CN114459818B - Active liquid accurate compensation device and method for deep sea pressure maintaining sampler - Google Patents
Active liquid accurate compensation device and method for deep sea pressure maintaining sampler Download PDFInfo
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- 238000005070 sampling Methods 0.000 claims abstract description 27
- 230000009347 mechanical transmission Effects 0.000 claims abstract description 17
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- 230000009467 reduction Effects 0.000 claims abstract description 7
- 239000013535 sea water Substances 0.000 claims abstract description 7
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- 230000033001 locomotion Effects 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 8
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 238000011084 recovery Methods 0.000 claims description 7
- 238000011065 in-situ storage Methods 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
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- 238000009530 blood pressure measurement Methods 0.000 claims 1
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- 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
- G01N1/14—Suction devices, e.g. pumps; Ejector devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B3/00—Intensifiers or fluid-pressure converters, e.g. pressure exchangers; Conveying pressure from one fluid system to another, without contact between the fluids
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Abstract
The application relates to a pressure maintaining sampling pressure compensation technology, and aims to provide an active liquid accurate compensation device and method for a deep sea pressure maintaining sampler. The device comprises a mechanical transmission system, a hydraulic system and a control system; the mechanical transmission system comprises at least three groups of driving mechanisms, each driving mechanism consists of a motor, a reduction gearbox and a screw nut component, the hydraulic system comprises piston pressurizing cylinders, the number of which is matched with that of the screw nut component, and the pistons in the pressurizing cylinders have different radial sizes; one side of the piston is communicated with seawater, and the other side of the piston is connected with the cavity of the sampler through a pressure guiding pipe and is used for maintaining pressure; the control system comprises a singlechip and a pressure sensor. The application solves the problems of low compensation speed, low precision and poor safety of the pressure compensation mode of using the gas accumulator, can provide reference for the design of the pressure compensation device method of the deep sea pressure maintaining sampler, and is used for the design and deep research of the pressure compensation methods of various containers in different environments.
Description
Technical Field
The application relates to a pressure maintaining sampling pressure compensation technology, in particular to an active liquid accurate compensation device and method for a pressure maintaining sampler in a deep sea high pressure environment.
Background
In the process of recovering the sampler from the deep sea, the pressure in the sampler is reduced due to pressure difference change, temperature change, sample leakage and the like. Pressure changes can lead to inactivation and even damage of deep sea organisms due to excessive changes in the survival environment. Thus, the pressure-maintaining sampling technique is an indispensable technique in the subsea sampling technique.
In current sampling devices, passive or active pressure compensation techniques are typically used to pre-charge the gas accumulator with high pressure gas. However, extremely high deep sea ambient pressures can reduce the volume of usable fluid of the gas, resulting in slow compensation rates, difficult control of the process of pressure compensation, low accuracy and reduced safety.
Disclosure of Invention
The application aims to solve the technical problem of overcoming the defects in the prior art and providing an active liquid accurate compensation device and method for a deep sea pressure maintaining sampler.
In order to solve the technical problems, the application adopts the following solutions:
the active liquid accurate compensation device for the deep sea pressure maintaining sampler comprises a mechanical transmission system, a hydraulic system and a control system; the mechanical transmission system comprises at least three groups of driving mechanisms, wherein the driving mechanisms consist of a motor, a reduction gearbox and a screw-nut assembly and are used for converting the rotation motion of the motor into the axial displacement motion of the screw rod; the hydraulic system comprises a pressurizing cylinder with the number matched with that of the screw nut component; the piston is arranged in the cavity of each pressurizing cylinder, and the pistons in the pressurizing cylinders have different radial sizes; one end of the piston is provided with a piston rod which is connected with a corresponding screw rod; the piston rod is in clearance fit with the cylinder body of the pressurizing cylinder, and seawater can enter a cavity at one side of the piston rod; the other side of the piston is a closed cavity, and is connected with the cavity of the sampler through a pressure guiding pipe for maintaining pressure; the control system comprises a singlechip and a pressure sensor, wherein the pressure sensor is arranged on the cavity of the sampler and used for detecting the internal pressure of the sampler, and the singlechip is connected with the pressure sensor and each motor in the mechanical transmission system through a signal wire so as to realize control; the power supply is connected with each motor in the singlechip and the mechanical transmission system respectively through cables so as to realize power supply.
As the preferable scheme of the application, the mechanical transmission system, the hydraulic system and the singlechip are packaged in a pressure-keeping sealing cavity, and a watertight interface is arranged on the cavity; the cable connected with the power supply and the signal wire connected with the pressure sensor are respectively connected to the pressure-maintaining sealing cavity through watertight connectors.
As the preferable scheme of the application, the device also comprises a remote computer or a local start switch which is connected to the singlechip through a signal wire.
As a preferable mode of the application, the power supply is a storage battery arranged locally on the sampling device or a power supply device arranged on the mother ship.
As a preferable scheme of the application, the motor is provided with a power interface and a speed controller, wherein the power interface is connected with a power supply through a cable, and the speed controller is connected with a singlechip through a signal wire.
As a preferred embodiment of the present application, the number of the pressurizing cylinders is three, and radial dimensions of the pistons are 40mm, 30mm and 20mm respectively.
As a preferable scheme of the application, the measuring range of the pressure sensor is 0-120MPa, and the pressure measuring precision is 0.01MPa.
As a preferable scheme of the application, the singlechip is an STM32 singlechip.
As a preferable scheme of the application, the booster cylinder comprises a cylinder body, a cylinder cover and a piston; the piston is arranged in a cylinder body with openings at two ends, the end part of a piston rod of the piston is fixedly connected with the end part of a screw rod in the driving mechanism, and the cylinder cover is fixed at one end of the cylinder body opposite to the piston rod in a threaded manner; annular grooves are formed in the side walls of the piston and the cylinder cover, and O-shaped sealing rings are embedded in the grooves to realize sealing; the cylinder cover is fixedly provided with a pipe joint in a screw connection mode, and is provided with a through hole penetrating through the pipe joint and the cylinder cover; one end of the pressure guiding pipe is connected to the cavity of the sampler, and the other end is connected to the pipe joint and connected with the cylinder body through the through hole on the cylinder cover.
The application further provides a method for realizing active liquid accurate compensation of the deep sea pressure maintaining sampler based on the device, which comprises the following steps:
(1) Lowering the sampler to a deep sea sampling point with a designated water depth by using an underwater robot, and executing sampling operation according to a conventional flow; after sampling is completed, the cavity of the sampler and the cavity of the pressurizing cylinder at one side of the piston rod are filled with high-pressure seawater, so that the pressure at two sides of the piston is kept balanced;
(2) Before the sampler is recovered, a remote computer or a local start switch is utilized to activate the singlechip; the pressure sensor is used for measuring the in-situ pressure value of the sampling point, and the data is transmitted to the singlechip and recorded as the reference pressure P ref ；
(3) In the recovery process of the sampler, the pressure sensor continuously detects a real-time pressure value P of the sampler cavity and transmits the real-time pressure value P to the singlechip; the singlechip calculates the difference P-P between the real-time pressure value and the reference pressure ref And starting the pressurizing cylinders of different levels according to the difference values; when the difference is large, a booster cylinder with large radial size of the piston is preferably started to reduce the pressure difference as soon as possible; when the difference is small, a pressurizing cylinder with small radial size of the piston is preferably started to realize accurate adjustment;
(4) In the adjusting process, the singlechip performs PID control according to the difference value between the real-time pressure value and the reference pressure to obtain the motor rotating speed based on the current difference value; the selected motor drives the screw rod nut component to drive the corresponding piston to perform linear displacement movement, and drives high-pressure liquid at the other side of the piston to move into the cavity of the sampler through the pressure guiding pipe, so that the pressure lost due to the increase of the water depth in the cavity of the sampler is compensated;
(5) And (3) and (4) are repeated continuously in the process of recycling the sampler, so that the pressure in the cavity of the sampler is always kept near the reference pressure.
Compared with the prior art, the application has the beneficial effects that:
(1) The application provides an active liquid accurate compensation device and method for a deep sea pressure maintaining sampler, solves the problems of low compensation speed, low precision and poor safety in a pressure compensating mode by using a gas accumulator, and can provide a reference basis for the design of the method of the pressure compensation device for realizing the deep sea pressure maintaining sampler.
(2) The application provides an active liquid accurate pressure compensation method, which specifically comprises the steps of obtaining a pressure difference value, setting a multi-stage booster cylinder and setting the movement speed of a hydraulic rod; therefore, the method can be used for designing and deeply researching pressure compensation methods for various containers in different environments.
Drawings
FIG. 1 is a schematic diagram of the present application;
FIG. 2 is a mechanical block diagram of a single boost cylinder;
fig. 3 is a mechanical structure diagram of the multistage boost cylinder.
In the figure: 1, a remote computer; 2, a power supply; 3, a motor; 4, a reduction gearbox; 5 a screw-nut assembly; 6, a third-stage pressurizing cylinder; 7, a second-stage supercharging cylinder; 8, a first-stage pressurizing cylinder; 9 a sampler cavity; a 10 pressure sensor; 11 single chip microcomputer; 12, a pressure guiding pipe; 13 pipe joints; 14 cylinder covers; 15 a first O-ring seal; a 16 cylinder; a second O-ring seal 17; 18 a piston rod; 19 an annular groove; 20 booster cylinder cavities; 21 a first threaded hole; 22 second threaded holes.
Detailed Description
The following examples will provide those skilled in the art with a more complete understanding of the present application and are not intended to limit the application in any way.
The numbering of the components itself, e.g. "first", "second", etc., in the present application is used only to distinguish between the described objects and does not have any sequential or technical meaning. The term "coupled" as used herein includes both direct and indirect coupling (coupling), unless otherwise indicated. In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element in question must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.
In the present application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
In the application, the power supply, the control end computer, the motor, the reduction gearbox, the screw nut driving mechanism, the O-shaped sealing ring, the pressure sensor, the STM32 singlechip, the pressure guiding pipe and the pipe joint can be purchased from commercial products. The three-stage pressurizing cylinder and other parts can be processed according to actual requirements.
As shown in the figure, the active liquid accurate compensation device for the deep sea pressure maintaining sampler comprises a mechanical transmission system, a hydraulic system and a control system; wherein,
the mechanical transmission system comprises three groups of driving mechanisms, wherein the driving mechanisms consist of a motor 3, a reduction gearbox 4 and a screw-nut assembly 5 and are used for converting the rotation motion of the motor 3 into the axial displacement motion of a screw rod; the motor 11 has a power interface and a speed controller, the former is connected with the power supply 2 through a cable, and the latter is connected with the singlechip 11 through a signal wire.
The hydraulic system comprises a pressurizing cylinder with the number matched with that of the screw nut component 5; the pistons are provided in the chambers of the cylinders and have different radial dimensions in each cylinder, as shown in fig. 1, the radial dimensions of the pistons in the third stage 6, second stage 7 and first stage 8 cylinders decreasing in sequence. A piston rod 18 is arranged at one end of the piston, and the piston rod 18 is connected with a corresponding screw rod; the piston rod 18 is in clearance fit with the cylinder body 16 of the booster cylinder, and seawater can enter a cavity at one side of the piston rod 18; the other side of the piston is a closed chamber, and is connected with the sampler cavity 9 through a pressure guiding pipe for maintaining pressure. The booster cylinder comprises a cylinder body 16, a cylinder cover 14 and a piston; the piston is arranged in a cylinder body 16 with openings at two ends, the end part of the piston rod is fixedly connected with the end part of a screw rod in the driving mechanism, and the cylinder cover 14 is fixed at one end of the cylinder body 16 opposite to the piston rod 18 in a threaded manner; annular grooves are formed in the side walls of the piston and the cylinder cover 14, and O-shaped sealing rings are embedded in the grooves to realize sealing; the cylinder cover 14 is fixedly provided with a pipe joint 13 in a screw connection mode, and is provided with a through hole penetrating through the pipe joint 13 and the cylinder cover 14; one end of the pressure guiding pipe 12 is connected to the sampler cavity 9, and the other end is connected to the pipe joint 13 and is connected with the cylinder body 16 through a through hole on the cylinder cover 14.
The control system comprises a singlechip 11 and a pressure sensor 10, the pressure sensor 10 is arranged on the sampler cavity 9 and used for detecting the internal pressure of the sampler cavity, and the singlechip 11 is connected with the pressure sensor 10 and each motor 3 in the mechanical transmission system through a signal wire so as to realize control; the singlechip 11 is also connected to the remote computer 1 or a local start switch arranged on the sampling device through a signal wire.
The power supply 2 is respectively connected with the singlechip 11 and each motor 3 in the mechanical transmission system through cables to realize power supply. The power supply 1 may be a battery locally provided on the sampling device or a power supply device provided on the mother ship.
In order to adapt to the deep sea high-pressure environment, a mechanical transmission system, a hydraulic system and the singlechip 11 are packaged in a pressure-keeping sealing cavity, and a watertight interface is arranged on the cavity; the cable connected with the power supply 2 and the signal wire connected with the pressure sensor 10 are respectively connected to the pressure maintaining sealing cavity through watertight connectors. The remote computer 1 can be arranged on a mother ship and is connected to the pressure-maintaining sealing cavity through a submarine cable; the local starting switch can be directly embedded on the outer wall of the pressure-maintaining sealing cavity, and the opening and the closing are realized by touching of a manipulator of the underwater robot.
The method for realizing the active liquid accurate compensation of the deep sea pressure maintaining sampler by using the device comprises the following steps:
(1) Lowering the sampler to a deep sea sampling point with a designated water depth by using an underwater robot, and executing sampling operation according to a conventional flow; after sampling is completed, the pressure cylinder cavity on one side of the piston rod 18 and the sampler cavity 9 are filled with high-pressure seawater, so that the pressure on two sides of the piston is balanced;
(2) Before the sampler is recovered, the singlechip 11 is activated by using the remote computer 1 or a local start switch; measuring the in-situ pressure value at the sampling point using pressure sensor 10, transmitting the data toThe single chip microcomputer 11 records as the reference pressure P ref ；
(3) In the sampler recovery process, the pressure sensor 10 continuously detects the real-time pressure value P of the sampler cavity 9 and transmits the real-time pressure value P to the singlechip 11; the singlechip 11 calculates the difference P-P between the real-time pressure value and the reference pressure ref And starting the pressurizing cylinders of different levels according to the difference values; when the difference is large, a booster cylinder with large radial size of the piston is preferably started to reduce the pressure difference as soon as possible; when the difference is small, a pressurizing cylinder with small radial size of the piston is preferably started to realize accurate adjustment;
(4) In the adjusting process, the singlechip 11 performs PID control according to the difference value between the real-time pressure value and the reference pressure to obtain the motor rotating speed based on the current difference value; the selected motor 3 drives the screw-nut component 5 to drive the corresponding piston to perform linear displacement movement, and drives high-pressure liquid at the other side of the piston to move into the sampler cavity 9 through the pressure guiding pipe 12, so that the pressure lost due to the reduction of the water depth in the sampler cavity 9 is compensated;
(5) Steps (3) and (4) are repeated continuously during the recovery of the sampler, so that the pressure in the sampler chamber 9 is always maintained near the reference pressure.
More detailed examples of embodiments are described below:
as shown in fig. 1 to 3, the screw nut driving mechanism 5 comprises three sets of driving mechanisms, and the radial sizes of pistons in the third-stage booster cylinder 6, the second-stage booster cylinder 7 and the first-stage booster cylinder 8 are respectively 40mm, 30mm and 20mm. The measurement range of the pressure sensor 10 is 0-120MPa, and the measurement accuracy is 0.01MPa. The singlechip 11 can be STM32-F103 series model or above. Annular grooves are formed in the side walls of the cylinder cover and the piston, and a first O-shaped sealing ring 15 and a second O-shaped sealing ring 17 are respectively nested.
The active liquid accurate compensation method for the deep sea sampling tube comprises the following steps:
(1) The sampler is placed to a designated depth by using external equipment, high-pressure liquid is filled in the sampler cavity 9 and the booster cylinder cavity 20 at the moment, the in-situ pressure of the sampling depth is measured by using the pressure sensor 10, and the singlechip 11 records the in-situ pressure value as a reference pressure P ref The method comprises the steps of carrying out a first treatment on the surface of the After the sampling operation is completed, the recovery sampler is turned off and started.
(2) In the recovery process, the pressure sensor 10 is used for measuring the real-time pressure value P in the sampler cavity 9 in real time, the real-time pressure value P is transmitted into the singlechip 11, and the singlechip 11 calculates the difference (P-P) between the real-time pressure value and the reference pressure ref ). Starting the pressurizing cylinders with different levels according to different difference values; such as P-P ref The pressure is more than or equal to 5MPa, and a three-stage pressurizing cylinder 6 is started; for example 1MPa<P-P ref <5MPa, starting a secondary pressurizing cylinder 7; such as P-P ref And the pressure is less than or equal to 1MPa, and the first-stage booster cylinder 8 is started.
(3) PID control is carried out on the real-time pressure value and the reference pressure difference value by utilizing the singlechip 11, a motor rotating speed value n based on the current difference value is obtained through calculation, the motor 3 drives the screw nut component 5 to drive the piston rod 18 to carry out linear displacement movement, so that the piston rod 18 obtains a movement speed v towards the cavity 20;
(4) The high-pressure liquid in the pressurizing cylinder cavity 20 moves into the sampler cavity 9 through the pressure guiding pipe 12 by utilizing the movement speed v of the piston rod 18, and the loss pressure of the high-pressure liquid is compensated by pressing the high-pressure liquid into the sampler cavity 9;
(5) And (3) continuously repeating the steps (2) to (4) in the recycling process of the sampler cavity 9, so that the pressure in the sampler cavity 9 is maintained to be a value near the reference pressure.
Finally, it should be noted that the above list is only specific embodiments of the present application. Obviously, the application is not limited to the above embodiments, but many variations are possible. The accurate compensation of the pressure in the sampling tube under different environments can be realized by adjusting the number of the booster cylinders, adjusting the inner diameters of the booster cylinders at all levels, changing a control algorithm and the like. All modifications directly derived or suggested to one skilled in the art from the present disclosure should be considered as being within the scope of the present application.
Claims (10)
1. An active liquid accurate compensation device for a deep sea pressure maintaining sampler comprises a mechanical transmission system, a hydraulic system and a control system; wherein,
the mechanical transmission system comprises at least three groups of driving mechanisms, wherein the driving mechanisms consist of a motor, a reduction gearbox and a screw-nut assembly and are used for converting the rotation motion of the motor into the axial displacement motion of the screw rod;
the hydraulic system comprises a pressurizing cylinder with the number matched with that of the screw nut component; the piston is arranged in the cavity of each pressurizing cylinder, and the pistons in the pressurizing cylinders have different radial sizes; one end of the piston is provided with a piston rod which is connected with a corresponding screw rod; the piston rod is in clearance fit with the cylinder body of the pressurizing cylinder, and seawater can enter a cavity at one side of the piston rod; the other side of the piston is a closed cavity, and is connected with the cavity of the sampler through a pressure guiding pipe for maintaining pressure;
the control system comprises a singlechip and a pressure sensor, wherein the pressure sensor is arranged on the cavity of the sampler and used for detecting the internal pressure of the sampler, and the singlechip is connected with the pressure sensor and each motor in the mechanical transmission system through a signal wire so as to realize control;
the power supply is connected with the single chip microcomputer and each motor in the mechanical transmission system respectively through cables so as to realize power supply;
before the sampler is recovered from the deep sea sampling point, a remote computer or a local start switch is utilized to activate the singlechip; the pressure sensor is used for measuring the in-situ pressure value of the sampling point, and the data is transmitted to the singlechip and recorded as the reference pressure P ref The method comprises the steps of carrying out a first treatment on the surface of the In the recovery process of the sampler, the pressure sensor continuously detects a real-time pressure value P of the sampler cavity and transmits the real-time pressure value P to the singlechip; the singlechip calculates the difference P-P between the real-time pressure value and the reference pressure ref And starting the pressurizing cylinders of different levels according to the difference values; when the difference is large, firstly starting a booster cylinder with large radial size of the piston to reduce the pressure difference as soon as possible; and when the difference value is small, a pressure cylinder with small radial size of the piston is started to realize accurate adjustment.
2. The device according to claim 1, wherein the mechanical transmission system, the hydraulic system and the single-chip microcomputer are packaged in a pressure-keeping sealing cavity, and a watertight plug is arranged on the cavity of the pressure-keeping sealing cavity; the cable connected with the power supply and the signal wire connected with the pressure sensor are respectively connected to the pressure-maintaining sealing cavity through watertight connectors.
3. The device of claim 1, further comprising a remote computer or local start switch connected to the single-chip microcomputer via a signal line.
4. The device of claim 1, wherein the power source is a battery located locally to the sampling device or is a power supply located on a parent ship.
5. The device of claim 1, wherein the motor has a power interface and a speed controller, the former is connected to a power source through a cable, and the latter is connected to the single chip microcomputer through a signal line.
6. The device according to claim 1, wherein the number of the pressurizing cylinders is three, and the radial sizes of the pistons are 40mm, 30mm and 20mm respectively.
7. The device according to claim 1, wherein the pressure sensor has a measurement range of 0-120MPa and a pressure measurement accuracy of 0.01MPa.
8. The apparatus of claim 1, wherein the single-chip microcomputer is an STM32 single-chip microcomputer.
9. The apparatus of claim 1, wherein the booster cylinder comprises a cylinder block, a cylinder head, and a piston; the piston is arranged in a cylinder body with openings at two ends, the end part of a piston rod of the piston is fixedly connected with the end part of a screw rod in the driving mechanism, and the cylinder cover is fixed at one end of the cylinder body opposite to the piston rod in a threaded manner; annular grooves are formed in the side walls of the piston and the cylinder cover, and O-shaped sealing rings are embedded in the grooves to realize sealing; the cylinder cover is fixedly provided with a pipe joint in a screw connection mode, and is provided with a through hole penetrating through the pipe joint and the cylinder cover; one end of the pressure guiding pipe is connected to the cavity of the sampler, and the other end is connected to the pipe joint and connected with the cylinder body through the through hole on the cylinder cover.
10. Method for achieving an active liquid accurate compensation of a deep sea pressure maintaining sampler using the device according to any one of claims 1 to 9, characterized in that it comprises the following steps:
(1) Lowering the sampler to a deep sea sampling point with a designated water depth by using an underwater robot, and executing sampling operation according to a conventional flow; after sampling is completed, the cavity of the sampler and the cavity of the pressurizing cylinder at one side of the piston rod are filled with high-pressure seawater, so that the pressure at two sides of the piston is kept balanced;
(2) Before the sampler is recovered, a remote computer or a local start switch is utilized to activate the singlechip; the pressure sensor is used for measuring the in-situ pressure value of the sampling point, and the data is transmitted to the singlechip and recorded as the reference pressure P ref ；
(3) In the recovery process of the sampler, the pressure sensor continuously detects a real-time pressure value P of the sampler cavity and transmits the real-time pressure value P to the singlechip; the singlechip calculates the difference P-P between the real-time pressure value and the reference pressure ref And starting the pressurizing cylinders of different levels according to the difference values; when the difference is large, firstly starting a booster cylinder with large radial size of the piston to reduce the pressure difference as soon as possible; when the difference value is small, a pressurizing cylinder with small radial size of the piston is started to realize accurate adjustment;
(4) In the adjusting process, the singlechip performs PID control according to the difference value between the real-time pressure value and the reference pressure to obtain the motor rotating speed based on the current difference value; the selected motor drives the screw rod nut component to drive the corresponding piston to perform linear displacement movement, and drives high-pressure liquid at the other side of the piston to move into the cavity of the sampler through the pressure guiding pipe, so that the pressure lost due to the increase of the water depth in the cavity of the sampler is compensated;
(5) And (3) and (4) are repeated continuously in the process of recycling the sampler, so that the pressure in the cavity of the sampler is always kept near the reference pressure.
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