技术领域technical field
本发明涉及海底监测装置技术领域，更具体的说，涉及一种海底观测采集装置技术领域。The present invention relates to the technical field of seabed monitoring devices, more specifically, to the technical field of a seabed observation and acquisition device.
背景技术Background technique
随着世界各国对海洋资源的不断深入研究，对海洋的争夺重点从近海转向深海。深海无人潜航器是实现深海开发利用的重要海洋工程装备。它通过搭载各种电子设备、机械装置，快速地潜浮于深海复杂环境中，实现对海洋的勘探、科考、开发、作业等，其技术水平在一定程度上标志着国家海洋资源勘探开发甚至海洋权益维护能力。With the continuous and in-depth research of marine resources by countries all over the world, the focus of competition for the ocean has shifted from the offshore to the deep sea. The deep-sea unmanned submersible is an important marine engineering equipment to realize the development and utilization of the deep sea. Equipped with various electronic equipment and mechanical devices, it quickly dives and floats in the complex environment of the deep sea to realize ocean exploration, scientific research, development, and operation. Ability to maintain marine rights and interests.
对深海海底的观测，目前较为成熟的技术有沉积物捕获器、锚系潜标系统、载人潜水器(HOV)、缆控无人遥控潜水器(ROV)等，无人潜航器主要分为AUV(自主水下潜航器)和ROV(有缆遥控式潜水器)，这些设备对海底的水文、地质数据的采集有较好的效果，但都存在一些问题，例如沉积物捕获器，仅具有收集浮游沉积物的功能，锚系潜标系统安装布放过程复杂，设备回收成功率也较低，这两种设备也仅具有定点观测的能力；载人潜水器(HOV)与缆控无人遥控潜水器(ROV)单次设备运行船时时间长，成本较高，AUV通常具有良好的水动力外形设计，具备快速机动航行能力，一般用于水下快速巡游探测，不具备精细作业能力。ROV由于主要针对复杂作业使用，需要搭载机械臂等附体机构，从而难以保证其水动力外形，快速机动能力差，巡航能耗高，不满足机动大范围作业需求。For the observation of the deep seabed, currently relatively mature technologies include sediment traps, moored submersible buoy systems, manned submersibles (HOV), cable-controlled unmanned remote-controlled submersibles (ROV), etc. Unmanned submersibles are mainly divided into AUV (Autonomous Underwater Vehicle) and ROV (Cable Remotely Operated Vehicle), these devices have a good effect on the collection of hydrological and geological data on the seabed, but there are some problems, such as sediment traps, which only have The function of collecting floating sediments, the installation and deployment process of the mooring submersible buoy system is complicated, and the success rate of equipment recovery is also low. These two types of equipment only have the ability of fixed-point observation; Remotely operated vehicle (ROV) has a long operating time and high cost. AUV usually has a good hydrodynamic shape design and fast maneuvering navigation capabilities. It is generally used for rapid underwater cruise detection and does not have fine operation capabilities. Because ROV is mainly used for complex operations, it needs to be equipped with attachment mechanisms such as robotic arms, so it is difficult to ensure its hydrodynamic shape, poor fast maneuverability, high energy consumption for cruising, and does not meet the needs of large-scale maneuvering operations.
发明内容Contents of the invention
针对现有技术中沉积物捕获器仅具有收集浮游沉积物的功能，锚系潜标系统安装布放过程复杂，设备回收成功率也较低；载人潜水器(HOV)与缆控无人遥控潜水器(ROV)单次设备运行船时时间长，成本较高，不满足机动大范围作业需求的技术问题，本发明提供了一种长续航海底样品采集装置，能够利用水流运动发电，为自身提供长时间工作的续航能量，并能够利用履带运动机构进行自主移动，扩大观测范围，获得区域海底水文动态，将单点观测提升值面观测水平，底质样本舱与生物捕获舱可储藏海底的岩石、沉积物与生物样本，高分子浮体材料的制造的浮体机构与底座模块的充气浮力机构，可以实现采集装置的整体回收或者单独回收，既能节省研究成本也能保证在底座卡壳时回收数据，在海洋探测领域具有广泛的适应性。In view of the fact that the sediment catcher in the prior art only has the function of collecting floating sediment, the installation and deployment process of the mooring submersible buoy system is complicated, and the success rate of equipment recovery is also low; the manned submersible (HOV) and the cable control unmanned remote control The submersible (ROV) has a long operating time and high cost, and does not meet the technical problems of large-scale maneuvering operations. The present invention provides a long-endurance seabed sample collection device, which can generate electricity by using water flow to generate electricity for itself. Provide endurance energy for long-term work, and be able to use the crawler mechanism to move autonomously, expand the observation range, obtain regional seabed hydrological dynamics, and improve single-point observations to the surface observation level. The sediment sample cabin and biological capture cabin can store seabed water Rocks, sediments and biological samples, the floating body mechanism made of polymer floating body materials and the inflatable buoyancy mechanism of the base module can realize the overall recovery of the collection device or separate recovery, which can save research costs and ensure data recovery when the base is stuck , has wide adaptability in the field of ocean exploration.
本发明提供了一种长续航海底样品采集装置，包括运动机构、底座和浮力机构，所述的运动机构上设置底座，底座上设置浮力机构；底座和浮力机构之间设有声学声学释放器，底座和/或浮力机构上设有样品采集机构，样品采集机构包括机械手、底质样本舱和生物捕获舱；浮力机构上设有水流发电机构。The invention provides a long-endurance seabed sample collection device, comprising a motion mechanism, a base and a buoyancy mechanism, the motion mechanism is provided with a base, and the base is provided with a buoyancy mechanism; an acoustic releaser is provided between the base and the buoyancy mechanism, A sample collection mechanism is provided on the base and/or the buoyancy mechanism, and the sample collection mechanism includes a manipulator, a sediment sample cabin and a bio-capture cabin; the buoyancy mechanism is provided with a water flow power generation mechanism.
本发明中，浮力机构四周设有底质样本舱和传感器舱，底质样本舱外部设有浮体弹性盖板，传感器舱外部设有防拖侧板。In the present invention, a bottom sample cabin and a sensor cabin are arranged around the buoyancy mechanism, a buoyant elastic cover is arranged outside the bottom sample cabin, and an anti-drag side plate is arranged outside the sensor cabin.
本发明中，浮力机构上设有支撑架，支撑架上部设有万向节，万向节上设有水流发电机构。In the present invention, a support frame is provided on the buoyancy mechanism, a universal joint is provided on the upper part of the support frame, and a water current generating mechanism is provided on the universal joint.
本发明中，水流发电机构包括水流导轮、水轮叶片和叶片支撑轴，水流发电机构外部设有水流导轮，水流导轮内部一端设有叶片支撑轴，叶片支撑轴上发电线圈，发电线圈外部设有防水外壳，发电线圈内部设有电刷，电刷前端设有若干组水轮叶片。In the present invention, the water flow generating mechanism includes a water flow guide wheel, a water wheel blade and a blade support shaft. The water flow generating mechanism is provided with a water flow guide wheel, and one end of the water flow guide wheel is provided with a blade support shaft. The power generation coil on the blade support shaft and the power generation coil A waterproof casing is arranged on the outside, a brush is arranged inside the generating coil, and several groups of water wheel blades are arranged at the front end of the brush.
本发明中，水流发电机构通过牵引绳和电池电性连接。In the present invention, the water current generating mechanism is electrically connected to the battery through a traction rope.
本发明中，浮力机构上部设有海流计。In the present invention, a current meter is arranged on the upper part of the buoyancy mechanism.
本发明中，传感器舱内设有第一声学释放器和第二声学释放器。In the present invention, a first acoustic releaser and a second acoustic releaser are arranged in the sensor compartment.
本发明中，底座内部设有连接环、电池和固定环，固定环位于底座中部，固定环上固定有牵引绳，连接环固定在底座内部两侧，连接环分别第一声学释放器和第二声学释放器相适应设置。In the present invention, the inside of the base is provided with a connecting ring, a battery and a fixing ring, the fixing ring is located in the middle of the base, a traction rope is fixed on the fixing ring, the connecting rings are fixed on both sides of the base, and the connecting rings are respectively the first acoustic releaser and the second Two acoustic releasers are adapted to the setting.
本发明中，底座外部设有生物捕获舱，生物捕获舱外部设有弹性盖板，底座一侧设有机械手，生物捕获舱、机械手和底质样本舱构成样品采集机构。In the present invention, a bio-capture cabin is provided outside the base, an elastic cover is provided outside the bio-capture cabin, and a manipulator is provided on one side of the base.
本发明中，浮体弹性盖板和弹性盖板上都设有对开门电机。In the present invention, the elastic cover plate of the floating body and the elastic cover plate are provided with side-by-side door motors.
本发明中，机械手设有三组以上的旋转机构，至少有一组旋转机构与其他旋转机构旋转方向呈90°，机械手每个旋转机构都设有防水电机，机械手前端设有钳子，防水电机和电池电性连接，钳子中部设有螺杆，螺杆前面套接有横梁，横梁上设有定位销，定位销插入钳子两侧的定位槽中，螺杆带动定位销前后移动能够实现钳子开合，所述螺杆由防水电机控制，防水电机和电池电性连接；而且所述防水电机均设有无线发射模块，与无线发射模块连接的继电器控制电机开合。In the present invention, the manipulator is provided with more than three groups of rotating mechanisms, and at least one group of rotating mechanisms is 90° in rotation direction with other rotating mechanisms. Each rotating mechanism of the manipulator is provided with a waterproof motor, and the front end of the manipulator is provided with pliers, waterproof motor and battery power. There is a screw rod in the middle of the pliers, and a beam is sleeved in front of the screw rod, and a positioning pin is arranged on the beam. The waterproof motor is controlled, and the waterproof motor is electrically connected to the battery; and the waterproof motor is equipped with a wireless transmission module, and the relay connected to the wireless transmission module controls the opening and closing of the motor.
本发明中，底座四周设有漏沙孔和吊耳。In the present invention, sand leakage holes and hanging lugs are arranged around the base.
本发明中，运动机构为履带轮，履带轮背面设有气囊，气囊之间设有高压气瓶。In the present invention, the moving mechanism is a track wheel, and air bags are arranged on the back of the track wheels, and high-pressure gas cylinders are arranged between the air bags.
本发明中，履带轮的电机前面设有无线控制模块，无线控制模块包括无线接受模块、无线发射模块和继电器。In the present invention, a wireless control module is provided in front of the motor of the track wheel, and the wireless control module includes a wireless receiving module, a wireless transmitting module and a relay.
本发明中，履带轮和电池电性连接。In the present invention, the track wheels are electrically connected to the battery.
本发明的有益效果:Beneficial effects of the present invention:
本发明提供的一种长续航海底样品采集装置，能够在海底利用万向水流发电机构利用不同方向的海底水流进行发电，为采集装置内部的锂电池储能箱蓄能，以满足采集装置长时间的工作需要，使得采集装置活动范围扩大，观测时间延长，样品采集和运动行走都能获得足够的能量供应；也能够实现浮体机构与底座脱离，利用密度差和浮力机构既能实现单独回收也能实现整体回收，尽可能的降低了观测费用，也保证一旦底座因海底异物卡住，能够获得宝贵的观测数据，在海底探测领域具有广泛的适用性。The long-endurance seabed sample collection device provided by the present invention can use the universal water flow power generation mechanism to generate electricity by using the seabed water flow in different directions on the seabed, and store energy for the lithium battery energy storage box inside the collection device to meet the requirements of the collection device for a long time. According to the working needs of the collection device, the activity range of the collection device is expanded, the observation time is extended, and sufficient energy supply can be obtained for sample collection and motion walking; it can also realize the separation of the floating body mechanism from the base, and the use of density difference and buoyancy mechanism can realize separate recovery. It realizes the overall recovery, reduces the observation cost as much as possible, and also ensures that once the base is stuck due to foreign objects on the seabed, valuable observation data can be obtained, which has wide applicability in the field of seabed detection.
附图说明Description of drawings
图1为本发明的立体结构示意图一；Fig. 1 is a three-dimensional structural schematic diagram 1 of the present invention;
图2为本发明的立体结构示意图二；Fig. 2 is a three-dimensional structural schematic diagram II of the present invention;
图3为本发明的俯视结构示意图；Fig. 3 is the top view structure schematic diagram of the present invention;
图4为本发明的左视结构示意图；Fig. 4 is the left view structure diagram of the present invention;
图5为本发明不含盖板的结构示意图；Fig. 5 is a schematic structural view of the present invention without a cover plate;
图6为本发明的后视结构示意图；Fig. 6 is the rear view structure schematic diagram of the present invention;
图7为本发明浮力模块结构示意图。Fig. 7 is a structural schematic diagram of the buoyancy module of the present invention.
图1-7中，1-履带轮、2-底座、3-浮力机构、4-浮体弹性盖板、5-水流发电机构、6-防拖侧板、7-连接环、8-机械手、9-水轮叶片、10-支撑架、11-万向节、12-底质样本舱、13-牵引绳、14-声学释放器、15-漏沙孔、16-吊耳、17-生物捕获舱、18-弹性盖板、19-电池、20-固定环、21-海流计、22-气囊、23-第一声学释放器、24-第二声学释放器、25-叶片支撑轴。In Fig. 1-7, 1-track wheel, 2-base, 3-buoyancy mechanism, 4-floating body elastic cover, 5-water current generating mechanism, 6-anti-drag side plate, 7-connecting ring, 8-manipulator, 9 -Water wheel blade, 10-support frame, 11-universal joint, 12-substrate sample cabin, 13-traction rope, 14-acoustic release device, 15-sand leakage hole, 16-hanging lug, 17-biological capture cabin , 18-elastic cover plate, 19-battery, 20-fixing ring, 21-current gauge, 22-airbag, 23-first acoustic releaser, 24-second acoustic releaser, 25-blade support shaft.
具体实施方式Detailed ways
下面结合附图1-7和实施例，对本发明的具体实施方式作进一步详细描述，但本发明装置不限于下述实施例。The specific implementation of the present invention will be further described in detail below with reference to the accompanying drawings 1-7 and the embodiments, but the device of the present invention is not limited to the following embodiments.
在本发明中，为了便于描述，对本发明装置中，各部件的相对位置关系的描述是根据附图1的布图方式来进行描述的，如：上、下、左、右等位置关系是依据附图1的布图方向来确定的。In the present invention, for the convenience of description, the description of the relative positional relationship of each component in the device of the present invention is described according to the layout method of accompanying drawing 1, such as: the positional relationship of upper, lower, left and right is based on It is determined by the layout direction of accompanying drawing 1.
本发明中所使用的履带轮1、底座2、浮力机构3、防拖侧板6、连接环7、机械手8、水轮叶片9、支撑架10、万向节11、底质样本舱12、牵引绳13、声学释放器14、漏沙孔15、吊耳16、生物捕获舱17、电池19、固定环20、海流计21、气囊22、第一声学释放器23和第二声学释放器24都能通过普通市场途径采购或者定制获得，声学释放器14采用型号为R2K释放器，海流计21采用Aanderaa多普勒海流计4420，履带轮1采用恒顺机械的电动遥控履带底盘HS-02，履带底部安装有TELESKY五路寻迹避障传感器，机械手8选用开源6自由度机械手臂STM32。Used track wheel 1, base 2, buoyancy mechanism 3, anti-drag side plate 6, connecting ring 7, manipulator 8, water wheel blade 9, support frame 10, universal joint 11, bottom quality sample cabin 12, used among the present invention Traction rope 13, acoustic release device 14, sand leak hole 15, lifting lug 16, biological capture chamber 17, battery 19, fixing ring 20, current meter 21, air bag 22, first acoustic release device 23 and second acoustic release device 24 can be purchased or customized through ordinary market channels. The acoustic releaser 14 uses the model R2K releaser, the current meter 21 uses the Aanderaa Doppler current meter 4420, and the track wheel 1 uses the electric remote control track chassis HS-02 of Hengshun Machinery. , a TELESKY five-way tracking and obstacle avoidance sensor is installed on the bottom of the track, and the manipulator 8 uses an open-source 6-degree-of-freedom manipulator arm STM32.
本发明提供了一种长续航海底样品采集装置，包括运动机构、底座2和浮力机构3，所述的运动机构上设置底座2，底座2上设置浮力机构3；浮力机构3下设有声学释放器14，底座和/或浮力机构14上设有样品采集机构；浮力机构3上设有水流发电机构5。The invention provides a long-endurance seabed sample collection device, comprising a motion mechanism, a base 2 and a buoyancy mechanism 3, the motion mechanism is provided with a base 2, and a buoyancy mechanism 3 is arranged on the base 2; an acoustic release device is provided under the buoyancy mechanism 3 14, the base and/or the buoyancy mechanism 14 is provided with a sample collection mechanism; the buoyancy mechanism 3 is provided with a water current generating mechanism 5.
本发明中，浮力机构3四周设有底质样本舱12和传感器舱，底质样本舱12外部设有浮体弹性盖板4，浮体弹性盖板4里面设有弹簧，机械手8从外部按压时可以打开，放入采集样品松开时自动回弹封闭，传感器舱外部设有防拖侧板6，可以保护声学释放器14不被人工作业或者其他生物拖挂损坏。In the present invention, the buoyancy mechanism 3 is surrounded by a bottom quality sample cabin 12 and a sensor cabin, and the bottom quality sample cabin 12 is provided with a floating body elastic cover plate 4 outside, and the inside of the floating body elastic cover plate 4 is provided with a spring. When the manipulator 8 is pressed from the outside, it can Open, put in the collected sample and automatically rebound and close when it is released. The outside of the sensor cabin is provided with an anti-drag side plate 6, which can protect the acoustic releaser 14 from being damaged by manual work or other biological dragging.
本发明中，浮力机构3上设有支撑架10，支撑架10上部设有万向节11，万向节11上设有水流发电机构。In the present invention, a support frame 10 is provided on the buoyancy mechanism 3 , a universal joint 11 is provided on the upper part of the support frame 10 , and a water current generating mechanism is provided on the universal joint 11 .
本发明中，水流发电机构5包括水流导轮、水轮叶片9和叶片支撑轴25，水流发电机构5外部设有水流导轮，水流导轮内部一端设有叶片支撑轴25，叶片支撑轴25上发电线圈，发电线圈外部设有防水外壳，发电线圈内部设有电刷，电刷前端设有若干组水轮叶片9。In the present invention, the water flow generating mechanism 5 includes a water flow guide wheel, a water wheel blade 9 and a blade support shaft 25, the water flow generating mechanism 5 is provided with a water flow guide wheel, and one end of the water flow guide wheel is provided with a blade support shaft 25, and the blade support shaft 25 The upper generator coil is provided with a waterproof casing outside the generator coil, and a brush is provided inside the generator coil, and several groups of water wheel blades 9 are provided at the front end of the brush.
本发明中，水流发电机构5通过牵引绳13和电池19电性连接。In the present invention, the water current generating mechanism 5 is electrically connected to the battery 19 through the traction rope 13 .
本发明中，浮力机构3上部设有海流计21。In the present invention, a current gauge 21 is provided on the upper part of the buoyancy mechanism 3 .
本发明中，传感器舱内设有第一声学释放器23和第二声学释放器24。In the present invention, a first acoustic releaser 23 and a second acoustic releaser 24 are arranged in the sensor compartment.
本发明中，底座2内部设有连接环7、电池19和固定环20，固定环20位于底座2中部，固定环20上固定有牵引绳13，连接环7固定在底座2内部两侧，连接环7分别第一声学释放器23和第二声学释放器24相适应设置。In the present invention, the inside of the base 2 is provided with a connection ring 7, a battery 19 and a fixed ring 20, the fixed ring 20 is located in the middle of the base 2, and the traction rope 13 is fixed on the fixed ring 20, and the connection ring 7 is fixed on both sides of the base 2. The ring 7 is provided with a first acoustic releaser 23 and a second acoustic releaser 24 respectively.
本发明中，底座2外部设有生物捕获舱17，生物捕获舱17外部设有弹性盖板18，生物捕获舱17里面设置诱饵，弹性盖板18上设有海水孔，能够使得生物捕获舱17内外海水连通，保证捕获的生物成活，当有生物闯入时弹性盖板18闭合，将生物困在内。底座2一侧设有机械手8，生物捕获舱17、机械手8和底质样本舱12构成样品采集机构。In the present invention, the outside of the base 2 is provided with a biological capture cabin 17, the outside of the biological capture cabin 17 is provided with an elastic cover 18, the inside of the biological capture cabin 17 is provided with bait, and the elastic cover 18 is provided with seawater holes, so that the biological capture cabin 17 can The internal and external seawater is connected to ensure the survival of the captured organisms. When any organisms break in, the elastic cover 18 is closed to trap the organisms inside. One side of the base 2 is provided with a manipulator 8, and the biological capture cabin 17, the manipulator 8 and the sediment sample cabin 12 form a sample collection mechanism.
本发明中，浮体弹性盖板4和弹性盖板18上都设有对开门电机，使得操作人员能够遥控打开浮体弹性盖板4和弹性盖板18，浮体弹性盖板4后面的弹簧能够方便机械手8放置样品，弹性盖板18后面的诱捕机构能够将动物诱入封闭，比如型号2PKPC的双开门踏板式诱捕捕捉笼，或者市场上普通的捕捉宠物的捕捉笼都能适用。In the present invention, the floating body elastic cover plate 4 and the elastic cover plate 18 are all provided with side-by-side door motors, so that the operator can remotely open the floating body elastic cover plate 4 and the elastic cover plate 18, and the spring behind the floating body elastic cover plate 4 can facilitate manipulators. 8 places the sample, and the trapping mechanism behind the elastic cover plate 18 can lure the animal into the closure, such as the double-door pedal type trapping cage of model 2PKPC, or the trapping cage for catching pets in the market.
本发明中，机械手8设有三组以上的旋转机构，至少有一组旋转机构与其他旋转机构旋转方向呈90°，机械手8每个旋转机构都设有防水电机，机械手8前端设有钳子，防水电机和电池电性连接，钳子中部设有螺杆，螺杆前面套接有横梁，横梁上设有定位销，定位销插入钳子两侧的定位槽中，螺杆带动定位销前后移动能够实现钳子开合，所述螺杆由防水电机控制，防水电机和电池电性连接；而且所述防水电机均设有无线发射模块，与无线发射模块连接的继电器控制电机开合。In the present invention, the manipulator 8 is provided with more than three groups of rotating mechanisms, at least one group of rotating mechanisms is 90° in rotation direction with other rotating mechanisms, each rotating mechanism of the manipulator 8 is provided with a waterproof motor, and the front end of the manipulator 8 is provided with pliers and waterproof motors It is electrically connected with the battery. There is a screw in the middle of the pliers, and a beam is sleeved in front of the screw. The beam is provided with positioning pins. The positioning pins are inserted into the positioning grooves on both sides of the pliers. The screw drives the positioning pins to move back and forth to realize the opening and closing of the pliers. The screw is controlled by a waterproof motor, and the waterproof motor is electrically connected to the battery; and the waterproof motor is equipped with a wireless transmission module, and the relay connected to the wireless transmission module controls the opening and closing of the motor.
本发明中，底座2四周设有漏沙孔15和吊耳16。In the present invention, sand leakage holes 15 and lifting lugs 16 are provided around the base 2 .
本发明中，运动机构为履带轮1，履带轮1背面设有气囊22，气囊22之间设有高压气瓶。In the present invention, the moving mechanism is a track wheel 1, and the back of the track wheel 1 is provided with airbags 22, and a high-pressure gas cylinder is arranged between the airbags 22.
本发明中，履带轮1的电机前面设有控制模块，控制模块包括寻迹避障模块和继电器，寻迹避障模块采用TELESKY五路寻迹避障传感器。In the present invention, a control module is provided in front of the motor of the crawler wheel 1, and the control module includes a tracking and avoiding module and a relay, and the tracking and avoiding module adopts a TELESKY five-way tracking and avoiding sensor.
本发明中，履带轮1和电池19电性连接。In the present invention, the crawler wheel 1 is electrically connected to the battery 19 .
在适用本发明运动式深海沉底观测采集装置时，布放前，对观测采集装置进行装配，将声学释放器14安装在浮体固定环20上，随后将牵引绳13的两头分别系在声学释放器14的钩头与底座2的固定环20上。将浮力机构3放置在底座2上，底座2的两个连接环7穿过浮力机构3的连接环通孔，接着打开传感器固定扣，安装第一声学释放器23和第二声学释放器24，第一声学释放器23和第二声学释放器24的钩头卡住连接环7。而后在浮力机构3两侧安装底质样本舱12，并将海流计21安装到海流计仓内。将两块防拖侧板6装到浮力机构3上。When the mobile deep-sea sinking observation and collection device of the present invention is applied, the observation and collection device is assembled before deployment, the acoustic release device 14 is installed on the floating body fixing ring 20, and then the two ends of the traction rope 13 are respectively tied to the acoustic release device. On the hook head of the device 14 and the fixing ring 20 of the base 2. The buoyancy mechanism 3 is placed on the base 2, the two connection rings 7 of the base 2 pass through the connection ring through holes of the buoyancy mechanism 3, then the sensor fixing buckle is opened, and the first acoustic releaser 23 and the second acoustic releaser 24 are installed , the hook heads of the first acoustic releaser 23 and the second acoustic releaser 24 clamp the connecting ring 7 . Then the bottom quality sample cabin 12 is installed on both sides of the buoyancy mechanism 3, and the sea current meter 21 is installed in the sea current meter chamber. Two anti-drag side plates 6 are mounted on the buoyancy mechanism 3 .
在布放时，使用回头绳，穿过底座的布放吊耳16，由两到三人进行布放，观测采集装置进入水平面以下后，释放回头绳，让观测采集装置自由下沉。When deploying, use the return rope, pass the deployment lug 16 of the base, and deploy by two to three people. After the observation and acquisition device enters below the water level, release the return rope to allow the observation and acquisition device to sink freely.
观测采集装置到达海底后，海流计21、机械手8和样品收集机构开始工作，防拖侧板6的水流通孔可使水流进入传感器仓，机械手采集需要的海底岩石样品等放入底质样本舱12。并且防拖侧板6可避免流石、流沙以及水下中小型生物对声学释放器14的刮擦、碰撞等破坏。After the observation collection device arrives at the bottom of the sea, the sea current meter 21, the manipulator 8 and the sample collection mechanism start to work, the water flow hole of the anti-drag side plate 6 can make the water flow into the sensor chamber, and the seabed rock samples required by the manipulator collection are put into the bottom sample chamber 12. And the anti-drag side plate 6 can avoid damages such as drift stones, quicksand and underwater small and medium-sized organisms to the acoustic releaser 14 from scratching and colliding.
底座上的八个漏沙孔15，可以使观测采集装置在软底质海底座底时，观测采集装置上部有泥沙覆盖时，在水流的作用下，漏沙孔15上下两侧形成较好的水流交换，避免观测采集装置被泥沙掩埋覆盖。The eight sand leakage holes 15 on the base can make the observation and collection device at the bottom of the soft bottom sea base, and when the upper part of the observation and collection device is covered with silt, under the action of water flow, the upper and lower sides of the sand leakage holes 15 are well formed. The exchange of water flow prevents the observation and collection devices from being buried and covered by sediment.
水流发电机构5下面的水流导轮和万向节11能够使得水流发电机构5随时顺着海流方向，利用海水发电，洋流通过水流导轮迫使其旋转到顺水方向，洋流通过水轮叶片9带动其旋转，从而使得水轮叶片9带动电刷切割发电线圈获得电流，产生的电能传输至电池19，为观测采集装置储能，以便进行长时间的连续观测作业。The water flow guide wheel and the universal joint 11 under the water flow generating mechanism 5 can make the water flow generating mechanism 5 follow the direction of the ocean current at any time, and use seawater to generate electricity. Rotate, so that the water wheel blade 9 drives the brush to cut the power generation coil to obtain current, and the generated electric energy is transmitted to the battery 19 to store energy for the observation and acquisition device for long-term continuous observation operations.
底座2的履带轮1，可适应不同底质的海底，通过预先设定的观测运动程序，使观测采集装置在预定的时间与路线上进行观测，以获得一定区域范围内的海底数据。The crawler wheels 1 of the base 2 can adapt to different bottom quality seabeds. Through the preset observation movement program, the observation acquisition device can make observations at a predetermined time and route, so as to obtain seabed data within a certain area.
在回收时，作业人员在布放的工作船上通过声学设备发送指令至第一声学释放器23和第二声学释放器24，第一声学释放器23和第二声学释放器24的钩头释放，钩头与底座2的连接环7脱离，浮力机构3由于自身的较低的密度，开始上浮；与此同时，履带轮1下部的充气浮力机构开始工作，高压气瓶内的液氮向两侧的橡胶气囊22充气，橡胶气囊22体积增大，底座2的整体提升，开始上浮。When recovering, the operator sends instructions to the first acoustic releaser 23 and the second acoustic releaser 24 through the acoustic equipment on the deployed workboat, and the hook heads of the first acoustic releaser 23 and the second acoustic releaser 24 release, the hook head is separated from the connecting ring 7 of the base 2, and the buoyancy mechanism 3 starts to float due to its own low density; at the same time, the inflatable buoyancy mechanism at the bottom of the track wheel 1 starts to work, and the liquid nitrogen in the high-pressure gas cylinder flows to The rubber airbags 22 on both sides are inflated, and the volume of the rubber airbags 22 increases, and the whole of the base 2 is lifted and begins to float.
在上浮过程中，浮力机构3与底座2之间通过牵引绳13相连，浮至水面后，作业人员进行整体回收。During the floating process, the buoyancy mechanism 3 and the base 2 are connected by a traction rope 13, and after floating to the water surface, the operator performs overall recovery.
因海底地形复杂，情况多变，底座2在沉底观测与运动过程中，可能被某些异物卡住而不能上浮，在浮力机构3上浮后，底座2不能上浮，为回收珍贵的观测数据，此时需抛弃底座2。在发射上浮指令一定时间后，如观测采集装置仍未上浮，即可能底座不能脱离海底地面，此时发送声学指令至声学释放器14，声学释放器14钩头打开，牵引绳13脱离，浮力机构3与底座2分离，浮力机构3单独上浮，抛弃底座2。Due to the complex topography of the seabed and the changeable situation, the base 2 may be stuck by some foreign objects during the observation and movement of the bottom and cannot float up. After the buoyancy mechanism 3 floats up, the base 2 cannot float up. In order to recover precious observation data, At this time, the base 2 needs to be discarded. After launching the floating command for a certain period of time, if the observation and acquisition device has not floated up, the base may not be separated from the seabed ground. At this time, the acoustic command is sent to the acoustic release device 14, the hook head of the acoustic release device 14 is opened, the traction rope 13 is disengaged, and the buoyancy mechanism 3 is separated from the base 2, the buoyancy mechanism 3 floats up independently, and the base 2 is discarded.
本发明扩大了检测范围，能够长时间远距离对海底进行监测，而且能够根据运行情况对底座2和浮力机构3进行回收，节省监测开支，生物捕获舱、机械手和底质样本舱方便对海底生物和岩石样本的采集，获得足够多的海底数据，履带运动机构能够适应较为复杂的海底环境，方便运行。The invention expands the detection range, can monitor the sea bottom for a long time and at a long distance, and can recover the base 2 and the buoyancy mechanism 3 according to the operating conditions, saving monitoring expenses, and the biological capture cabin, manipulator and bottom material sample cabin are convenient for seabed organisms And the collection of rock samples, to obtain enough seabed data, the crawler motion mechanism can adapt to the more complex seabed environment, and is easy to operate.
如上所述，即可较好地实现本发明，上述的实施例仅仅是对本发明的优选实施方式进行描述，并非对本发明的范围进行限定，在不脱离本发明设计精神的前提下，本领域普通技术人员对本发明的技术方案作出的各种变形和改进，均应落入本发明确定的保护范围内。As mentioned above, the present invention can be better realized. The above-mentioned embodiment is only a description of the preferred implementation of the present invention, and does not limit the scope of the present invention. Various modifications and improvements made by technicians to the technical solution of the present invention shall fall within the scope of protection determined by the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910561337.2ACN110186706B (en) | 2019-06-26 | 2019-06-26 | A long-endurance seabed sample collection device |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910561337.2ACN110186706B (en) | 2019-06-26 | 2019-06-26 | A long-endurance seabed sample collection device |
| Publication Number | Publication Date |
|---|---|
| CN110186706Atrue CN110186706A (en) | 2019-08-30 |
| CN110186706B CN110186706B (en) | 2024-09-27 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910561337.2AActiveCN110186706B (en) | 2019-06-26 | 2019-06-26 | A long-endurance seabed sample collection device |
| Country | Link |
|---|---|
| CN (1) | CN110186706B (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113447315A (en)* | 2021-06-29 | 2021-09-28 | 江苏众利达自动化设备有限公司 | Water sampling detection device for environmental protection |
| CN116930443A (en)* | 2023-08-10 | 2023-10-24 | 自然资源部第一海洋研究所 | In-situ observation device for dissolved oxygen of solid-liquid interface of seabed |
| CN117211739A (en)* | 2023-09-22 | 2023-12-12 | 青岛海洋地质研究所 | Ocean natural gas hydrate normal position planting device |
| CN118961299A (en)* | 2024-10-17 | 2024-11-15 | 江苏省海洋水产研究所 | A seabed mud sampling robot for marine ecological monitoring |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201229258Y (en)* | 2008-07-25 | 2009-04-29 | 国家海洋技术中心 | Ocean sediment-water interface pollutant flux automatic sampling and monitoring device |
| DE102008015660A1 (en)* | 2008-03-25 | 2009-10-01 | Rös, Helmut | Turbo engine for use as e.g. hydraulic engine in hydro-electric power plant, has energy conversion unit drive-connected with set of movable wings, and actuating lever and control bar provided for controllable pivoting of wings |
| KR101316107B1 (en)* | 2012-09-10 | 2013-10-11 | 한국해양과학기술원 | Oceanographic observation device having rope trigger apparatus and retrieval apparatus |
| CN105716663A (en)* | 2016-04-11 | 2016-06-29 | 国家海洋局第二海洋研究所 | Long-term observing and biology trapping device for deep sea environment |
| CN105823655A (en)* | 2016-04-28 | 2016-08-03 | 中国海洋大学 | Cable-less type deepwater water-collecting device |
| CN106768076A (en)* | 2017-02-16 | 2017-05-31 | 青岛海洋地质研究所 | Deep-sea complete section face fluid acquisition and environment monitoring device |
| CN206644966U (en)* | 2017-03-07 | 2017-11-17 | 青岛科技大学 | The multi-functional deadweight anti-trawlnet preventing seabed base of sunk type |
| CN107585273A (en)* | 2017-08-08 | 2018-01-16 | 邬冯值 | underwater salvage robot |
| CN108267126A (en)* | 2018-01-22 | 2018-07-10 | 中国海洋大学 | Wave is to the observation system and method for bottom sediment settling flux amount in deep-sea |
| CN108263579A (en)* | 2016-12-30 | 2018-07-10 | 中国科学院沈阳自动化研究所 | A kind of underwater unpowered lifting carrying platform |
| CN108759935A (en)* | 2018-08-16 | 2018-11-06 | 天津市海为科技发展有限公司 | Distributed acoustics observation system based on ocean current power generation |
| CN108955764A (en)* | 2018-06-14 | 2018-12-07 | 中国海洋大学 | Deep-sea Geological Environment Engineering long-term observation system and method in real time in situ |
| CN109186559A (en)* | 2018-06-14 | 2019-01-11 | 中国海洋大学 | Deep sea seat bottom formula Geological Environment Engineering original position long-term observation device and method |
| CN109178214A (en)* | 2018-09-20 | 2019-01-11 | 上海大学 | A kind of intelligence underwater observation platform |
| CN208760841U (en)* | 2018-08-29 | 2019-04-19 | 自然资源部第二海洋研究所 | A remote-operated swell-powered ocean observation buoy |
| CN109795653A (en)* | 2019-03-28 | 2019-05-24 | 浙江大学 | An Adaptive Subsea Lander Based on Throwable Footpads |
| CN110194257A (en)* | 2019-06-26 | 2019-09-03 | 自然资源部第二海洋研究所 | A kind of recyclable seabed monitoring device |
| CN110282103A (en)* | 2019-06-26 | 2019-09-27 | 自然资源部第二海洋研究所 | A kind of surveying device power device |
| CN210310827U (en)* | 2019-06-26 | 2020-04-14 | 自然资源部第二海洋研究所 | Seabed driving and moving device |
| CN210555523U (en)* | 2019-06-26 | 2020-05-19 | 自然资源部第二海洋研究所 | A long-endurance recyclable submarine monitoring platform |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102008015660A1 (en)* | 2008-03-25 | 2009-10-01 | Rös, Helmut | Turbo engine for use as e.g. hydraulic engine in hydro-electric power plant, has energy conversion unit drive-connected with set of movable wings, and actuating lever and control bar provided for controllable pivoting of wings |
| CN201229258Y (en)* | 2008-07-25 | 2009-04-29 | 国家海洋技术中心 | Ocean sediment-water interface pollutant flux automatic sampling and monitoring device |
| KR101316107B1 (en)* | 2012-09-10 | 2013-10-11 | 한국해양과학기술원 | Oceanographic observation device having rope trigger apparatus and retrieval apparatus |
| CN105716663A (en)* | 2016-04-11 | 2016-06-29 | 国家海洋局第二海洋研究所 | Long-term observing and biology trapping device for deep sea environment |
| CN105823655A (en)* | 2016-04-28 | 2016-08-03 | 中国海洋大学 | Cable-less type deepwater water-collecting device |
| CN108263579A (en)* | 2016-12-30 | 2018-07-10 | 中国科学院沈阳自动化研究所 | A kind of underwater unpowered lifting carrying platform |
| CN106768076A (en)* | 2017-02-16 | 2017-05-31 | 青岛海洋地质研究所 | Deep-sea complete section face fluid acquisition and environment monitoring device |
| CN206644966U (en)* | 2017-03-07 | 2017-11-17 | 青岛科技大学 | The multi-functional deadweight anti-trawlnet preventing seabed base of sunk type |
| CN107585273A (en)* | 2017-08-08 | 2018-01-16 | 邬冯值 | underwater salvage robot |
| CN108267126A (en)* | 2018-01-22 | 2018-07-10 | 中国海洋大学 | Wave is to the observation system and method for bottom sediment settling flux amount in deep-sea |
| CN109186559A (en)* | 2018-06-14 | 2019-01-11 | 中国海洋大学 | Deep sea seat bottom formula Geological Environment Engineering original position long-term observation device and method |
| CN108955764A (en)* | 2018-06-14 | 2018-12-07 | 中国海洋大学 | Deep-sea Geological Environment Engineering long-term observation system and method in real time in situ |
| CN108759935A (en)* | 2018-08-16 | 2018-11-06 | 天津市海为科技发展有限公司 | Distributed acoustics observation system based on ocean current power generation |
| CN208760841U (en)* | 2018-08-29 | 2019-04-19 | 自然资源部第二海洋研究所 | A remote-operated swell-powered ocean observation buoy |
| CN109178214A (en)* | 2018-09-20 | 2019-01-11 | 上海大学 | A kind of intelligence underwater observation platform |
| CN109795653A (en)* | 2019-03-28 | 2019-05-24 | 浙江大学 | An Adaptive Subsea Lander Based on Throwable Footpads |
| CN110194257A (en)* | 2019-06-26 | 2019-09-03 | 自然资源部第二海洋研究所 | A kind of recyclable seabed monitoring device |
| CN110282103A (en)* | 2019-06-26 | 2019-09-27 | 自然资源部第二海洋研究所 | A kind of surveying device power device |
| CN210310827U (en)* | 2019-06-26 | 2020-04-14 | 自然资源部第二海洋研究所 | Seabed driving and moving device |
| CN210555523U (en)* | 2019-06-26 | 2020-05-19 | 自然资源部第二海洋研究所 | A long-endurance recyclable submarine monitoring platform |
| Title |
|---|
| BILICI C 等: "Performance of a novel sediment sampler as an add-on unit for portable free-fall penetrometers: Combining in situ geotechnical testing with sediment sampling", LIMNOLOGY AND OCEANOGRAPHY-METHOD, vol. 17, no. 2, 1 March 2019 (2019-03-01), pages 163 - 176* |
| LUNNE T 等: "Review of long seabed samplers and criteria for new sampler design", MARINE GEOLOGY, vol. 226, no. 1, 1 January 2006 (2006-01-01), pages 145 - 165* |
| 史久新: "当潜标遇上冰山", 人与生物圈, no. 1, 18 May 2017 (2017-05-18), pages 72 - 75* |
| 耿雪樵 等: "我国海底取样设备的现状与发展趋势", 地质装备, vol. 10, no. 4, 25 August 2009 (2009-08-25), pages 11 - 16* |
| 麻常雷: "沉积物—海水界面污染物通量自动采样监测技术研究", 工程科技Ⅰ辑, no. 2011, 15 February 2011 (2011-02-15), pages 15 - 21* |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113447315A (en)* | 2021-06-29 | 2021-09-28 | 江苏众利达自动化设备有限公司 | Water sampling detection device for environmental protection |
| CN116930443A (en)* | 2023-08-10 | 2023-10-24 | 自然资源部第一海洋研究所 | In-situ observation device for dissolved oxygen of solid-liquid interface of seabed |
| CN117211739A (en)* | 2023-09-22 | 2023-12-12 | 青岛海洋地质研究所 | Ocean natural gas hydrate normal position planting device |
| CN117211739B (en)* | 2023-09-22 | 2024-04-09 | 青岛海洋地质研究所 | Ocean natural gas hydrate normal position planting device |
| CN118961299A (en)* | 2024-10-17 | 2024-11-15 | 江苏省海洋水产研究所 | A seabed mud sampling robot for marine ecological monitoring |
| Publication number | Publication date |
|---|---|
| CN110186706B (en) | 2024-09-27 |
| Publication | Publication Date | Title |
|---|---|---|
| CN110186706B (en) | A long-endurance seabed sample collection device | |
| CN109367707B (en) | Device and method for recovering autonomous underwater vehicle by unmanned ship based on guide cable | |
| JP6883461B2 (en) | Underwater survey system and underwater survey method using unmanned aircraft | |
| CN109460061B (en) | Parallel operation method for autonomous underwater robot and geological sampling equipment | |
| CN108528640B (en) | Blocking cable type automatic butt joint recycling device and method based on slideway recycling UUV | |
| CN210036712U (en) | A mobile deep-sea submerged observation device | |
| KR101260389B1 (en) | A multi-legged seabed walking robot for survey of high current and high turbidity underwater environment | |
| Xiang et al. | Research progresses on equipment technologies used in safety inspection, repair, and reinforcement for deepwater dams | |
| CN109515661A (en) | Working method of universal underwater vehicle connection charging system | |
| CN111942550A (en) | Three-dimensional mobile monitoring system for sea area hydrate exploitation environment | |
| KR102169701B1 (en) | System for colleting marine waste | |
| KR101283417B1 (en) | Multi-legged flying seabed robot capable of performing underwater flying | |
| CN114604400B (en) | Underwater glider with sinking detection function | |
| CN110194257A (en) | A kind of recyclable seabed monitoring device | |
| CN109515636B (en) | System and method for automatically cleaning marine garbage on surface ship | |
| CN110243349A (en) | A self-propelled submarine monitoring device | |
| KR20130068045A (en) | Seabed survey system using multi-legged underwater robot with hybrid moving functition of walking and flying | |
| CN106741763A (en) | Mini underwater observation type robot | |
| JP7053774B2 (en) | Underwater survey system and underwater survey method using unmanned aircraft | |
| CN209274837U (en) | A Quasi-real-time Submersible Buoy for Polar Seasonal Ice Region Communication | |
| CN210036711U (en) | A self-returning submarine observation robot | |
| CN115973378A (en) | Self-propelled underwater detection lander device | |
| KR100950979B1 (en) | Observation system having the sonar for measurement about the topography of seabed | |
| CN110282103A (en) | A kind of surveying device power device | |
| CN210310827U (en) | Seabed driving and moving device |
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |