CN113670656B - Deep sea visual exploration sampling equipment - Google Patents
Deep sea visual exploration sampling equipment Download PDFInfo
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- CN113670656B CN113670656B CN202110995129.0A CN202110995129A CN113670656B CN 113670656 B CN113670656 B CN 113670656B CN 202110995129 A CN202110995129 A CN 202110995129A CN 113670656 B CN113670656 B CN 113670656B
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- 238000005070 sampling Methods 0.000 title claims abstract description 40
- 230000000007 visual effect Effects 0.000 title claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 84
- 238000005553 drilling Methods 0.000 claims abstract description 23
- 238000012806 monitoring device Methods 0.000 claims abstract description 23
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 238000012544 monitoring process Methods 0.000 claims abstract description 21
- 230000001105 regulatory effect Effects 0.000 claims description 14
- 230000001276 controlling effect Effects 0.000 claims description 9
- 239000012528 membrane Substances 0.000 claims description 7
- 239000013535 sea water Substances 0.000 claims description 7
- 239000011435 rock Substances 0.000 claims description 6
- 238000005286 illumination Methods 0.000 claims description 4
- 239000013307 optical fiber Substances 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000011161 development Methods 0.000 description 2
- 229910052500 inorganic mineral Inorganic materials 0.000 description 2
- 239000011707 mineral Substances 0.000 description 2
- 239000012466 permeate Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- 238000005065 mining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000011160 research Methods 0.000 description 1
- 238000012800 visualization 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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- Earth Drilling (AREA)
Abstract
The invention provides deep sea visual exploration sampling equipment 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 which are 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 and external pressure of the cage-shaped frame body and monitoring the pushing direction of ocean currents to the cage-shaped frame body, and the controller is used for controlling the driving mechanism to keep dynamic balance of the cage-shaped frame body according to pushing direction information detected by the pressure detection compensation mechanisms. The device can balance the internal and external pressure of the cage-shaped frame body through the pressure detection compensation mechanisms, monitor the overall driving force of ocean currents to the cage-shaped frame body, enable the controller to control the driving mechanism to drive the cage-shaped frame body to adaptively move according to the monitoring information so as to keep dynamic balance, prevent the device from deviating from a set position and be distributed to a designated position more accurately.
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 ocean area on the earth occupies about 71% of the earth's surface area, which contains abundant resources to be explored. In order to ascertain the type, distribution and reserves of resources, it is necessary to sample, observe and survey submarine resources, in particular submarine mineral resources, so that the exploration sampling equipment which can be used in deep sea is an essential key equipment for developing ocean scientific research, deep sea resource detection and submarine geological sampling. The mining area of over 16 ten thousand square kilometers is reserved in the sea area in China, is an indispensable potential mineral resource for economic development and national defense construction, but the early sampling analysis is needed before large-scale exploitation, so that the exploration sampling equipment needs to have the capability of sampling underwater rock cores. At present, most underwater core sampling is realized by adopting a drilling machine, a ship lays the exploration sampling equipment at a designated position, and drill holes are drilled after the exploration sampling equipment is sunk to the designated position to collect core samples, so that the sunk 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 sunk process to deviate from original landing points, and complicated calculation models are required to be established for simulating the flow speed and direction of ocean currents when the problem of ocean currents influence is solved by the exploration sampling equipment in the prior art, so that the realization is complicated, the overall development cost of the equipment is increased, the application is inconvenient, and the problem is to be solved.
Disclosure of Invention
In view of the above, it is an object of the present invention to provide a deep sea visual survey sampling apparatus that overcomes or at least partially solves the above-mentioned problems with the prior art.
In order to achieve the above object, the invention provides a deep sea visual exploration sampling device, which comprises a drilling mechanism for driving a drilling tool to drill rock for sampling, wherein the drilling mechanism is arranged in a cage-shaped frame, a supporting mechanism is arranged at the bottom of the cage-shaped frame, a connecting mechanism for connecting cables is arranged at the top of the cage-shaped frame, a pressure-resistant cabin, a driving mechanism and a monitoring device are arranged in the cage-shaped frame, a power supply device and a controller are arranged in the pressure-resistant cabin, the driving mechanism comprises a plurality of thrusters, each thruster is respectively used for driving the cage-shaped frame to move in different directions, the power supply device is electrically connected with an external power supply through an armored cable and is used for supplying power for the driving mechanism, the controller and the drilling mechanism, the thrusters, the monitoring device and the drilling mechanism are respectively connected with a controller signal, the controller is connected with an upper computer signal through optical fibers, a plurality of pressure detection compensating mechanisms are arranged on the side face of a shell of the cage-shaped frame in a surrounding mode, the pressure detection compensating mechanism is connected with the controller signal, and the pressure detection compensating mechanism is used for balancing the pressure inside the cage-shaped frame and the cage-shaped frame to push the dynamic direction of the cage-shaped frame to be controlled according to the pressure detection direction of the dynamic direction of the cage-shaped frame.
Further, the monitoring device comprises illumination equipment and an underwater camera, and the underwater camera is in signal connection with the controller.
Further, the pressure detection compensation mechanism comprises a hollow cavity, an opening is formed in one side of the hollow cavity, a semipermeable membrane is arranged in the opening, a buffer medium is filled in the hollow cavity, the buffer medium is a solution with 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 regulating mechanism for regulating the pressure in the hollow cavity is further arranged in the cage-shaped frame, and the concentration monitoring device and the pressure regulating mechanism are respectively connected with a controller signal.
Further, the pressure regulating 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, two ends of the piston are respectively filled with buffer medium and gas, the supercharger is connected with a controller signal, one end of the hollow cavity filled with gas is provided with a pressure sensor, and the pressure sensor is connected with the controller signal.
Further, the controller includes:
The concentration monitoring module is used for acquiring concentration information acquired by each concentration monitoring device, identifying whether a concentration decrease trend occurs to the buffer medium in the hollow cavity, marking the hollow cavity where the buffer medium with the concentration decrease trend is located, and monitoring whether the concentration decrease trend of the marked hollow cavity is eliminated, wherein the marked hollow cavity is called as a marked hollow cavity;
the pressure control module is used for acquiring information of the hollow cavity of the mark and controlling the pressurizer to increase pressure to the hollow cavity of the mark so as to improve the pressure in the hollow cavity;
And the driving control module is used for acquiring the pressure information acquired by the pressure sensors in the hollow cavities, judging the pushing direction of the current ocean current to the cage-shaped frame body by comparing the pressure information corresponding to the hollow cavities, and controlling the driving mechanism to drive the cage-shaped frame body 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 a controller through signals and is 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 first supporting rod is fixedly connected with the bottom of the cage-shaped frame body, each second supporting rod is slidably arranged in each sliding groove, a linear motor is arranged in each sliding groove, each linear motor is used for driving the corresponding second supporting rod to reciprocate, and each linear motor is connected with a controller signal.
Further, the controller further includes:
And the balance adjusting module is used for acquiring the cage-shaped frame body posture information, and driving the second supporting rods to move and adjust the length of each telescopic supporting rod through controlling the linear motor according to the cage-shaped frame body posture information, so that the cage-shaped frame body posture 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 equipment, the pressure inside and outside the cage-shaped frame body can be balanced through the pressure detection compensation mechanisms arranged around the cage-shaped frame body in the laying and submerging process, the influence and even damage of water pressure on the equipment are prevented, the driving force of ocean currents to the whole cage-shaped frame body is monitored, the controller can control the driving mechanism to drive the cage-shaped frame body to adaptively move according to monitoring information so as to keep dynamic balance, the equipment is prevented from deviating from a preset position in the submerging process, sampling can be carried out through the drilling mechanism when the equipment submerges to a designated position, and remote monitoring can be achieved through the monitoring device in the whole sampling process. The device can be accurately distributed to the designated position in a simpler and lower-cost mode, and the submarine exploration sampling task can be completed better under the whole-course visualization.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only preferred embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the overall structure of a deep sea visual exploration sampling apparatus according to an embodiment of the present invention.
Fig. 2 is a schematic cross-sectional structure of a pressure detection compensation mechanism according to an embodiment of the present invention.
Fig. 3 is an enlarged schematic view of a portion a of fig. 1 according to an embodiment of the present hair style.
In the figure, a drilling mechanism 1, a cage-shaped frame 2, a supporting mechanism 3, a first supporting rod 301, a second supporting rod 302, a sliding groove 303, a linear motor 304, a connecting mechanism 4, a pressure-resistant cabin 5, a driving mechanism 6, a pressure detection compensation mechanism 7, a hollow cavity 701, a semipermeable membrane 702, a concentration monitoring device 703, a piston 704, a pressure sensor 705, an illumination device 8, an underwater camera 9, a supercharger 10, a reversing valve 11 and a pipeline 12.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the illustrated embodiments are provided for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
Referring to fig. 1, the embodiment provides a deep sea visual exploration sampling device, the device comprises a drilling mechanism 1 for driving a drilling tool to drill rock for sampling, the drilling mechanism 1 is arranged in a cage-shaped frame body 2, a supporting mechanism 3 is arranged at the bottom of the cage-shaped frame body 2, and a connecting mechanism 4 for connecting cables is arranged at the top of the supporting mechanism. The cage-shaped frame body 2 is provided with a pressure-resistant cabin body 5, a driving mechanism 6 and a monitoring device. The driving mechanism 6 comprises a plurality of propellers, and each propeller is used for driving the cage-shaped frame 2 to move in 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 a controller through signals, so that the controller can send control instructions to the propeller or acquire operation data. The controller is in signal connection with the upper computer through the optical fiber, so that the controller can perform data interaction with the upper computer. The side face of the shell of the cage-shaped frame body 2 is provided with a plurality of pressure detection compensation mechanisms 7 in a surrounding mode, the pressure detection compensation mechanisms 7 are connected with a controller through signals and used for balancing the internal and external pressures of the cage-shaped frame body 2 and monitoring the whole pushing direction of ocean currents to the cage-shaped frame body 2, and the controller is used for controlling the driving mechanism 6 to keep balance of the cage-shaped frame body 2 according to pushing direction information detected by the pressure compensation mechanisms 7.
In this embodiment, the apparatus may be deployed by a transport vessel that is transported to a designated sea area, and the transport vessel deploys the apparatus into the sea by a hoisting apparatus. The device is easy to be influenced by ocean currents in the sinking process so that the device deviates from the original preset laying position, at the moment, the pressure detection compensation mechanism 7 around 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 whole 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 cage-shaped frame body 2 can accurately move to a designated 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 acquire underwater operation videos in real time, and the videos are transmitted to the upper computer for workers to check through the optical fiber in real time by the controller, so that visual exploration sampling operation is realized.
Specifically, the monitoring device comprises a lighting device 8 and an underwater camera 9, wherein the underwater camera 9 is in signal connection with a controller and is used for collecting underwater high-definition operation video pictures. The lighting device 8 is powered by a power supply means for illumination to enhance 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 provided on one side of an outer surface of the hollow cavity 701, and a semipermeable membrane 702 is provided in the opening. The hollow cavity 710 is filled with a buffer medium, which is a solution having a concentration higher than that of seawater. The hollow cavity 701 is also provided with a concentration monitoring device 703 for monitoring the real-time concentration of the buffer medium, the cage-shaped frame 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 a controller signal.
The semi-permeable membrane 702 separates seawater from a buffer medium in the submergence process of the device, and the buffer medium can play a role in balancing the internal and external pressures of the cage-shaped frame body 2 to a certain extent, so that the device is prevented from being damaged by the gradually increased pressure in the submergence process. Since the concentration of the buffer medium is higher than that of seawater, water gradually permeates into the buffer medium through the semipermeable membrane 702 from the side of seawater with lower concentration, so that the concentration of the buffer medium starts to decrease. When the controller judges that the concentration of the buffer medium starts to decrease according to the concentration data of the buffer medium collected by the concentration monitoring device 703, the pressure regulating mechanism is controlled to apply additional pressure to the hollow cavity 701, so that water is prevented from penetrating to one side of the buffer medium through the semipermeable membrane 702. The ocean current can generate driving force to the cage-shaped frame body 2 in the flowing process, so that the driving force born by a certain side surface of the cage-shaped frame body 2 can be larger than that of other positions, the seawater in the direction is subjected to additional force, the permeation speed is also accelerated, the permeation pressure is increased, the pressure regulating mechanism needs to exert larger pressure to ensure that water cannot permeate into one side of the buffer medium, namely, the hollow cavity 701 on one side of the cage-shaped frame body 2 pushed by the ocean current needs to exert larger pressure to keep the permeation pressure balance, and the controller can judge the driving force acting direction born by the cage-shaped frame body 2 by comparing the additional pressure exerted by the pressure detection compensating mechanisms 7 and accordingly controls the driving mechanism 6 to regulate the movement direction of the cage-shaped frame body 2.
As an alternative embodiment, the pressure regulating mechanism comprises a supercharger 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 the 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 filled with the buffer medium and gas, respectively. The supercharger 10 is in signal communication with a controller so that the controller can control its output. A pressure sensor 705 is disposed in the cavity between the piston 704 and the end of the hollow cavity 701 that communicates with the reversing valve 11, and the pressure sensor 705 is in signal connection with a controller for monitoring the pressure exerted by the pressure regulating mechanism 10 on the corresponding hollow cavity 710.
Illustratively, when the controller monitors that the buffer medium in the hollow cavity 701 has a concentration decreasing trend according to the concentration monitoring device 703, the controller controls the booster 10 to inject gas into the corresponding hollow cavity 701 through the reversing valve 11, thereby pushing the piston 704 to apply pressure. The controller may monitor the amount of pressure applied to the hollow cavity 701 by 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 collected by each concentration monitoring device 703, identify whether a concentration decrease trend occurs in the buffer medium in the hollow cavity 701, and determine whether the buffer medium exists by comparing whether the concentration value of the buffer medium collected currently is lower than the concentration value of the buffer medium collected last time. The hollow cavity 701 where the buffer medium having a concentration decrease trend is located is marked, and whether the concentration decrease trend of the marked hollow cavity 701 is eliminated is monitored, which is called a marked hollow cavity. When the concentration decrease trend of the hollow cavity is eliminated, the marking of the hollow cavity 701 is canceled.
The pressure control module is used for acquiring information of the hollow cavity in the mark, and controlling the supercharger 10 to increase pressure to the hollow cavity in the mark so as to improve the internal pressure of the hollow cavity. When the concentration monitoring module removes the marking of the marked hollow cavity, the control booster 10 stops continuing to apply pressure to the corresponding hollow cavity.
The driving control module is configured to obtain pressure information collected by the pressure sensors 705 in each hollow cavity 701, determine a pushing direction of the current ocean current to the cage frame by comparing the pressure information corresponding to each hollow cavity, and control the driving mechanism 6 to drive the cage 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 receives a larger driving force of ocean current, and the controller can determine the pushing direction of the ocean current to the cage-shaped frame 2 by comparing the magnitudes of the pressure information corresponding to each hollow cavity 701, and control the driving mechanism 6 to drive the cage-shaped frame 2 to adaptively move according to the pushing direction of the ocean current to the cage-shaped frame 2, so as to avoid the ocean current from pushing the cage-shaped frame 2 away from the preset submergence direction.
As an alternative embodiment, an attitude sensor is further provided in the pressure-resistant cabin 5, and the attitude sensor is in signal connection with a controller and is used for monitoring attitude information of the cage frame 2.
In addition, referring to fig. 3, the supporting mechanism 3 includes a plurality of telescopic supporting rods, the telescopic supporting rods include a first supporting rod 301 and a second supporting rod 302, a sliding groove 303 is provided on the first supporting rod 301, the second supporting rod 302 is slidably disposed in the sliding groove 303, meanwhile, a linear motor 304 is further provided 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 the posture information of the cage-shaped frame body 2, and according to the posture information of the cage-shaped frame body 2, the second supporting rods 302 are driven by the linear motor 304 to move and adjust the length of each telescopic supporting rod, so that the posture 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 in case the equipment does not have stable support, the equipment can incline in the sampling process, and the mechanism of leading to drilling can't normally work even damage, and the seabed ground is uneven, and the equipment can not steadily fix after submergence to the seabed, has the potential safety hazard. In this embodiment, the controller may determine whether the posture of the current cage frame 2 is horizontally stable according to the data of the posture sensor, and further determine which direction and a specific inclination angle the cage frame 2 is inclined to, so as to control the linear motor 304 in the telescopic support rod in the corresponding direction to drive the second support rod 302 to move along the chute 303, so as to extend the length of the telescopic support rod, and make the cage frame 2 keep balanced and stable.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (7)
1. The deep sea visual exploration sampling equipment comprises a drilling mechanism for driving a drilling tool to drill rock 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 cable 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 thrusters, each thruster is respectively used for driving the cage-shaped frame body to move in 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 thrusters, the monitoring device and the drilling mechanism are respectively connected with a controller signal, the controller is connected with an upper computer signal through an optical fiber, the side surface of the shell of the cage-shaped frame body is circumferentially provided with a plurality of pressure detection compensation mechanisms, the pressure detection compensation mechanisms are connected with a controller through signals and used for balancing the internal and external pressure of the cage-shaped frame body and monitoring the pushing direction of ocean currents to the cage-shaped frame body, 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, the pressure detection compensation mechanisms comprise a hollow cavity body, one side of the hollow cavity body is provided with an opening, a semipermeable membrane is arranged in the opening, a buffer medium is filled in the hollow cavity body, the buffer medium is a solution with the concentration higher than that of seawater, a concentration monitoring device used for monitoring the real-time concentration of the buffer medium is also arranged in the hollow cavity body, a pressure regulating mechanism used for regulating the pressure in the hollow cavity body is also arranged in the cage-shaped frame body, the concentration monitoring device and the pressure regulating mechanism are respectively connected with the controller through signals.
2. The deep sea visual survey sampling device of claim 1, wherein the monitoring means comprises an illumination device and an underwater camera, the underwater camera being in signal communication with the controller.
3. The deep sea visual exploration sampling equipment according to claim 1, wherein 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, two ends of the piston are respectively filled with the buffer medium and the gas, the supercharger is connected with a controller signal, one end of the hollow cavity filled with the gas is provided with a pressure sensor, and the pressure sensor is connected with the controller signal.
4. A deep sea visual survey sampling apparatus according to claim 3, wherein the controller comprises:
The concentration monitoring module is used for acquiring concentration information acquired by each concentration monitoring device, identifying whether a concentration decrease trend occurs to the buffer medium in the hollow cavity, marking the hollow cavity where the buffer medium with the concentration decrease trend is located, and monitoring whether the concentration decrease trend of the marked hollow cavity is eliminated, wherein the marked hollow cavity is called as a marked hollow cavity;
the pressure control module is used for acquiring information of the hollow cavity of the mark and controlling the pressurizer to increase pressure to the hollow cavity of the mark so as to improve the pressure in the hollow cavity;
And the driving control module is used for acquiring the pressure information acquired by the pressure sensors in the hollow cavities, judging the pushing direction of the current ocean current to the cage-shaped frame body by comparing the pressure information corresponding to the hollow cavities, and controlling the driving mechanism to drive the cage-shaped frame body to move in the opposite direction.
5. The deep sea visual exploration sampling device according to claim 1, wherein an attitude sensor is further arranged in the pressure-resistant cabin, and the attitude sensor is in signal connection with the controller and is used for monitoring the attitude information of the cage-shaped frame.
6. The deep sea visual exploration sampling equipment according to claim 5, 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, a sliding groove is formed in each first supporting rod, one end of each first supporting rod is fixedly connected with the bottom of the cage-shaped frame body, the second supporting rods are slidably arranged in the sliding grooves, a linear motor is arranged in each sliding groove and used for driving the corresponding second supporting rod to reciprocate, and the linear motor is connected with a controller through signals.
7. The deep sea visual survey sampling device of claim 6, wherein the controller further comprises:
And the balance adjusting module is used for acquiring the cage-shaped frame body posture information, and driving the second supporting rods to move and adjust the length of each telescopic supporting rod through controlling the linear motor according to the cage-shaped frame body posture information, so that the cage-shaped frame body posture is kept balanced and stable.
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| CN202110995129.0A CN113670656B (en) | 2021-08-27 | 2021-08-27 | Deep sea visual exploration sampling equipment |
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| CN202110995129.0A CN113670656B (en) | 2021-08-27 | 2021-08-27 | Deep sea visual exploration sampling equipment |
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