 to finish assembly.

The third step: firstly, horizontally placing a detection platform formed by an assembled deep sea sampling system, and then hoisting an ROV underwater main body; four top angles of the ROV underwater main body are aligned and positioned through four bolts on the outer side of the connecting bolt. When the ROV underwater main body mounting hole is aligned with the connecting bolt, the ROV underwater main body falls down; and then, the ROV underwater body is connected with the fixing pins 205 of the body frame 200, and finally, the connecting bolts are screwed, so that all equipment of the ROV-based deep sea sampling system is assembled.

The deep sea sampling system based on the ROV improves the acquisition capacity of ROV underwater operation samples, can acquire biological, chemical and geological samples in deep sea extreme environments such as submarine hydrothermal fluid, cold spring, deep-water and the like, and enables researchers to acquire more complete scientific research data.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An ROV-based deep sea sampling system, comprising: the device comprises a main body frame, a movable chassis, a first sampling device and a driving mechanism;

the movable chassis is positioned at one end of the main body frame and is connected with the main body frame in a sliding manner, the first sampling device is positioned on the movable chassis, the driving mechanism is positioned at one end, close to the movable chassis, of the main body frame, the movable chassis is used for driving the first sampling device to extend out relative to the main body frame, and the driving mechanism is used for driving the first sampling device extending out of the main body frame to perform sampling operation;

the device also comprises a second sampling device; the second sampling device is positioned on the main body frame and is connected with the main body frame;

the main body frame comprises a supporting frame, a connecting mechanism, an anti-collision grid, a buffer strip, a fixing pin and an anti-corrosion zinc block;

the support frame is connected with the remote-control unmanned submersible vehicle through the connecting mechanism, the fixing pin is positioned in the middle of one end, close to the remote-control unmanned submersible vehicle, of the support frame, two ends of the fixing pin are respectively connected with the support frame and the remote-control unmanned submersible vehicle, and the fixing pin is used for limiting the remote-control unmanned submersible vehicle and the support frame to stop;

2. The ROV-based deep sea sampling system of claim 1 wherein the movable chassis comprises a telescoping drive mechanism, a sampling tray, a tray slide and a tray slide;

3. The ROV-based deep sea sampling system of claim 2 wherein the mobile chassis further comprises an externally hung tray;

4. Deep sea ROV-based sampling system according to claim 3, wherein the sampling tray comprises a first, a second and a third placement area, which are arranged in sequence along the sampling tray perpendicular to the direction of reciprocal movement.

5. The ROV-based deep sea sampling system according to claim 4 wherein the first sampling means comprises a macrosampler, a sediment sampler, a sample tank and a gas tight fluid hold pressure sampler;

6. The ROV-based deep sea sampling system of claim 4 wherein the first sampling device comprises a sample tank;

7. An ROV-based deep sea sampling system according to claim 4 wherein the first sampling means comprises a sediment sampler, a sample tank and a gas tight fluid pressure hold sampler;

8. An ROV-based deep sea sampling system according to claim 4 wherein the first sampling means comprises a sediment sampler, a sample tank and a gas tight fluid pressure hold sampler;

9. Deep sea ROV-based sampling system according to claim 4 wherein the first sampling means comprises a macrosampler, a sample tank and a gas tight fluid pressure hold sampler;

the airtight fluid pressure maintaining sampler is provided with at least two airtight fluid pressure maintaining samplers, wherein the two airtight fluid pressure maintaining samplers are respectively arranged on the second placing area and the external tray, the macro biological sampler is arranged in the first placing area, the sample box is arranged in the third placing area, and the macro biological sampler, the sample box and the airtight fluid pressure maintaining sampler are used for extending out of the main body frame along with the sampling tray;

10. ROV-based deep sea sampling system according to claim 5 or 9 wherein the macrobiosampler comprises an axial flow pump, a macrobiosample tube and a macrobiosample tank;

11. The ROV-based deep sea sampling system of any one of claims 5 and 7 to 8 wherein the sediment sampler comprises a sediment sampling base and a sediment sampling tube;

12. ROV-based deep sea sampling system according to any of claims 1 to 9 wherein the drive mechanism comprises a first manipulator and a second manipulator;

13. Deep sea ROV-based sampling system according to claim 1, wherein the second sampling means comprise a hydraulic sediment sampler, a microbiological filtration sampler and a biological sampler;

14. Deep sea ROV-based sampling system according to claim 13 wherein the bio-sampler comprises a rotary sampler, a water pump, a line retractor and a telescopic sampling tube;

15. The ROV-based deep sea sampling system of claim 14 further comprising an off-bottom altimeter;

16. The ROV-based deep sea sampling system of claim 15 further comprising an inertial navigation system;

17. The ROV-based deep sea sampling system of claim 16 wherein the main frame further comprises a rotary sampler mounting base, an off-ground altimeter mounting clamp, an inertial navigation system mounting clamp, a sampling tray mounting area, a hydraulic sediment sampler mounting clamp, a microbial filtration sampler mounting clamp, a drive mechanism mounting base, a monitoring system mounting clamp, a water pump mounting clamp, and a telescoping sampling tube sample port securing clamp;