CN113884335A - Mobile sediment trapping apparatus and method - Google Patents
Mobile sediment trapping apparatus and method Download PDFInfo
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- CN113884335A CN113884335A CN202111188135.1A CN202111188135A CN113884335A CN 113884335 A CN113884335 A CN 113884335A CN 202111188135 A CN202111188135 A CN 202111188135A CN 113884335 A CN113884335 A CN 113884335A
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- 238000000034 method Methods 0.000 title abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 78
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- 230000003068 static effect Effects 0.000 claims description 11
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- 238000011084 recovery Methods 0.000 claims description 4
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 3
- 229910052802 copper Inorganic materials 0.000 claims description 3
- 239000010949 copper Substances 0.000 claims description 3
- 238000001926 trapping method Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
- 238000007789 sealing Methods 0.000 description 12
- 238000005070 sampling Methods 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 4
- 238000007667 floating Methods 0.000 description 4
- 239000002245 particle Substances 0.000 description 4
- 230000007935 neutral effect Effects 0.000 description 3
- 238000000151 deposition Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011982 device technology Methods 0.000 description 2
- 238000004134 energy conservation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 238000000429 assembly Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 239000000696 magnetic material Substances 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
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
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Abstract
The invention provides movable sediment capturing equipment and a method, wherein the movable sediment capturing equipment comprises a collecting mechanism and a moving mechanism, wherein the collecting mechanism is arranged on the moving mechanism; the collection mechanism is used for collecting sediments, and the movement mechanism can drive the collection mechanism to move. The acquisition mechanism comprises an eccentric funnel, a waterproof steering engine, a fixing piece, a bottle replacing assembly, a first support and a first support plate; the waterproof steering engine can drive the bottle changing assembly to rotate along the axis of the bottle changing assembly; the movement mechanism comprises a sealed pressure-resistant shell (16), an end cover (9), a first vertical driving module (12), a horizontal driving module (14), a second vertical driving module (15), a bracket (17), a sensor assembly (13), a control mechanism and a power supply; the invention has the function of accurately fixing the depth in the vertical direction, and can passively drift and actively navigate in the horizontal direction.
Description
Technical Field
The invention relates to the technical field of marine robots, in particular to movable sediment capturing equipment and a movable sediment capturing method, particularly relates to an underwater sediment capturing device and an underwater sediment capturing method, and particularly relates to a movable space-time sequence sediment capturing device and a movable space-time sequence sediment capturing method which can be used for self-adaptive attitude adjustment, energy conservation, rapidness, accurate depth setting and horizontal plane navigation control.
Background
The currently mainstream sediment traps mainly include fixed point sediment traps and Neutral Buoyancy Sediment Traps (NBST). The fixed point type sediment trap limits the underwater moving range due to the characteristic that a cable is tied, and determines the unicity of collecting samples; due to the appearance of the long and thin cylinder, the NBST can ensure a small flow area, and with the function of wave drifting, although sediment samples of a time sequence and a space sequence can be collected, the NBST cannot regulate and control sampling depth, cannot navigate autonomously on a horizontal plane, and cannot accurately collect a target area.
Patent document CN112461605A discloses a sequential submarine sediment trap with the same direction of ocean current and water flow channel and its using method, comprising a base, a trapping device and a turntable; the base is provided with a capturing device and a turntable, and the turntable is arranged on the base through a steering bearing; the turntable is provided with a capturing device and a steering device; the capturing device comprises a capturing pipe and a depositing pipe, the capturing pipe is hollow, a horizontal water inlet is formed in the front end of the capturing pipe, a vertically downward water outlet is formed in the rear end of the capturing pipe, and a filter screen which is internally tangent to the inner cavity of the capturing pipe and is obliquely arranged is arranged in the capturing pipe; the sediment pipe is arranged below the capture pipe, the filter screen intercepts substances which flow through the capture pipe and are larger than the aperture of the filter screen, and sediment is accumulated in the sediment pipe; the bottom end of the deposition tube is arranged on the turntable. The prior art has the defects that the cable is arranged, and the underwater movement range is limited. Patent document CN210487347U discloses a small-size deposit trapper, relates to marine instrument equipment trade field, including collar, support column, catch fill, sampling bottle conversion driving motor, installation baffle, carousel, sampling bottle, balanced supporting mechanism includes connecting block, motor, reduction gear, screw rod, screw slider, slip bracing piece, screw rod mount pad, fixed support bar, bottom plate. The prior art has the disadvantages that the prior art cannot move in the horizontal direction and regional sediment collection is difficult to realize.
Patent document CN205024659U discloses a balance device for a submersible oil catcher and a submersible oil catcher. The balancing device of the submersible oil catcher comprises a group of floating ball assemblies, each floating ball assembly comprises two floating balls, the two floating balls are connected with the submersible oil catcher through a connecting rope respectively, and the connecting ropes are arranged on two sides of a traction rope for drawing the submersible oil catcher relatively. But the solution still has cables, limiting its underwater range of motion.
Disclosure of Invention
In view of the deficiencies in the prior art, it is an object of the present invention to provide a mobile sediment trapping apparatus and method.
The invention provides movable sediment capturing equipment, which comprises a collecting mechanism and a moving mechanism, wherein the collecting mechanism is arranged on the moving mechanism;
the collection mechanism is used for collecting sediments, and the movement mechanism can drive the collection mechanism to move.
Preferably, the collecting mechanism comprises an eccentric funnel, a waterproof steering engine, a fixing piece, a bottle replacing assembly, a first support and a first support plate;
the fixing piece is fixedly connected with the eccentric funnel through a first connecting piece and is positioned at the bottom end of the eccentric funnel; the fixing piece is provided with a first through hole, and the position of the first through hole corresponds to the bottom end position of the eccentric funnel;
the bottle changing assembly is rotatably arranged at the bottom of the fixing plate; the waterproof steering engine is fixedly arranged on the fixed sheet; the first support is rotatably connected with the bottle changing assembly, and the first support plate is fixedly arranged at the bottom end of the first support; the fixing piece is fixedly connected with the first supporting plate through a second connecting piece.
The waterproof steering engine can drive the bottle changing assembly to rotate along the axis of the bottle changing assembly;
preferably, the number of the first connecting pieces is multiple, the number of the second connecting pieces is multiple, and the first connecting pieces and the second connecting pieces are both copper columns;
the first connecting pieces are distributed along the circumferential direction of the fixing piece, one end of each first connecting piece is fixedly connected with the top end of the fixing piece, and the other end of each first connecting piece is fixedly connected with the eccentric funnel;
a plurality of the second connecting piece is followed the circumference of first backup pad distributes, the one end of second connecting piece with first backup pad fastening connection, the other end of second connecting piece with the bottom fastening connection of stationary blade.
Preferably, the waterproof steering engine is connected with the fixing piece through a buckle.
Preferably, the bottle changing assembly comprises a collecting tray and a plurality of collecting bottles, the collecting tray is provided with a plurality of second through holes, the second through holes correspond to the collecting bottles with the same number respectively, and the collecting bottles are mounted at the bottom end of the collecting tray through the second through holes;
the collecting disc is rotatably arranged at the bottom of the fixing piece and is rotatably connected with the first support;
the waterproof steering engine can drive the acquisition disc to rotate along the axis of the acquisition disc;
when the collection disc rotates, the position of the second through hole can correspond to the position of the first through hole.
Preferably, the collecting disc is connected with the base through a ball;
preferably, the movement mechanism comprises a sealed pressure-resistant shell, an end cover, a first vertical driving module, a horizontal driving module, a second vertical driving module, a bracket, a sensor assembly, a control mechanism and a power supply;
the waterproof steering engine is electrically connected with the control mechanism;
the top end of the end cover is fixedly connected with the first supporting plate, and the end cover is detachably mounted at the top end of the sealed pressure-resistant shell; the sealed pressure-resistant shell is provided with a hollow cavity, the first vertical driving module, the bracket, the sensor assembly, the control mechanism and the power supply are all arranged in the hollow cavity, and the first vertical driving module, the sensor assembly, the control mechanism and the power supply are all arranged on the bracket;
the horizontal driving module and the second vertical driving module are both installed on the outer wall of the sealed pressure-resistant shell, and the second vertical driving module and the horizontal driving module are both arranged along the circumferential direction of the sealed pressure-resistant shell.
The sensor assembly comprises a depth sensor, an attitude sensor and a GPS sensor;
the control mechanism comprises a single chip microcomputer; the power source includes a battery.
Preferably, the sealing pressure-resistant device further comprises an emergency mechanism, wherein the emergency mechanism is installed outside the sealing pressure-resistant housing and is located at the bottom of the sealing pressure-resistant housing; the emergency mechanism is electrically connected with the control mechanism.
Preferably, the first vertical driving module comprises a pump, an oil bag and a pipeline, the bottom of the sealed pressure-resistant shell is provided with an opening, one end of the pipeline is connected with the opening, the other end of the pipeline is connected with one end of the pump, and the other end of the pump is connected with the oil bag;
the second vertical driving module comprises a first fan blade, a second support and a first waterproof motor, the first fan blade is connected with the first waterproof motor, and the first fan blade and the first waterproof motor are both arranged on the second support; the first waterproof motor is electrically connected with the control mechanism;
the horizontal driving module comprises a second fan blade, a third support and a second waterproof motor, and the second fan blade and the second waterproof motor are both arranged on the third support; the second waterproof motor is electrically connected with the control mechanism;
according to the movable sediment trapping method provided by the invention, the movable sediment trapping device is adopted, and the method comprises the following steps:
s1: the movable sediment trapping device moves in the depth direction in the water;
s2: starting the horizontal driving module, and keeping the first vertical driving module and the second vertical driving module still so as to adjust the movable sediment trapping device to a preset horizontal position;
s3: the first vertical driving module, the second vertical driving module and the horizontal driving module are kept static; the movable sediment trapping device passively drifts in a preset area under the action of water flow;
s4: after a preset time interval, the waterproof steering engine drives the collecting disc to rotate to replace the collecting bottle;
s5: repeating S1 to S4 until the acquisition work is finished;
s6: the second vertical driving module and the horizontal driving module are kept static, the first vertical driving module drains water, the water is drained from the oil bag, the weight of the movable sediment trapping device is reduced, and the movable sediment trapping device floats upwards;
s7: starting the horizontal driving module, and keeping the first vertical driving module and the second vertical driving module still; the movable deposit catching device is moved to a preset position for recovery.
Wherein the step S1 includes:
s1.1: the second vertical driving module and the horizontal driving module are kept static; the first vertical driving module pumps water from the outside of the movable sediment trapping device, and the water is pumped into the oil sac, so that the weight of the movable sediment trapping device is increased, and the movable sediment trapping device is submerged;
s1.2: after the movable sediment capturing device moves to the position near the preset depth range, the second vertical driving module is started, and the first vertical driving module and the horizontal driving module are kept static; the submergence depth of the movable sediment trapping device is precisely adjusted to a preset depth through the second vertical driving module;
the step S1 is not performed in sequence with the step S2 and is not performed simultaneously;
the step S6 is not performed in sequence and not at the same time as the step S7.
The depth direction is the vertical direction.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the first vertical driving module is matched with the sensor, so that the self-adaptive attitude adjustment of the movable sediment capturing equipment is realized.
2. The invention has the function of accurately setting the depth in the vertical direction.
3. The invention can passively drift in the horizontal direction and can actively navigate.
4. The invention has clear work division of each part, does not interfere with each other, and is convenient for debugging and maintenance; the invention has the characteristics of small volume, compact structure, easy carrying, assembly, distribution, recovery and the like.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic top view of the present invention;
FIG. 3 is an exploded view of the acquisition mechanism of the present invention;
FIG. 4 is an exploded view of the motion mechanism of the present invention;
fig. 5 is a diagram of the operation of one embodiment of the present invention.
The figures show that:
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The invention provides movable sediment capturing equipment, which comprises a collecting mechanism and a moving mechanism, wherein the collecting mechanism is arranged on the moving mechanism; the collection mechanism is used for collecting sediments. The motion mechanism can drive the collection mechanism to move, and specifically, the motion mechanism is used for completing the functions of depth fixing in the vertical direction and positioning in the horizontal direction.
As shown in fig. 1 to 3, the collecting mechanism comprises an eccentric funnel 1, a waterproof steering engine 2, a fixing piece 3, a bottle replacing assembly, a first support 6 and a first support plate 7;
the fixing plate 3 is fixedly connected with the eccentric funnel 1 through a first connecting piece, the fixing plate 3 is positioned at the bottom end of the eccentric funnel 1, a first through hole is formed in the fixing plate 3, and the position of the first through hole corresponds to the bottom end of the eccentric funnel 1; the bottle changing assembly is rotatably arranged at the bottom of the fixing plate 3; the waterproof steering engine 2 is tightly mounted on the fixing piece 3, and in a preferred embodiment, the waterproof steering engine 2 is connected with the fixing piece 3 through a buckle. The first support 6 is rotatably connected with the bottle changing assembly, and the first support plate 7 is fixedly arranged at the bottom end of the first support 6; the fixing piece 3 is fixedly connected with the first supporting plate 7 through a second connecting piece. The waterproof steering engine 2 can drive the bottle changing assembly to rotate along the axis of the bottle changing assembly;
in a preferred embodiment, a honeycomb filter screen is mounted at the top end of the eccentric funnel 1. In a preferred embodiment, the eccentric funnel 1 is a triangular funnel and the widest part of the top end of the eccentric funnel 1 has the same diameter as the fixing plate 3. By adopting the design of the eccentric funnel, the volume of the movable sediment trapping device can be reduced, and the relative stability of the movable sediment trapping device is increased.
The number of the first connecting pieces is multiple, the number of the second connecting pieces is multiple, as shown in fig. 3 and 4, in a preferred embodiment, the number of the first connecting pieces and the number of the second connecting pieces are 4, the first connecting pieces and the second connecting pieces are copper columns 8, the first connecting pieces are distributed along the circumferential direction of the fixing piece 3, one end of each first connecting piece is fixedly connected with the top end of the fixing piece 3, and the other end of each first connecting piece is fixedly connected with the eccentric funnel 1; a plurality of the second connecting piece is along the circumference of first backup pad 7 distributes, the one end of second connecting piece with first backup pad 7 fastening connection, the other end of second connecting piece with the bottom fastening connection of stationary blade 3.
The bottle changing assembly comprises a collecting tray 4 and a plurality of collecting bottles 5, a plurality of second through holes are formed in the collecting tray 4, the second through holes correspond to the collecting bottles 5 with the same number respectively, and the collecting bottles 5 are installed at the bottom end of the collecting tray 4 through the second through holes; the collecting tray 4 is rotatably arranged at the bottom of the fixing plate 3, and the collecting tray 4 is rotatably connected with the first support 6; the waterproof steering engine 2 can drive the collection disc 4 to rotate along the axis of the collection disc 4; when the collection tray 4 rotates, the position of the second through hole can correspond to the position of the first through hole. The sediment can pass from the outlet of the eccentric funnel 1, through the first through hole of the fixing plate 3 and the second through hole of the collecting disc 4 to the collecting bottle 5. In a preferred embodiment, the side wall of the second through hole is provided with a thread, and the collection disk 4 is connected with the collection bottle 5 through the thread;
the collecting tray 4 is rotatably arranged at the bottom of the fixing plate 3, the collecting tray 4 is rotatably connected with the first support 6, and in a preferred embodiment, in order to ensure the smoothness of the rotation of the collecting tray 4, the collecting tray 4 is connected with the first support 6 by using balls. In a preferred embodiment, the number of the collection trays 4 is 12. The waterproof steering engine 2 can drive the collection disc 4 to rotate along the axis of the collection disc 4;
as shown in fig. 4, the moving mechanism includes a hermetic pressure casing 16, an end cap 9, a first vertical driving module 12, a horizontal driving module 14, a second vertical driving module 15, a bracket 17, a sensor assembly 13, a control mechanism, and a power supply; the waterproof steering engine 2 is electrically connected with the control mechanism; the end cap 9 may be a disk, a hexagon, a pentahedron, a tetrahedron, or the like.
The top end of the end cover 9 is fastened with the first supporting plate 7, and the end cover 9 is detachably mounted on the top end of the pressure-proof sealing shell 16, in a preferred embodiment, the upper end cover 9 is tightly connected with the pressure-proof sealing shell 16 through a sealing ring, specifically, grooves are formed in the upper end cover 9 and the pressure-proof sealing shell 16, and the sealing ring is used at the groove to ensure the watertight performance of the pressure-proof sealing shell 16.
The sealed pressure-resistant shell 16 is provided with a hollow cavity, the first vertical driving module 12, the bracket 17, the sensor assembly 13, the control mechanism and the power supply are all arranged in the hollow cavity, and the first vertical driving module 12, the sensor assembly 13, the control mechanism and the power supply are all arranged on the bracket 17; the horizontal driving module 14 and the second vertical driving module 15 are both installed on the outer wall of the hermetic pressure casing 16.
In a preferred embodiment, the sensor assembly 13 includes a depth sensor, an attitude sensor, and a GPS sensor; the control mechanism comprises a single chip microcomputer 10; the power supply comprises a battery 11.
As shown in fig. 2, in a preferred embodiment, the number of the first vertical driving modules 12 is four. The first vertical driving module 12 comprises a pump 18, an oil bag 19 and a pipeline, wherein an opening is formed in the bottom of the sealed pressure-resistant shell 16, one end of the pipeline is connected with the opening, the other end of the pipeline is connected with one end of the pump 18, and the other end of the pump 18 is connected with the oil bag 19. One end of the pipe is tightly connected to the opening, and water can only flow through the opening, through the pipe, into the pump 18, but not from the opening directly into the receiving space. The first vertical driving module 12 achieves a rough depth setting by pumping water.
The number of the second vertical driving modules 15 is two, each second vertical driving module 15 includes a first fan blade 20, a second support 21 and a first waterproof motor, the first fan blade 20 is connected with the first waterproof motor, and the first fan blade 20 and the first waterproof motor are both mounted on the second support 21; the first waterproof motor is electrically connected with the control mechanism. The second vertical driving module 15 drives the first fan blade 20 to rotate positively or negatively through the first waterproof motor to realize a small-range vertical movement, and the second vertical driving module 15 is matched with the first vertical driving module 12 to realize accurate depth setting.
The number of the horizontal driving modules 14 is two, each horizontal driving module 14 comprises a second fan blade 22, a third support 23 and a second waterproof motor, and the second fan blades 22 are mounted on the third supports 23; the second waterproof motor is electrically connected with the control mechanism;
the second vertical driving module 15 and the horizontal driving module 14 are both arranged along the circumferential direction of the hermetic pressure casing 16, and the second vertical driving module 15 and the horizontal driving module 14 are sequentially arranged at intervals. Specifically, the two horizontal driving modules 14 are symmetrically arranged in the sealed pressure-resistant shell 16, the two second vertical driving modules 15 are symmetrically arranged in the sealed pressure-resistant shell 16, and the second vertical driving modules 15 and the horizontal driving modules 14 are sequentially arranged at intervals, and are spaced by 90 ° in pairs.
The movement mechanism further comprises a counterweight module disposed inside the hermetic pressure casing 16.
The movable sediment trapping apparatus further comprises an emergency mechanism (not shown) disposed outside the hermetic pressure casing 16 and installed at the bottom of the hermetic pressure casing 16; the emergency mechanism is electrically connected with the control mechanism. In a preferred embodiment, the pressure-proof sealing shell 16 is made of magnetic material, the emergency mechanism is an electromagnet, the electromagnet is adsorbed at the bottom of the outer side of the pressure-proof sealing shell 16, and the emergency mechanism is used for dealing with accidents such as water inflow of the pressure-proof sealing shell 16 or failure of the control mechanism, so that the sediment trap quickly floats out of the water surface. Specifically, when the sealed pressure-resistant casing 16 is filled with water or the control mechanism fails, the electromagnet loses magnetism and is separated from the sealed pressure-resistant casing 16, the weight of the movable sediment trapping device is reduced, the buoyancy is greater than the gravity, and the movable sediment trapping device can float out of the water.
The movable sediment trapping device has three operating modes, which are: a vertical movement working mode, a passive drifting working mode and an autonomous navigation working mode. When in the vertical movement operation mode, the horizontal driving module 14 is kept still, and the first vertical driving module 12 or the second vertical driving module 15 is operated to adjust the position of the movable sediment trapping apparatus in the vertical direction. When in the passive drifting operation mode, the first vertical driving module 12, the second vertical driving module 15 and the horizontal driving module 14 keep static, and the movable sediment trapping device passively drifts under the action of water flow in a preset area. When in the autonomous sailing mode of operation, the horizontal drive module 14 is activated and the first and second vertical drive modules 12, 15 remain stationary to adjust the position of the mobile sediment trapping apparatus in the horizontal direction.
It is worth noting that when the submerged inclination angle of the movable sediment trapping device exceeds the preset maximum inclination angle, one or more first vertical driving modules pump water to enable the movable sediment trapping device to return to the right state, namely the first vertical driving modules are used as buoyancy compensation modules, and therefore self-adaptive posture adjustment of the movable sediment trapping device is achieved.
When the movable sediment trapping device is in a vertical motion state, the first vertical driving module 12 changes the heavy buoyancy relation of the movable sediment trapping device through pumping and draining, submerges to the position near the preset depth range quickly and energy-efficiently, then the second vertical driving module 15 is started, the depth of the movable sediment trapping device is accurately adjusted in a small range, and then accurate depth setting is achieved. At this time, the horizontal driving module 14 remains still, and after the movable sediment trapping device is in an upright state and reaches the target depth, the movable sediment trapping device can passively drift along the water flow movement direction, and can autonomously sail according to a preset track by virtue of the horizontal driving module 14. When the movable sediment trapping apparatus passively drifts along the moving direction of the water flow, or autonomously navigates by means of the horizontal driving module 14 according to a preset trajectory, the first vertical driving module 12 and the second vertical driving module 15 remain stationary.
The invention also provides a movable sediment trapping method, which adopts the movable sediment trapping equipment and comprises the following steps:
s1: the movable sediment trapping device moves in the depth direction in the water;
s2: the horizontal driving module 14 is started, and the first vertical driving module 12 and the second vertical driving module 15 are kept still to adjust the movable sediment trapping device to a preset horizontal position;
s3: the first vertical driving module 12, the second vertical driving module 15 and the horizontal driving module 14 remain stationary; the movable sediment trapping device passively drifts in a preset area under the action of water flow;
s4: after a preset time interval, the waterproof steering engine 2 drives the collection disc 4 to rotate to replace the collection bottle;
s5: repeating the steps S1 to S4 until the acquisition work is finished;
s6: the second vertical driving module 15 and the horizontal driving module 14 are kept still, the first vertical driving module 12 is drained, and water is drained from the oil bag 19, namely, the weight of the movable sediment trapping device is reduced, and the movable sediment trapping device floats up;
s7: the horizontal driving module 14 is started, and the first vertical driving module 12 and the second vertical driving module 15 are kept still; the movable deposit catching device is moved to a preset position for recovery.
Wherein the step S1 includes:
s1.1: the second vertical driving module 15 and the horizontal driving module 14 are kept still; the first vertical drive module 12 draws water from outside the mobile sediment trapping apparatus, and water is drawn into the oil bladder 19, so that the weight of the mobile sediment trapping apparatus is increased and the mobile sediment trapping apparatus is submerged;
s1.2: after the movable sediment capture equipment moves to the position near the preset depth range, the second vertical driving module 15 is started, and the first vertical driving module 12 and the horizontal driving module 14 are kept static; the submergence depth of the movable sediment trapping device is precisely adjusted to a preset depth through the second vertical driving module 15;
the step S1 is not performed in sequence with the step S2 and is not performed simultaneously;
the step S6 is not performed in sequence and not at the same time as the step S7.
The depth direction is the vertical direction.
In a preferred example, in step S4, the waterproof steering engine 2 drives the collection tray 4 to rotate 360 °/n degrees, so as to replace collection bottles, where n is the number of collection bottles.
In one embodiment, the mobile sediment trapping apparatus is as shown in figure 5. The sediment collection device is placed into water from a water inlet point, enters a passive drifting working mode after reaching a first sampling point through a vertical movement working mode and an autonomous navigation working mode, collects sediment at the same time, and collects the sediment through a first sampling bottle. And after the first depth stays for 30 days, the second sampling point is moved to the second sampling point through a vertical movement working mode and an autonomous navigation working mode, then the passive drifting working mode is entered, and meanwhile, the second collection bottle is switched to collect sediments. And after the second depth stays for 30 days, the third sampling point is moved through a vertical movement working mode and an autonomous navigation working mode, then the passive drifting working mode is entered, and meanwhile, a third collection bottle is switched to collect sediments. And after the third depth stays for 30 days, the third sampling point is moved to a fourth sampling point through a vertical movement working mode and an autonomous navigation working mode, then the passive drifting working mode is entered, and meanwhile, a fourth collecting bottle is switched to collect sediments. And staying at the fourth depth for 60 days, and switching a fifth collecting bottle to collect sediments when reaching the preset time. After 60 days, the movable sediment capturing equipment reaches the water surface through a vertical movement working mode and an autonomous navigation working mode, and is recovered by an operator.
The invention designs movable sediment trapping equipment by combining an anchor sediment trapping device technology, a neutral buoyancy sediment trapping device technology and an Argo buoy technology. Besides, the open-frame type navigation device has the advantages of self-adaptive posture adjustment, energy conservation, high speed, accurate depth setting, horizontal plane navigation control and the like. The invention has the advantages of small volume, good operation performance and the like in the process of executing tasks. According to the invention, the vertical driving module and the horizontal driving module are cooperatively matched, so that the device has a self-adaptive posture adjustment function, can submerge or float to a preset depth quickly and accurately in an energy-saving manner, has the functions of passive drifting and active navigation, and realizes the collection of particles from two-dimensional to three-dimensional. The end cap 9 has a flat surface and can be used as a residence surface of the collecting mechanism. The invention has the functions of energy saving, accuracy, rapidness and precision in the vertical direction and can passively drift and actively navigate in the horizontal direction.
The underwater particle collecting device can be used for carrying out underwater particle collecting, underwater searching and rescuing and other tasks. The movable sediment capturing device has working modes of a vertical motion state, a passive drifting motion state and an autonomous navigation motion state, and has wide application prospects in the fields of ocean observation, detection and the like.
The invention is characterized in that Lagrange research on the settled particles can be completed, and the horizontal driving module provides guarantee for the idea; meanwhile, the double vertical driving module can realize accurate positioning in the vertical direction; and it has self-adaptation posture adjustment function, under its steady heart change's condition, still can keep vertical. The invention combines the anchor type sediment trap technology, the neutral buoyancy sediment trap technology and the Argo buoy technology, can solve the scientific appeal related to the Lagrangian view and has wide application prospect.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. The movable sediment capturing device is characterized by comprising a collecting mechanism and a moving mechanism, wherein the collecting mechanism is arranged on the moving mechanism;
the collection mechanism is used for collecting sediments, and the movement mechanism can drive the collection mechanism to move.
2. The mobile sediment trap of claim 1 wherein the collection mechanism comprises an eccentric funnel (1), a waterproof steering engine (2), a stationary plate (3), a bottle change assembly, a first support (6) and a first support plate (7);
the fixing piece (3) is fixedly connected with the eccentric funnel (1) through a first connecting piece, and the fixing piece (3) is positioned at the bottom end of the eccentric funnel (1); a first through hole is formed in the fixing piece (3), and the position of the first through hole corresponds to the bottom end of the eccentric funnel (1);
the bottle changing assembly is rotatably arranged at the bottom of the fixing plate (3); the waterproof steering engine (2) is fixedly arranged on the fixing piece (3); the first support (6) is rotatably connected with the bottle changing assembly, and the first support plate (7) is fixedly arranged at the bottom end of the first support (6); the fixing piece (3) is fixedly connected with the first supporting plate (7) through a second connecting piece;
the waterproof steering engine (2) can drive the bottle changing assembly to rotate along the axis of the bottle changing assembly.
3. The mobile sediment trapping apparatus according to claim 2 wherein the first connector is plural in number, the second connector is plural in number, and the first connector and the second connector are both copper pillars (8);
the first connecting pieces are distributed along the circumferential direction of the fixing piece (3), one end of each first connecting piece is fixedly connected with the top end of the fixing piece (3), and the other end of each first connecting piece is fixedly connected with the eccentric funnel (1);
a plurality of the second connecting piece is along the circumference distribution of first backup pad (7), the one end of second connecting piece with first backup pad (7) fastening connection, the other end of second connecting piece with the bottom fastening connection of stationary blade (3).
4. The movable sediment trapping apparatus according to claim 2, wherein the waterproof steering engine (2) is connected to the stationary plate (3) by a snap fit.
5. The mobile sediment trapping apparatus according to claim 2, wherein the bottle changing assembly comprises a collection tray (4) and a plurality of collection bottles (5), wherein the collection tray (4) is provided with a plurality of second through holes, which correspond to the same number of collection bottles (5), respectively, and the collection bottles (5) are mounted at the bottom end of the collection tray (4) through the second through holes;
the collecting disc (4) is rotatably arranged at the bottom of the fixing plate (3), and the collecting disc (4) is rotatably connected with the first support (6);
the waterproof steering engine (2) can drive the collection disc (4) to rotate along the axis of the collection disc (4);
when the collection disc (4) rotates, the position of the second through hole can correspond to the position of the first through hole.
6. Mobile sediment trapping device according to claim 5, characterized in that the collection tray (4) is ball-connected to the base (6).
7. The mobile sediment capture apparatus according to claim 2 wherein the motion mechanism comprises a sealed pressure resistant housing (16), an end cap (9), a first vertical drive module (12), a horizontal drive module (14), a second vertical drive module (15), a bracket (17), a sensor assembly (13), a control mechanism, and a power supply;
the waterproof steering engine (2) is electrically connected with the control mechanism;
the top end of the end cover (9) is fixedly connected with the first supporting plate (7), and the end cover (9) is detachably mounted at the top end of the sealed pressure-resistant shell (16); the sealed pressure-resistant shell (16) is provided with a hollow cavity, the first vertical driving module (12), the bracket (17), the sensor assembly (13), the control mechanism and the power supply are all arranged in the hollow cavity, and the first vertical driving module (12), the sensor assembly (13), the control mechanism and the power supply are all arranged on the bracket (17);
the horizontal driving module (14) and the second vertical driving module (15) are both installed on the outer wall of the sealed pressure-resistant shell (16), and the second vertical driving module (15) and the horizontal driving module (14) are both arranged along the circumferential direction of the sealed pressure-resistant shell (16);
the sensor assembly (13) comprises a depth sensor, an attitude sensor and a GPS sensor;
the control mechanism comprises a single chip microcomputer (10); the power supply comprises a battery (11).
8. The mobile sediment trap apparatus of claim 7 further comprising an emergency mechanism mounted outside the sealed pressure housing (16) at the bottom of the sealed pressure housing (16); the emergency mechanism is electrically connected with the control mechanism.
9. The mobile sediment trapping apparatus according to claim 7, wherein the first vertical driving module (12) comprises a pump (18), an oil bag (19), and a pipe, wherein the bottom of the hermetic pressure-resistant casing (16) is provided with an opening, one end of the pipe is connected with the opening, the other end of the pipe is connected with one end of the pump (18), and the other end of the pump (18) is connected with the oil bag (19);
the second vertical driving module (15) comprises a first fan blade (20), a second support (21) and a first waterproof motor, the first fan blade (20) is connected with the first waterproof motor, and the first fan blade (20) and the first waterproof motor are both arranged on the second support (21); the first waterproof motor is electrically connected with the control mechanism;
the horizontal driving module (14) comprises a second fan blade (22), a third support (23) and a second waterproof motor, and the second fan blade (22) and the second waterproof motor are both arranged on the third support (23); the second waterproof motor is electrically connected with the control mechanism.
10. A movable deposit trapping method characterized by employing the movable deposit trapping apparatus according to any one of claims 1 to 9, comprising the steps of:
s1: the movable sediment trapping device moves in the depth direction in the water;
s2: the horizontal driving module (14) is started, and the first vertical driving module (12) and the second vertical driving module (15) are kept static so as to adjust the movable sediment trapping device to a preset horizontal position;
s3: the first vertical driving module (12), the second vertical driving module (15) and the horizontal driving module (14) are kept static; the movable sediment trapping device passively drifts in a preset area under the action of water flow;
s4: after a preset time interval, the waterproof steering engine (2) drives the collection disc (4) to rotate to replace the collection bottle;
s5: repeating the steps S1 to S4 until the acquisition work is finished;
s6: the second vertical driving module (15) and the horizontal driving module (14) are kept still, the first vertical driving module (12) is drained, water is drained from the oil bag (19), the weight of the movable sediment trapping device is reduced, and the movable sediment trapping device floats up;
s7: the horizontal driving module (14) is started, and the first vertical driving module (12) and the second vertical driving module (15) are kept static; the movable sediment trapping device moves to a preset position for recovery;
wherein the step S1 includes:
s1.1: the second vertical driving module (15) and the horizontal driving module (14) are kept static; the first vertical driving module (12) pumps water from the outside of the movable sediment trapping device, and the water is pumped into the oil bag (19), so that the weight of the movable sediment trapping device is increased, and the movable sediment trapping device is submerged;
s1.2: after the movable sediment capture equipment moves to the position near the preset depth range, the second vertical driving module (15) is started, and the first vertical driving module (12) and the horizontal driving module (14) are kept static; -fine adjustment of the submergence depth of the mobile sediment trapping device to a preset depth by means of the second vertical drive module (15);
the step S1 is not performed in sequence with the step S2 and is not performed simultaneously;
the step S6 is not performed in sequence with the step S7 and is not performed simultaneously;
the depth direction is the vertical direction.
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| CN202111188135.1A CN113884335A (en) | 2021-10-12 | 2021-10-12 | Mobile sediment trapping apparatus and method |
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| CN202111188135.1A CN113884335A (en) | 2021-10-12 | 2021-10-12 | Mobile sediment trapping apparatus and method |
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Cited By (1)
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| CN118329519A (en) * | 2024-06-13 | 2024-07-12 | 自然资源部第二海洋研究所 | Multi-point sampling system and sampling method for self-floating deep sea sediment |
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Application publication date: 20220104 |