CN113670656A - Visual exploration sampling equipment in deep sea - Google Patents
Visual exploration sampling equipment in deep sea Download PDFInfo
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- CN113670656A CN113670656A CN202110995129.0A CN202110995129A CN113670656A CN 113670656 A CN113670656 A CN 113670656A CN 202110995129 A CN202110995129 A CN 202110995129A CN 113670656 A CN113670656 A CN 113670656A
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- 238000005070 sampling Methods 0.000 title claims abstract description 39
- 230000000007 visual effect Effects 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 84
- 238000012806 monitoring device Methods 0.000 claims abstract description 24
- 238000005553 drilling Methods 0.000 claims abstract description 23
- 238000012544 monitoring process Methods 0.000 claims abstract description 21
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 239000013535 sea water Substances 0.000 claims description 7
- 239000012528 membrane Substances 0.000 claims description 5
- 239000011435 rock Substances 0.000 claims description 5
- 239000013307 optical fiber Substances 0.000 claims description 4
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 9
- 230000001105 regulatory effect Effects 0.000 description 7
- 230000001276 controlling effect Effects 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000006378 damage Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 229910052500 inorganic mineral Inorganic materials 0.000 description 2
- 239000011707 mineral Substances 0.000 description 2
- 230000003204 osmotic effect Effects 0.000 description 2
- 239000012466 permeate Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L19/00—Details of, or accessories for, apparatus for measuring steady or quasi-steady pressure of a fluent medium insofar as such details or accessories are not special to particular types of pressure gauges
- G01L19/06—Means for preventing overload or deleterious influence of the measured medium on the measuring device or vice versa
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Abstract
The invention provides a deep sea visual exploration sampling device which comprises a cage-shaped frame body, wherein a drilling mechanism, a pressure-resistant cabin body, a driving mechanism and a monitoring device are arranged in the cage-shaped frame body, a power supply device and a controller are arranged in the pressure-resistant cabin body, a plurality of pressure detection compensation mechanisms connected with the controller through signals are arranged on the side face of a shell of the cage-shaped frame body in a surrounding mode and used for balancing the internal pressure and the external pressure of the cage-shaped frame body and monitoring the pushing direction of ocean currents on the cage-shaped frame body, and the controller is used for controlling the driving mechanism to keep the dynamic balance of the cage-shaped frame body according to the pushing direction information detected by the pressure detection compensation mechanisms. This equipment can be through the balanced cage frame internal and external pressure of a plurality of pressure detection compensation mechanisms to monitor the holistic motive force of ocean current to the cage frame, make the controller can control actuating mechanism drive cage frame according to monitoring information and carry out adaptability and remove in order to keep dynamic balance, prevent that equipment from deviating set position, more accurately laying to assigned position.
Description
Technical Field
The invention relates to the technical field of deep sea exploration equipment, in particular to deep sea visual exploration sampling equipment.
Background
The total area of the oceans on the earth accounts for about 71 percent of the surface area of the earth, and the oceans contain abundant resources and are yet to be explored. In order to find out the variety, distribution and reserves of resources, submarine resources, particularly submarine mineral resources, need to be sampled, observed and investigated, and therefore, exploration sampling equipment which can be used in deep sea is essential key equipment for developing marine scientific research, deep sea resource exploration and submarine geological sampling. China has a mining area of more than 16 ten thousand square kilometers in a sea area, is an indispensable potential mineral resource for economic development and national defense construction, but the exploration sampling equipment needs to have the underwater core sampling capacity before large-scale exploitation. At present, most of underwater core sampling is realized by adopting a drilling machine, a ship lays exploration sampling equipment at a designated position, the exploration sampling equipment drills holes to collect core samples after sinking to the designated position, therefore, the sinking position of the exploration sampling equipment needs to be accurately controlled in order to collect representative samples, but ocean currents can influence the exploration sampling equipment in the sinking process, so that the exploration sampling equipment deviates from the original falling point, the exploration sampling equipment in the prior art needs to establish a complex calculation model to simulate the flow speed and direction of ocean currents when solving the problem of ocean current influence, the realization is complex, the whole development cost of the equipment is increased, the equipment is inconvenient to apply and needs to be solved.
Disclosure of Invention
In view of the above, the present invention is directed to a deep sea visual exploration sampling device, which overcomes or at least partially solves the above-mentioned problems of the prior art.
In order to achieve the purpose, the invention provides a deep sea visual exploration sampling device, which comprises a drilling mechanism for driving a drilling tool to drill rocks for sampling, wherein the drilling mechanism is arranged in a cage-shaped frame body, the bottom of the cage-shaped frame body is provided with a supporting mechanism, the top of the cage-shaped frame body is provided with a connecting mechanism for connecting a cable, a pressure-resistant cabin body, a driving mechanism and a monitoring device are arranged in the cage-shaped frame body, a power supply device and a controller are arranged in the pressure-resistant cabin body, the driving mechanism comprises a plurality of propellers, each propeller is respectively used for driving the cage-shaped frame body to move towards different directions, the power supply device is electrically connected with an external power supply through an armored cable and used for supplying power to the driving mechanism, the controller and the drilling mechanism, the propellers, the monitoring device and the drilling mechanism are respectively connected with the controller through signals, and the controller is connected with an upper computer through optical fibers, the shell side of cage shape framework encircles and is provided with a plurality of pressure detection compensation mechanisms, pressure detection compensation mechanism links to each other with the controller signal for balanced cage shape framework internal and external pressure and the promotion direction of monitoring ocean current to the cage shape framework, the controller is used for keeping the dynamic balance of cage shape framework according to the promotion direction information control actuating mechanism that pressure detection compensation mechanism detected.
Furthermore, the monitoring device comprises an illuminating device and an underwater camera, and the underwater camera is in signal connection with the controller.
Further, pressure detection compensation mechanism includes the cavity, cavity one side is provided with the opening, be provided with the pellicle in the opening, it has the buffer medium to fill in the cavity, the buffer medium is the solution that concentration is higher than the sea water, still is provided with the concentration monitoring device who is used for monitoring the real-time concentration of buffer medium in the cavity, still is equipped with the pressure adjustment mechanism who adjusts the cavity internal pressure in the cage-shaped framework, concentration monitoring device, pressure adjustment mechanism link to each other with the controller signal respectively.
Further, the pressure adjusting mechanism comprises a supercharger and a reversing valve, the output end of the supercharger is communicated with the reversing valve, the reversing valve is communicated with one end of a hollow cavity through a pipeline, a piston is slidably arranged in the hollow cavity, the buffer medium and the gas are respectively filled at two ends of the piston, the supercharger is in signal connection with a controller, a pressure sensor is arranged at one end, filled with the gas, of the hollow cavity, and the pressure sensor is in signal connection with the controller.
Further, the controller includes:
the concentration monitoring module is used for acquiring concentration information acquired by each concentration monitoring device, identifying whether a concentration descending trend of the buffer medium in the hollow cavity occurs or not, marking the hollow cavity in which the buffer medium with the concentration descending trend exists, and monitoring whether the concentration descending trend of the marked hollow cavity is eliminated or not, wherein the marked hollow cavity is called a marked hollow cavity;
the pressure control module is used for acquiring information of the marked hollow cavity and controlling the supercharger to increase pressure to the marked hollow cavity so as to improve the internal pressure of the hollow cavity;
and the driving control module is used for acquiring the pressure information acquired by the pressure sensor in each hollow cavity, judging the pushing direction of the current ocean current to the cage-shaped frame by comparing the pressure information corresponding to each hollow cavity, and controlling the driving mechanism to drive the cage-shaped frame to move in the opposite direction.
Further, an attitude sensor is further arranged in the pressure-resistant cabin body, and the attitude sensor is connected with the controller through signals and used for monitoring attitude information of the cage-shaped frame body.
Further, the supporting mechanism comprises a plurality of telescopic supporting rods, each telescopic supporting rod comprises a first supporting rod and a second supporting rod, a sliding groove is formed in each first supporting rod, one end of each sliding groove is fixedly connected with the bottom of the cage-shaped frame body, each second supporting rod is slidably arranged in the corresponding sliding groove, a linear motor is arranged in each sliding groove, the linear motors are used for driving the second supporting rods to move in a reciprocating mode, and the linear motors are connected with the controller through signals.
Further, the controller further includes:
and the balance adjusting module is used for acquiring attitude information of the cage-shaped frame body, and driving the second support rod to move and adjust the length of each telescopic support rod by controlling the linear motor according to the attitude information of the cage-shaped frame body, so that the attitude of the cage-shaped frame body is kept balanced and stable.
Compared with the prior art, the invention has the beneficial effects that:
according to the deep sea visual exploration sampling device, the internal and external pressures of the cage-shaped frame body can be balanced through the plurality of pressure detection and compensation mechanisms arranged around the cage-shaped frame body in the laying and submerging processes, the influence and even damage of water pressure on the device are prevented, the pushing force of ocean current on the whole cage-shaped frame body is monitored, the controller can control the driving mechanism to drive the cage-shaped frame body to move adaptively according to monitoring information so as to keep dynamic balance, the device is prevented from deviating from a set position in the submerging process, when the device is submerged to the set position, sampling can be carried out through the drilling mechanism, and remote monitoring can be achieved in the whole sampling process through the monitoring device. The equipment can be accurately distributed to a designated position in a simpler and more convenient and low-cost mode, and the submarine exploration sampling task can be better completed under whole-course visualization.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is apparent that the drawings in the following description are only preferred embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of an overall structure of a deep-sea visual exploration sampling device according to an embodiment of the present invention.
Fig. 2 is a schematic cross-sectional structural diagram of a pressure detection compensation mechanism according to an embodiment of the present invention.
Fig. 3 is an enlarged view of a portion a of fig. 1 according to an embodiment of the present hairstyle.
In the figure, 1 drilling mechanism, 2 cage frame bodies, 3 supporting mechanisms, 301 first supporting rods, 302 second supporting rods, 303 sliding chutes, 304 linear motors, 4 connecting mechanisms, 5 pressure-resistant cabin bodies, 6 driving mechanisms, 7 pressure detection compensation mechanisms, 701 hollow cavities, 702 semipermeable membranes, 703 concentration monitoring devices, 704 pistons, 705 pressure sensors, 8 lighting equipment, 9 underwater cameras, 10 superchargers, 11 reversing valves and 12 pipelines.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, the illustrated embodiments are provided to illustrate the invention and not to limit the scope of the invention.
Referring to fig. 1, the present embodiment provides a deep sea visual exploration sampling device, the device includes a drilling mechanism 1 for driving a drilling tool to drill into rock for sampling, the drilling mechanism 1 is disposed in a cage-shaped frame 2, a supporting mechanism 3 is disposed at the bottom of the cage-shaped frame 2, and a connecting mechanism 4 for connecting a cable is disposed at the top of the cage-shaped frame 2. The pressure-resistant cabin 5, the driving mechanism 6 and the monitoring device are arranged in the cage-shaped frame body 2. The driving mechanism 6 comprises a plurality of propellers, and each propeller is used for driving the cage-shaped frame body 2 to move towards different directions. The pressure-resistant cabin body 5 is internally provided with a power supply device and a controller, the power supply device is electrically connected with an external power supply through an armored cable and is used for supplying power to other electric equipment in the driving mechanism 6, the controller, the drilling mechanism 1 and the cage-shaped frame body 2, and the external power supply can be a generator arranged on a ship. The propeller, the monitoring device and the drilling mechanism 1 are respectively connected with the controller through signals, so that the controller can issue control instructions to the controller or acquire operation data. The controller is connected with the upper computer through optical fibers in a signal mode, so that the controller can perform data interaction with the upper computer. The shell side of cage framework 2 encircles and is provided with a plurality of pressure detection compensation mechanism 7, pressure detection compensation mechanism 7 links to each other with the controller signal for balanced 2 internal and external pressures of cage framework and monitoring ocean current are to the holistic direction of promotion of cage framework 2, the controller is used for keeping the balance of cage framework 2 according to the direction of promotion information control actuating mechanism 6 that pressure compensation mechanism 7 detected.
In this embodiment, the equipment can be delivered to a designated sea area through a transport ship and deployed in the sea through a hoisting device. The device is easily influenced by ocean currents in the sinking process to enable the ocean currents to deviate from the original preset distribution position, the pressure detection compensation mechanism 7 on the periphery of the cage-shaped frame body 2 can monitor the pushing of the ocean currents to the cage-shaped frame body 2 in different directions in real time, the controller judges the influence of the ocean currents on the overall submergence direction of the cage-shaped frame body 2 according to the pushing direction information monitored by the pressure compensation mechanism 7 and controls the driving mechanism 6 to drive the cage-shaped frame body 2 to move, so that the cage-shaped frame body 2 can keep the preset submergence direction, and the device can accurately move to a specified exploration sampling area. When the equipment is submerged to a designated exploration sampling area and fixed, a worker can send a control instruction to the controller through the upper computer to control the drilling mechanism 1 to drive the drilling tool to drill the submarine rock for sampling. In the sampling process, the monitoring device can collect underwater operation videos in real time, and the underwater operation videos are transmitted to an upper computer through optical fibers in real time by the controller and are checked by workers, so that visual exploration sampling operation is realized.
Specifically, the monitoring device comprises an illuminating device 8 and an underwater camera 9, wherein the underwater camera 9 is connected with a controller through signals and is used for collecting underwater high-definition operation video pictures. The lighting device 8 is powered by a power supply device and is used for lighting to improve underwater visibility.
As an alternative embodiment, referring to fig. 2, the pressure detection compensation mechanism 7 includes a hollow cavity 701, and an opening is formed on one side of the outer surface of the hollow cavity 701, and a semi-permeable membrane 702 is disposed in the opening. The hollow cavity 710 is filled with a buffer medium, which is a solution with a concentration higher than that of seawater. The hollow cavity 701 is further provided with a concentration monitoring device 703 for monitoring the real-time concentration of the buffer medium, the cage-shaped frame body 2 is provided with a pressure regulating mechanism for regulating the pressure in the hollow cavity 701, and the concentration monitoring device 703 and the pressure regulating mechanism are respectively connected with the controller through signals.
Equipment is at dive in-process, and pellicle 702 separates sea water and buffer medium, buffer medium can play the effect of balanced cage shape framework 2 internal and external pressure to a certain extent, prevents to dive in-process and causes destruction at the pressure of increase gradually to equipment. Since the concentration of the buffer medium is higher than that of seawater, water gradually permeates into the buffer medium from the side of seawater having a lower concentration through the semi-permeable membrane 702, so that the concentration of the buffer medium starts to decrease. When the controller judges that the concentration of the buffer medium begins to decrease according to the concentration data of the buffer medium collected by the concentration monitoring device 703, the controller controls the pressure regulating mechanism to apply additional pressure to the hollow cavity 701, so as to prevent water from permeating through the semipermeable membrane 702 to one side of the buffer medium. The ocean current can generate driving force to the cage-shaped frame body 2 in the flowing process, the driving force received by a certain side face of the cage-shaped frame body 2 can be larger than that of other positions, which is equivalent to the effect that seawater in the direction receives extra force, the permeation speed can be accelerated, the osmotic pressure is increased, the pressure regulating mechanism needs to apply larger pressure to ensure that water cannot permeate to one side of the buffer medium, namely, the larger pressure needs to be applied to keep the osmotic pressure balance in the hollow cavity 701 on one side of the cage-shaped frame body 2 pushed by the ocean current, the controller can judge the acting direction of the driving force received by the cage-shaped frame body 2 by comparing the extra pressure required to be applied by each pressure detection and compensation mechanism 7, and the driving mechanism 6 is controlled to adjust the moving direction of the cage-shaped frame body 2 accordingly.
As an alternative embodiment, the pressure regulating mechanism comprises a pressure booster 10 and a reversing valve 11. The output end of the supercharger 10 is communicated with a reversing valve 11, and the reversing valve 11 is communicated with one end of a hollow cavity 701 through a pipeline 12. A piston 704 is slidably disposed in the hollow cavity 701. Both ends of the piston 704 are respectively filled with the buffer medium and the gas. The supercharger 10 is signally connected to a controller so that the controller can control its output. A pressure sensor 705 is arranged in the cavity between the piston 704 and the end of the hollow cavity 701 communicating with the directional valve 11, and the pressure sensor 705 is in signal communication with a controller for monitoring the pressure applied by the pressure regulating mechanism 10 to the corresponding hollow cavity 710.
Illustratively, when the controller detects that the concentration of the buffer medium in the hollow cavity 701 is falling according to the concentration monitoring device 703, the controller controls the pressure booster 10 to inject gas into the corresponding hollow cavity 701 through the reversing valve 11, so as to push the piston 704 to apply pressure. The controller may monitor the amount of pressure applied to the hollow cavity 701 via the pressure sensor 705.
Specifically, the controller comprises a concentration monitoring module, a pressure control module and a driving control module.
The concentration monitoring module is configured to obtain concentration information acquired by each concentration monitoring device 703, and identify whether a concentration decrease trend occurs in a buffer medium in the hollow cavity 701, where the concentration decrease trend may be determined by comparing whether a currently acquired buffer medium concentration value is lower than a last acquired buffer medium concentration value. The hollow cavities 701 in which the buffer media having a concentration-decreasing tendency are located are marked, and whether the concentration-decreasing tendency of the marked hollow cavities 701 is eliminated is monitored, and the marked hollow cavities are called marked hollow cavities. When the concentration-decreasing tendency of the hollow cavity is eliminated, the hollow cavity 701 is not marked.
The pressure control module is used for acquiring information of the marked hollow cavity and controlling the supercharger 10 to increase pressure to the marked hollow cavity so as to increase the pressure inside the hollow cavity. When the concentration monitoring module cancels the marking of the marked hollow cavity, the booster 10 is controlled to stop continuously applying pressure to the corresponding hollow cavity.
The driving control module is configured to obtain pressure information acquired by the pressure sensor 705 in each hollow cavity 701, determine a pushing direction of the current ocean current to the cage-shaped frame by comparing the pressure information corresponding to each hollow cavity, and control the driving mechanism 6 to drive the cage-shaped frame 2 to move in an opposite direction. Specifically, when the pressure information corresponding to a certain hollow cavity 701 is higher than the pressure information corresponding to other hollow cavities, it is indicated that the side surface of the cage-shaped frame 2 where the hollow cavity 701 is located is greatly pushed by the ocean current, the controller can judge the pushing direction of the ocean current to the cage-shaped frame 2 by comparing the magnitude of the pressure information corresponding to each hollow cavity 701, and control the driving mechanism 6 to drive the cage-shaped frame 2 to move adaptively according to the pushing direction of the ocean current to the cage-shaped frame 2, so as to prevent the cage-shaped frame 2 from being pushed away from the predetermined submergence direction by the ocean current.
As an optional implementation manner, an attitude sensor is further disposed in the pressure-resistant cabin 5, and the attitude sensor is connected with the controller through signals and is used for monitoring attitude information of the cage-shaped frame 2.
In addition, referring to fig. 3, the supporting mechanism 3 includes a plurality of telescopic supporting rods, each telescopic supporting rod includes a first supporting rod 301 and a second supporting rod 302, a sliding groove 303 is formed in the first supporting rod 301, the second supporting rod 302 is slidably arranged in the sliding groove 303, a linear motor 304 is further arranged in the sliding groove 303, and the linear motor 304 is used for driving the second supporting rod 302 to reciprocate in the sliding groove 303.
Meanwhile, the controller further comprises a balance adjusting module, the balance adjusting module is used for acquiring attitude information of the cage-shaped frame body 2, and the length of each telescopic supporting rod is adjusted by controlling the linear motor 304 to drive the second supporting rod 302 to move according to the attitude information of the cage-shaped frame body 2, so that the attitude of the cage-shaped frame body 2 is kept balanced and stable.
In the process of drilling rock sampling, the stability of equipment is very important, and if the equipment is not stably supported, the equipment can incline in the sampling process, so that a drilling mechanism cannot normally work or even be damaged, the ground of the sea bottom is uneven, the equipment cannot be stably fixed after submerging to the sea bottom, and potential safety hazards exist. The controller in this embodiment can judge whether the gesture of present cage frame 2 is the level stability according to attitude sensor's data to further judge that cage frame 2 is to which direction slope and specific inclination, thereby the linear electric motor 304 in the scalable bracing piece of control corresponding direction drives second branch 302 and moves along the length of the telescopic bracing piece of extension spout 303, makes cage frame 2 keep balanced stable.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. A deep sea visual exploration sampling device comprises a drilling mechanism for driving a drilling tool to drill into rocks for sampling, and is characterized in that the drilling mechanism is arranged in a cage-shaped frame body, a supporting mechanism is arranged at the bottom of the cage-shaped frame body, a connecting mechanism for connecting a mooring rope is arranged at the top of the cage-shaped frame body, a pressure-resistant cabin body, a driving mechanism and a monitoring device are arranged in the cage-shaped frame body, a power supply device and a controller are arranged in the pressure-resistant cabin body, the driving mechanism comprises a plurality of propellers, each propeller is respectively used for driving the cage-shaped frame body to move towards different directions, the power supply device is electrically connected with an external power supply through an armored cable and is used for supplying power to the driving mechanism, the controller and the drilling mechanism, the propellers, the monitoring device and the drilling mechanism are respectively connected with signals of the controller, and the controller is connected with signals of an upper computer through optical fibers, the shell side of cage shape framework encircles and is provided with a plurality of pressure detection compensation mechanisms, pressure detection compensation mechanism links to each other with the controller signal for balanced cage shape framework internal and external pressure and the promotion direction of monitoring ocean current to the cage shape framework, the controller is used for keeping the dynamic balance of cage shape framework according to the promotion direction information control actuating mechanism that pressure detection compensation mechanism detected.
2. The deep sea visual exploration sampling device of claim 1, wherein the monitoring device comprises an illuminating device and an underwater camera, and the underwater camera is in signal connection with the controller.
3. The deep sea visual exploration sampling device of claim 1, wherein the pressure detection compensation mechanism comprises a hollow cavity, an opening is formed in one side of the hollow cavity, a semi-permeable membrane is arranged in the opening, a buffer medium is filled in the hollow cavity, the buffer medium is a solution with a concentration higher than that of seawater, a concentration monitoring device for monitoring the real-time concentration of the buffer medium is further arranged in the hollow cavity, a pressure adjusting mechanism for adjusting the pressure in the hollow cavity is further arranged in the cage-shaped frame, and the concentration monitoring device and the pressure adjusting mechanism are respectively in signal connection with a controller.
4. The deep sea visual exploration sampling device according to claim 3, wherein the pressure adjusting mechanism comprises a pressure booster and a reversing valve, the output end of the pressure booster is communicated with the reversing valve, the reversing valve is communicated with one end of the hollow cavity through a pipeline, a piston is slidably arranged in the hollow cavity, the buffer medium and the gas are respectively filled at two ends of the piston, the pressure booster is in signal connection with the controller, a pressure sensor is arranged at one end of the hollow cavity, which is filled with the gas, and the pressure sensor is in signal connection with the controller.
5. The apparatus of claim 4, wherein the controller comprises:
the concentration monitoring module is used for acquiring concentration information acquired by each concentration monitoring device, identifying whether a concentration descending trend of the buffer medium in the hollow cavity occurs or not, marking the hollow cavity in which the buffer medium with the concentration descending trend exists, and monitoring whether the concentration descending trend of the marked hollow cavity is eliminated or not, wherein the marked hollow cavity is called a marked hollow cavity;
the pressure control module is used for acquiring information of the marked hollow cavity and controlling the supercharger to increase pressure to the marked hollow cavity so as to improve the internal pressure of the hollow cavity;
and the driving control module is used for acquiring the pressure information acquired by the pressure sensor in each hollow cavity, judging the pushing direction of the current ocean current to the cage-shaped frame by comparing the pressure information corresponding to each hollow cavity, and controlling the driving mechanism to drive the cage-shaped frame to move in the opposite direction.
6. The deep sea visual exploration sampling device according to claim 1, wherein an attitude sensor is further arranged in the pressure-resistant cabin body, and the attitude sensor is in signal connection with a controller and is used for monitoring attitude information of the cage-shaped frame body.
7. The deep sea visual exploration sampling device of claim 6, wherein the supporting mechanism comprises a plurality of telescopic supporting rods, each telescopic supporting rod comprises a first supporting rod and a second supporting rod, each first supporting rod is provided with a sliding groove, one end of each first supporting rod is fixedly connected with the bottom of the cage-shaped frame body, each second supporting rod is slidably arranged in the corresponding sliding groove, each sliding groove is provided with a linear motor, each linear motor is used for driving the corresponding second supporting rod to reciprocate, and each linear motor is in signal connection with the controller.
8. The apparatus of claim 7, wherein the controller further comprises:
and the balance adjusting module is used for acquiring attitude information of the cage-shaped frame body, and driving the second support rod to move and adjust the length of each telescopic support rod by controlling the linear motor according to the attitude information of the cage-shaped frame body, so that the attitude of the cage-shaped frame body is kept balanced and stable.
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