阅读说明：本技术 一种海底天然气水合物矿藏精密探测车 (Seabed natural gas hydrate mineral deposit precision detection vehicle ) 是由 程思海 邓义楠 刘纪勇 张欣 于宗泽 于 2019-09-09 设计创作，主要内容包括：本发明涉及海底探测领域,特别涉及一种海底天然气水合物矿藏精密探测车,包括沉浮仓体、充气浮体、甲烷传感器以及对称设于沉浮仓体外两侧的第一调节器和第二调节器,充气浮体设于沉浮仓体顶部,甲烷传感器设于沉浮仓体底部,第一调节器包括相对称的第一吃水件和第二吃水件,第二调节器包括相对称的第三吃水件和第四吃水件,第一吃水件和第三吃水件均对应于沉浮仓体前端,第二吃水件和第四吃水件均对应于沉浮仓体的后端,沉浮仓体内对称设有第一油动装置和第二油动装置,第一油动装置与第一吃水件和第三吃水件传动连接,第二油动装置与第二吃水件和第四吃水件传动连接,本发明能够在海底进行一定范围的深度调节,进而提高了检测范围。(The invention relates to the field of submarine detection, in particular to a submarine natural gas hydrate mineral deposit precision detection vehicle, which comprises a sinking and floating bin body, an inflatable floating body, a methane sensor, a first regulator and a second regulator, wherein the first regulator and the second regulator are symmetrically arranged on the two sides outside the sinking and floating bin body, the inflatable floating body is arranged on the top of the sinking and floating bin body, the methane sensor is arranged on the bottom of the sinking and floating bin body, the first regulator comprises a first draft piece and a second draft piece which are symmetrical, the second regulator comprises a third draft piece and a fourth draft piece which are symmetrical, the first draft piece and the third draft piece both correspond to the front end of the sinking and floating bin body, the second draft piece and the fourth draft piece both correspond to the rear end of the sinking and floating bin body, a first oil-driven device and a second oil-driven device are symmetrically arranged in the sinking and floating bin body, the first oil-driven device is in transmission connection with the first draft piece and the third draft piece, the second oil-driven device is in transmission connection with the second draft piece and the fourth draft piece, the invention can adjust the depth in a certain range at the seabed, thereby improving the detection range.)

1. The utility model provides a seabed natural gas hydrate ore deposit precision probe car which characterized in that: comprises a main controller, a sinking and floating bin body (1), an inflatable floating body (2), a methane sensor (3), a first regulator and a second regulator which are symmetrically arranged at two sides outside the sinking and floating bin body (1), the inflatable floating body (2) is arranged at the top of the sinking and floating bin body (1), the main controller is arranged in the sinking and floating bin body (1), the methane sensor (3) is arranged at the front end of the bottom of the sinking and floating bin body (1) through a positioning bracket and is electrically connected with the main controller, the first regulator comprises a first draught piece (4) and a second draught piece (6) which are symmetrically arranged, the second regulator comprises a third draught piece (7) and a fourth draught piece (9) which are symmetrically arranged, the first draught piece (4) and the third draught piece (7) both correspond to the front end of the sinking and floating bin body (1) and are distributed up and down, the first draught piece (4) is positioned above the third draught piece (7), second draft piece (6) and fourth draft piece (9) all correspond to the rear end of ups and downs storehouse body (1) to the two is upper and lower distribution, fourth draft piece (9) are in the top of second draft piece (6), ups and downs storehouse body (1) internal symmetry is equipped with first oily mobile device (10) and second oily mobile device (11), first oily mobile device (10) are connected with the transmission of first draft piece (4) and third draft piece (7) of ups and downs storehouse body (1) front end position, second oily mobile device (11) are connected with the transmission of second draft piece (6) and fourth draft piece (9).

2. The submarine natural gas hydrate mineral deposit precision detection vehicle according to claim 1, characterized in that: the structure of the first draft piece (4), the second draft piece (6), the third draft piece (7) and the fourth draft piece (9) are the same, the first draft piece (4) comprises a water inlet pipe (411) and a piston pipe (414), the water inlet pipe (411) is horizontal and the outer wall of the water inlet pipe is fixedly connected with the outer wall of the ups and downs cabin body (1) through a plurality of first bearing seats (413), the two ends of the water inlet pipe (411) respectively face the front end and the rear end of the ups and downs cabin body (1), the two ends of the water inlet pipe (411) are both open structures, the two ends of the piston pipe (414) are closed structures, one end of the piston pipe (414) can be inserted between the inner walls of the water inlet pipe (411) along the axial movement of the water inlet pipe (411), the piston pipes (414) in the first draft piece (4) and the third draft piece (7) are both close to the rear ends of the ups and downs cabin body (1) and the movement directions of the piston pipes (414) are consistent, the piston pipes (414) in the second draft piece (6) and the fourth draft piece (9) are both arranged close to the front end of the sinking and floating bin body (1), the moving directions of the piston pipes (414) in the second draft piece and the fourth draft piece are consistent, the outer diameter of the piston pipe (414) is equal to the inner diameter of the water inlet pipe (411), the first oil-driven device (10) is in transmission connection with the piston pipes (414) in the first draft piece (4) and the third draft piece (7), the second oil-driven device (11) is in transmission connection with the piston pipes (414) in the second draft piece (6) and the fourth draft piece (9), and the output directions of the first oil-driven device (10) and the second oil-driven device (11) are arranged oppositely.

3. The submarine natural gas hydrate mineral deposit precision detection vehicle according to claim 2, characterized in that: at least three reinforcing ribs (415) are arranged inside the piston pipe (414), one ends of the three reinforcing ribs (415) are connected with one end, far away from the water inlet pipe (411), of the piston pipe (414) all the time, the one ends of the three reinforcing ribs (415) are distributed at equal angles around the circumferential direction of the piston pipe (414), and the other ends of all the reinforcing ribs (415) are connected with the center of the other end of the piston pipe (414).

4. The submarine natural gas hydrate mineral deposit precision detection vehicle according to claim 2, characterized in that: the outside of piston pipe (414) is equipped with guide holder (417), guide holder (417) are in piston pipe (414) and are located one end department in inlet tube (411) all the time, guide holder (417) and ups and downs storehouse body (1) surface fixed connection, set up the logical groove that supplies piston pipe (414) horizontal activity on guide holder (417), the outside of piston pipe (414) is equipped with a plurality of direction bead (416) around it circumference equidistance distribution, the inner wall of logical groove has been seted up a plurality ofly, and respectively with the first bead groove of all direction bead (416) one-to-one on piston pipe (414), the inner wall of inlet tube (411) has been seted up a plurality ofly, and respectively with the second bead groove (412) of all direction bead (416) one-to-one on piston pipe (414), direction bead (416) are made for corrosion-resistant rubber material.

5. The submarine natural gas hydrate mineral deposit precision detection vehicle according to claim 2, characterized in that: the structure of the first oil-driven device (10) is the same as that of the second oil-driven device (11), the first oil-driven device (10) comprises a rotary oil cylinder (10a), a gear box (10c), two pushing plates (10d), two rotary teeth (10e) and two containing plates (10f), the rotary oil cylinder (10a) is installed in the sinking and floating bin body (1), the rotary end of the rotary oil cylinder is connected with a horizontal rotary shaft (10b), one end of the rotary shaft (10b) penetrates through the outside of the sinking and floating bin body (1), the gear box (10c) is installed outside the sinking and floating bin body (1), the input end of the gear box is connected with the rotary shaft (10b), the output ends of the gear box (10c) are two, the two rotary teeth (10e) are respectively connected with the two output ends of the gear box (10c), a closed cover (10g) is arranged above the gear box (10c), and the closed cover (10g) covers the two rotary teeth (10e) in, and the outer side surface of the first oil-driven device is provided with a groove for the engagement of the rotating teeth (10e) and the pushing plates (10d), the two pushing plates (10d) are respectively positioned at one side of the two rotating teeth (10e) which are far away from each other, the two pushing plates (10d) are respectively engaged with the corresponding rotating teeth (10e), the two containing plates (10f) are symmetrically arranged in the sinking and floating bin body (1) and are respectively opposite to the two pushing plates (10d) one by one, one end of each containing plate (10f) facing the pushing plates (10d) is clung to the inner wall of the sinking and floating bin body (1), the containing plates (10f) and the inner wall of the sinking and floating bin body (1) are integrally formed, the two pushing plates (10d) are both close to a U-shaped structure, and the opposite sides of the two pushing plates sequentially penetrate through the sinking and floating bin body (1) and the containing plates (10f) corresponding to the sinking and floating bin body, and the two pushing plates (10d) in the first oil-driven device (10) are far away from each other end parts (4) and 7) the end parts of the two pushing plates (10d) in the second oil-driven device (11) far away from one side are respectively and fixedly connected with the end parts of the piston pipes (414) in the second draft piece (6) and the fourth draft piece (9).

6. The submarine natural gas hydrate mineral deposit precision detection vehicle according to claim 2, characterized in that: the all around of the ups and downs storehouse body (1) is equipped with a flange board (12) respectively, all buried underground in every flange board (12) has gravity sensor, all gravity sensors all with main control unit electric connection, be equipped with oil storage storehouse (5) in the ups and downs storehouse body (1), still be equipped with two feed pumps (511) in the ups and downs storehouse body (1), the input and the oil storage storehouse of two feed pumps (511) communicate in (5), the output of two feed pumps (511) communicates in all piston tubes (414) of the ups and downs storehouse body (1) both sides through a compensation pipeline (512) respectively.

7. The submarine natural gas hydrate mineral deposit precision detection vehicle according to claim 6, characterized in that: one end of each piston pipe (414) far away from the water inlet pipe (411) at each position is respectively provided with a liquid inlet pipe (420), the liquid inlet pipe (420) is communicated with the piston pipe (414), a flow valve (421) is arranged on the liquid inlet pipe (420), a compensation pipeline (512) is a hose of a Y-shaped structure, the compensation pipeline (512) penetrates through the outside of the sinking and floating cabin body (1), the two branched ends of the compensation pipeline (512) are communicated with the two liquid inlet pipes (420) at one side of the sinking and floating cabin body (1), and the compensation pipeline (512) is connected with the sinking and floating cabin body (1) in a sealing manner.

8. The submarine natural gas hydrate mineral deposit precision detection vehicle according to claim 1, characterized in that: the rear end of the bottom of the ups and downs cabin body (1) is provided with a propeller thruster (14).

Technical Field

The invention relates to the field of submarine detection, in particular to a submarine natural gas hydrate mineral deposit precision detection vehicle.

Background

Natural gas hydrates are widely distributed in deep sea sediments, are ice-like crystalline substances formed by methane gas and water under high pressure and low temperature conditions, and are also called as 'combustible ice' because the appearance of the natural gas hydrates is like ice and the natural gas hydrates can be combusted when meeting fire. 1 cubic meter of combustible ice can be converted to 164 cubic meters of natural gas and 0.8 cubic meters of water. The natural gas hydrate hardly generates any residue after combustion, has much less pollution than coal, petroleum and natural gas, is widely distributed in the world, and has extremely high resource value. With the continuous development of economic strength and scientific technology in China, the investigation and trial development of marine natural gas hydrate are being vigorously developed. In 2017, in 5 months, the natural gas hydrate in the sea area of China is successfully sampled for the first time, in 2017, in 11 months and 3 days, the natural gas hydrate is officially approved by the state department to be listed as a new mineral variety, and becomes the 173 th mineral variety in China.

The formation of natural gas hydrates on the seabed requires, among other things, that there be an adequate source of methane gas deep in the seabed sediments. In areas where natural gas hydrate deposits exist deep in the submarine sediment, methane gas diffuses to the surface of the seabed and then dissolves in the seawater at the bottom of the sea, resulting in a higher methane content in the seawater at the bottom of the sea. On the contrary, the abnormally high methane content in the bottom seawater becomes strong evidence for judging the existence of the natural gas hydrate deposit under the seabed. According to the principle of molecular diffusion, the concentration of methane in seawater is inversely proportional to the third power of the length from the bottom methane overflow point, and therefore, the concentration of methane in seawater rapidly decays with increasing distance from the bottom until it falls below the detection range of the methane sensor. Therefore, to achieve accurate detection of a subsea natural gas hydrate deposit, the methane sensor must be as close to the subsea surface as possible. The detectors for detecting the methane content abnormality in seawater in the marine survey are usually underwater robots provided with methane sensors, seawater samplers and the like, and for safety reasons, the underwater robots and the seawater samplers generally keep a long distance from the seabed during working, so that the leakage of the seabed methane is probably not detected, and important geochemical detection information is missed. There is also a detector fixed to the seabed that can place the methane sensor on the surface of the seabed, but the detection range is greatly limited because it cannot be moved.

The main structure of the existing submarine detection vehicle is a vehicle body, a foam block and a counterweight cement block are formed, the counterweight cement block is hooked outside the vehicle body, the vehicle body and the foam block are arranged in the submarine and sink to a fixed depth by means of the weight of the counterweight cement block, then a sensor detects the submarine, after collection is finished, the counterweight cement block is unhooked, the vehicle body floats to the water surface by means of the foam block, the vehicle body cannot adjust the depth in the sea in the mode, only the detection can be carried out at a fixed depth, the detection range is limited to a large extent, and the detection effect is poor.

Disclosure of Invention

The invention aims to provide a submarine natural gas hydrate mineral deposit precision detection vehicle aiming at the defects of the prior art.

In order to solve the above problems, the present invention provides the following technical solutions:

a seabed natural gas hydrate mineral deposit precision detection vehicle comprises a main controller, a sinking and floating bin body, an inflatable floating body, a methane sensor, a first regulator and a second regulator, wherein the first regulator and the second regulator are symmetrically arranged on the two sides outside the sinking and floating bin body, the inflatable floating body is arranged on the top of the sinking and floating bin body, the main controller is arranged in the sinking and floating bin body, the methane sensor is arranged at the front end of the bottom of the sinking and floating bin body through a positioning bracket and is electrically connected with the main controller, the first regulator comprises a first draft piece and a second draft piece which are symmetrically arranged, the second regulator comprises a third draft piece and a fourth draft piece which are symmetrically arranged, the first draft piece and the third draft piece both correspond to the front end of the sinking and floating bin body and are vertically distributed, the first draft piece is arranged above the third draft piece, the second draft piece and the fourth draft piece both correspond to the rear end of the sinking and floating bin body and are vertically distributed, the fourth draft piece is arranged above the second draft piece, the first oil-driven device and the second oil-driven device are symmetrically arranged in the sinking and floating bin body, the first oil-driven device is in transmission connection with the first draft piece and the third draft piece at the front end of the sinking and floating bin body, and the second oil-driven device is in transmission connection with the second draft piece and the fourth draft piece.

Furthermore, the first draft part, the second draft part, the third draft part and the fourth draft part have the same structure, the first draft part comprises a water inlet pipe and a piston pipe, the water inlet pipe is horizontal, the outer wall of the water inlet pipe is fixedly connected with the outer wall of the sinking and floating bin body through a plurality of first bearing seats, two ends of the water inlet pipe respectively face the front end and the rear end of the sinking and floating bin body, two ends of the water inlet pipe are both open structures, two ends of the piston pipe are closed structures, one end of the piston pipe can be movably inserted between the inner walls of the water inlet pipe along the axial direction of the water inlet pipe, the piston pipes in the first draft part and the third draft part are both close to the rear end of the sinking and floating bin body, the moving directions of the piston pipes in the first draft part and the third draft part are consistent, the moving directions of the piston pipes in the second draft part and the fourth draft part are both close to the front end of the sinking and floating bin body, the moving directions of the piston pipes in the second draft, the first oil-driven device is in transmission connection with piston pipes in the first draft piece and the third draft piece, the second oil-driven device is in transmission connection with piston pipes in the second draft piece and the fourth draft piece, and the output directions of the first oil-driven device and the second oil-driven device are arranged oppositely.

Further, the inside of piston pipe is equipped with at least three strengthening rib, and the one end of three strengthening rib links to each other with the one end that the inlet tube was kept away from all the time to this one end of three strengthening rib is around the angular distribution such as circumference of piston pipe, and the other end of all strengthening ribs all is connected with the center department of the other end of piston pipe.

Further, the outside of piston pipe is equipped with the guide holder, the guide holder is in the one end department that the piston pipe is located the inlet tube all the time, guide holder and ups and downs storehouse body surface fixed connection, set up the logical groove that supplies the horizontal activity of piston pipe on the guide holder, the outside of piston pipe is equipped with a plurality of direction beads that distribute around circumference equidistance, the inner wall that leads to the groove has been seted up a plurality ofly, and respectively with the first bead groove of all direction beads one-to-ones on the piston pipe, the inner wall of inlet tube has been seted up a plurality ofly, and respectively with the second bead groove of all direction beads one-to-ones on the piston pipe, the direction bead is made for corrosion resistant rubber material.

Further, the first oil-driven device and the second oil-driven device have the same structure, the first oil-driven device comprises a rotary oil cylinder, a gear box, two pushing plates, two rotary teeth and two containing plates, the rotary oil cylinder is arranged in the floating bin body, the rotary end of the rotary oil cylinder is connected with a horizontal rotary shaft, one end of the rotary shaft penetrates through the outside of the floating bin body, the gear box is arranged outside the floating bin body, the input end of the gear box is connected with the rotary shaft, the output end of the gear box is two, the two rotary teeth are respectively connected with the two output ends of the gear box, a closed cover is arranged above the gear box, the two rotary teeth are covered by the closed cover, a slot for the rotary teeth to be meshed with the pushing plates is reserved on the outer side surface of the gear box, the two pushing plates are respectively positioned on one side, away from each other, the two pushing plates are respectively meshed with the corresponding rotary teeth, the two, and the two are respectively with two propulsion boards one-to-one, the one end of storage plate orientation propulsion board is hugged closely with the inner wall of the ups and downs storehouse body mutually, and storage plate and the internal wall integrated into one piece of ups and downs storehouse, two propulsion boards all are close to U type structure, and in the two one side in opposite directions all run through the ups and downs storehouse body in proper order and the storage plate that corresponds with it, two propulsion boards among the first oil-driven device are kept away from a lateral end each other and are respectively with the piston tube tip fixed connection among first draft piece and the third draft piece, two propulsion boards among the second oil-driven device keep away from the tip of one side each other respectively with the piston tube tip fixed connection among second draft piece and the fourth draft piece.

Further, the protruding board is equipped with respectively all around the ups and downs storehouse body, and gravity sensor has all been buried underground in every protruding board, all gravity sensors all with main control unit electric connection, the internal oil storage storehouse that is equipped with of ups and downs storehouse, the internal two feed pumps that still are equipped with of ups and downs storehouse, the input and the oil storage storehouse of two feed pumps are linked together, the output of two feed pumps is linked together in through a compensation pipeline and all piston pipes of the two sides of the ups and downs storehouse body respectively.

Furthermore, one end of each piston pipe, which is far away from the water inlet pipe in each position, is provided with a liquid inlet pipe respectively, the liquid inlet pipes are communicated with the piston pipes, the liquid inlet pipes are provided with flow valves, the compensation pipelines are hoses of Y-shaped structures and penetrate through the outside of the sinking and floating bin body, the two branched ends of the compensation pipelines are communicated with the two liquid inlet pipes at one side of the sinking and floating bin body, and the compensation pipelines are connected with the sinking and floating bin body in a sealing manner.

Furthermore, a propeller thruster is arranged at the rear end of the bottom of the sinking and floating bin body.

Has the advantages that: according to the seabed natural gas hydrate mineral deposit precise detection vehicle, when the detection vehicle is assembled/designed in advance, the total weight of a sinking and floating bin body, a methane sensor, a first oil-driven device, a second oil-driven device, a first draft piece (in a non-working state), a second draft piece (in a non-working state), a third draft piece (in a non-working state) and a fourth draft piece (in a non-working state) is designed/adjusted to be a fixed weight value/numerical value, namely an initial weight value/numerical value of a machine body; the main controller is internally provided with a wireless communication module/positioning module for communicating and connecting with a computer on the land, the detection vehicle is placed in the sea of a detection area after being assembled, information such as coordinates and speed of a walking route of the detection vehicle is input into the main controller in advance, then two supply pumps inject counterweight oil in an oil storage bin into each piston tube, the weight of the piston tubes is improved, and meanwhile, the sum of the weight of all the piston tubes and the initial weight value of the whole detection vehicle can force the sinking and floating bin body to be positioned below the water surface and the inflatable floating body to be positioned above the water surface; the piston pipes in the first draft piece/the second draft piece/the third draft piece/the fourth draft piece are in a normal state, and the whole sections of the piston pipes are positioned in the corresponding water inlet pipes respectively to plug the water inlet pipes and prevent seawater from entering the water inlet pipes; when sinking is needed, the first oil-driven device drives the piston pipes in the first draft piece and the third draft piece to work, the working process is that, the second oil-driven device drives the second draft piece and the fourth draft piece to have the same meaning as above in the same way that the second oil-driven device drives the second draft piece and the fourth draft piece to gradually release the inner wall of the water inlet pipe, therefore, after the seawater enters the water inlet pipe, the whole weight is increased, at the moment, the weight is larger than the buoyancy force, and then the seawater sinks, when the water is sunk to a certain degree, the first oil-driven device and the second oil-driven device start to reset, the water source in the water inlet pipe is pushed out of the part by utilizing the respective driven piston pipes to reach the gravity equal to the buoyancy, namely, the suspension is realized at the descending depth, then the propeller moves on the seabed, and the detection is carried out through a methane sensor; in the moving process, the four gravity sensors are used for feeding back the stability of the sinking and floating bin body in real time, and the detection vehicle is prevented from generating side turning due to the complex condition in the seabed, so that when the sinking and floating bin body is inclined from side turning, the gravity sensors on the side of side turning can detect the change of a three-dimensional coordinate system, all the gravity sensors synchronously and quickly transmit data to the main controller, the main controller obtains the specific side turning side of the sinking and floating bin body according to the fed back data and drives the supply pump on the side corresponding to the side turning side to enable the supply pump to pump the counterweight oil in the two piston pipes corresponding to the supply pump, so that the side turning previously is corrected due to the fact that the weight of the side turning previously is larger than that of the other side, and after the side turning is close to be stable, the counterweight oil pumped previously is quickly replenished into; therefore, the stability of the sinking and floating bin body in moving downwards on the seabed is improved, and the side turning rate is reduced; when the floating bin body needs to float, the piston pipe can be completely pushed into the water inlet pipe by the first oil-driven device and the second oil-driven device, so that after the water inlet pipe is filled with water, seawater flows outwards, the weight is smaller than the buoyancy, and then floating is realized by the inflatable floating body; the first draft piece is positioned above the third draft piece, and the fourth draft piece is positioned above the second draft piece, so that the front end and the rear end of the ups and downs cabin body are uniformly stressed, the front weight and the rear weight are not different due to height difference, and the forward leaning or backward leaning phenomenon is prevented; the material of the guide convex edge outside each piston pipe ensures that after the piston pipe is pushed into the water inlet pipe, due to the matching of the guide convex edge and the second convex edge groove, the fluid in the water inlet pipe is almost discharged outside, and the weight is accurately reduced; the invention can carry out depth adjustment in a certain range on the seabed, thereby improving the detection range and increasing the capture rate of the natural gas hydrate.

Drawings

FIG. 1 is a first perspective view of the present invention;

FIG. 2 is a schematic perspective view of the present invention;

FIG. 3 is a third schematic perspective view of the present invention;

FIG. 4 is an enlarged view taken at A in FIG. 3;

FIG. 5 is a first schematic plan view of the present invention;

FIG. 6 is a second schematic plan view of the present invention;

FIG. 7 is a fourth schematic perspective view of the present invention;

FIG. 8 is an enlarged view of FIG. 7 at B;

FIG. 9 is a schematic perspective view of the present invention;

FIG. 10 is a perspective cross-sectional view of a piston tube of the present invention;

description of reference numerals: a ups and downs cabin body 1.

An inflatable floating body 2.

A methane sensor 3.

The device comprises a first draught part 4, a water inlet pipe 411, a second convex edge groove 412, a first bearing seat 413, a piston pipe 414, a reinforcing rib 415, a guide convex edge 416, a guide seat 417, a liquid inlet pipe 420 and a flow valve 421.

The oil storage bin 5, the supply pump 511 and the compensation pipeline 512.

A second draft piece 6.

A third draft piece 7.

A fourth draft piece 9.

The hydraulic drive system includes a first hydraulic device 10, a rotary cylinder 10a, a rotary shaft 10b, a gear case 10c, a thrust plate 10d, rotary teeth 10e, a housing plate 10f, and a sealing cover 10 g.

A second oil-driven device 11.

A raised edge plate 12.

A propeller 14.

Detailed Description

The following detailed description of specific embodiments of the present invention is made with reference to the accompanying drawings and examples:

referring to fig. 1 to 10, a seabed natural gas hydrate mineral deposit precision detection vehicle comprises a main controller, a ups and downs cabin body 1, an inflatable floating body 2, a methane sensor 3, and a first regulator and a second regulator which are symmetrically arranged at two sides outside the ups and downs cabin body 1, wherein the inflatable floating body 2 is arranged at the top of the ups and downs cabin body 1, the main controller is arranged in the ups and downs cabin body 1, the methane sensor 3 is arranged at the front end of the bottom of the ups and downs cabin body 1 through a positioning bracket and is electrically connected with the main controller, the first regulator comprises a first draft piece 4 and a second draft piece 6 which are symmetrically arranged, the second regulator comprises a third draft piece 7 and a fourth draft piece 9 which are symmetrically arranged, the first draft piece 4 and the third draft piece 7 both correspond to the front end of the ups and downs cabin body 1 and are vertically distributed, the first draft piece 4 is arranged above the third draft piece 7, the second draft piece 6 and the fourth draft piece 9 both correspond to the rear end of the ups and downs cabin body 1, and the two are distributed up and down, the fourth draft piece 9 is positioned above the second draft piece 6, a first oil-driven device 10 and a second oil-driven device 11 are symmetrically arranged in the ups and downs cabin body 1, the first oil-driven device 10 is in transmission connection with the first draft piece 4 and the third draft piece 7 at the front end of the ups and downs cabin body 1, and the second oil-driven device 11 is in transmission connection with the second draft piece 6 and the fourth draft piece 9.

The structures of the first draft piece 4, the second draft piece 6, the third draft piece 7 and the fourth draft piece 9 are the same, the first draft piece 4 comprises a water inlet pipe 411 and a piston pipe 414, the water inlet pipe 411 is horizontal and the outer wall thereof is fixedly connected with the outer wall of the ups and downs cabin body 1 through a plurality of first bearing seats 413, the two ends of the water inlet pipe 411 respectively face the front end and the rear end of the ups and downs cabin body 1, the two ends of the water inlet pipe 411 are both open structures, the two ends of the piston pipe 414 are closed structures, one end of the piston pipe 414 can be inserted between the inner walls of the water inlet pipe 411 in an axial direction of the water inlet pipe 411 in a movable manner, the piston pipe 414 in the first draft piece 4 and the third draft piece 7 is arranged close to the rear end of the ups and downs cabin body 1 and the moving directions of the piston pipes 414 in the two pieces are the same, the piston pipes 414 in the second draft piece 6 and the fourth draft piece 9 are arranged close to the front end of the ups and downs cabin body 1 and the moving directions of the piston, the outer diameter of the piston pipe 414 is equal to the inner diameter of the water inlet pipe 411, the first oil-driven device 10 is in transmission connection with the piston pipes 414 in the first draft piece 4 and the third draft piece 7, the second oil-driven device 11 is in transmission connection with the piston pipes 414 in the second draft piece 6 and the fourth draft piece 9, and the output directions of the first oil-driven device 10 and the second oil-driven device 11 are oppositely arranged; when the detecting vehicle is assembled/designed in advance, the total weight of the ups and downs cabin body 1, the methane sensor 3, the first oil-driven device 10, the second oil-driven device 11, the first draft piece 4 (in an inoperative state), the second draft piece 6 (in an inoperative state), the third draft piece 7 (in an inoperative state) and the fourth draft piece 9 (in an inoperative state) is designed/adjusted to a fixed weight value, namely the initial weight value of the fuselage, the significance and the purpose of the initial weight value are that after the ups and downs cabin body 1 and the inflatable floating body 2 are placed in the sea, the floating and sinking bin body 1 is positioned below the water surface, the inflatable floating body 2 is positioned above the water surface, because the floating and sinking bin body 1 is positioned on the water surface, so the first and third and fourth draft pieces 4, 6, 7, 9 outside the device are all underwater; the piston tube 414 of the first draft piece 4/the second draft piece 6/the third draft piece 7/the fourth draft piece 9 is in a normal state, and the whole section of the piston tube is positioned in the corresponding water inlet pipe 411 to seal the water inlet pipe 411 and prevent the seawater from entering the water inlet pipe 411; when sinking is needed, the first oil-driven device 10 drives the piston pipes 414 in the first and third draft parts 4 and 7 to work, and the working process is that the piston pipes are drawn in the corresponding water inlet pipes 411 and are gradually drawn towards the outside of the water inlet pipe 411, so that the inner wall of the water inlet pipe 411 is gradually released, and similarly, the second oil-driven device 11 drives the second and fourth draft parts 6 and 9 to have the same meaning as above, so that the whole weight is increased after seawater enters the water inlet pipe 411, at this moment, the weight is greater than the buoyancy force, and sinking occurs, when sinking to a certain degree, the first and second oil-driven devices 10 and 11 start to reset, and the piston pipes 414 are used for pushing out the water source in the water inlet pipe 411 to reach the gravity equal to the buoyancy force, namely, the water is suspended at the descending depth, and when floating is needed, the first and second oil-driven devices 10 and 11 can completely push the piston pipes 414 into the water inlet pipe 411, after the water inlet pipe 411 is filled with water, the seawater flows out, so that the weight is smaller than the buoyancy, and the floating is realized; the first draft piece 4 is positioned above the third draft piece 7, and the fourth draft piece 9 is positioned above the second draft piece 6, so that the stress is uniform at the front end and the rear end of the sinking and floating bin body 1, the front weight and the rear weight are not different due to the height difference, and the forward tilting or backward tilting phenomenon is prevented.

At least three reinforcing ribs 415 are arranged inside the piston tube 414, one end of each reinforcing rib 415 is connected with one end of the piston tube 414, which is away from the water inlet pipe 411, all the other ends of the reinforcing ribs 415 are connected with the center of the other end of the piston tube 414, and the one ends of the three reinforcing ribs 415 are distributed at equal angles around the circumference of the piston tube 414; the piston tube 414 is used for moving and pushing the fluid in the water inlet pipe 411, so the piston tube is made of high-strength materials, and the interior of the piston tube needs a structure with certain strength to prevent the piston tube 414 from being broken, so the three reinforcing ribs 415 are adopted to ensure that the pushing front end of the piston tube 414 has certain strength, and the pushing of part of seawater in the water inlet pipe 411 can be realized.

The outer part of the piston tube 414 is provided with a guide seat 417, the guide seat 417 is positioned at one end of the piston tube 414 which is always positioned in the water inlet tube 411, the guide seat 417 is fixedly connected with the outer surface of the ups and downs bin body 1, the guide seat 417 is provided with a through groove for the piston tube 414 to move horizontally, the outer part of the piston tube 414 is provided with a plurality of guide convex ribs 416 which are distributed at equal intervals around the circumference of the piston tube 414, the inner wall of the through groove is provided with a plurality of first convex rib grooves which are respectively in one-to-one correspondence with all the guide convex ribs 416 on the piston tube 414, the inner wall of the water inlet tube 411 is provided with a plurality of second convex rib grooves 412 which are respectively in one-to-one correspondence with all the; the material of the guiding convex rib 416 enables the piston tube 414 to be pushed into the water inlet tube 411, and due to the matching of the guiding convex rib 416 and the second convex rib groove 412, the fluid in the water inlet tube 411 is almost discharged outwards, and the weight is reduced; the purpose of the guide seat 417 is to provide a guide for the stable movement of the piston tube 414.

The first oil-driven device 10 and the second oil-driven device 11 have the same structure, the first oil-driven device 10 includes a rotary oil cylinder 10a, a gear box 10c, two pushing plates 10d, two rotary teeth 10e and two receiving plates 10f, the rotary oil cylinder 10a is installed in the ups and downs cabin 1, and the rotary end thereof is connected with a horizontal rotary shaft 10b, one end of the rotary shaft 10b penetrates the outside of the ups and downs cabin 1, the gear box 10c is installed outside the ups and downs cabin 1, and the input end thereof is connected with the rotary shaft 10b, the output end of the gear box 10c is two, and the two rotary teeth 10e are respectively connected with the two output ends of the gear box 10c, a closed cover 10g is arranged above the gear box 10c, the closed cover 10g covers the two rotary teeth 10e, and a slot for the rotary teeth 10e to mesh with the pushing plates 10d is left on the outer side of the two pushing plates 10d, which are respectively located on the side where the two rotary teeth 10, the two pushing plates 10d are respectively meshed with the corresponding rotating teeth 10e, the two containing plates 10f are symmetrically arranged in the ups and downs bin body 1, and the two are respectively opposite to the two pushing plates 10d one by one, one end of the containing plate 10f facing to the pushing plates 10d is clung to the inner wall of the ups and downs cabin body 1, the containing plate 10f and the inner wall of the ups and downs bin body 1 are integrally formed, the two pushing plates 10d are both close to a U-shaped structure, and one opposite sides of the two are sequentially penetrated through the sinking-floating bin body 1 and the corresponding containing plates 10f, the end parts of two pushing plates 10d in the first oil-driven device 10, which are far away from each other, are fixedly connected with the end parts of piston tubes 414 in the first draft piece 4 and the third draft piece 7 respectively, and the end parts of two pushing plates 10d in the second oil-driven device 11, which are far away from each other, are fixedly connected with the end parts of piston tubes 414 in the second draft piece 6 and the fourth draft piece 9 respectively; when the rotary oil cylinder 10a works, the rotating force is transmitted to the gear box 10c through the rotating shaft 10b, the gear box 10c is transmitted to the two rotating teeth 10e, so that the two rotating teeth synchronously rotate in the same direction, the two rotating teeth 10e start to be meshed with the respective pushing plates 10d, the two pushing plates 10d horizontally move in the same direction, and then the two pushing plates 10d in the first oil-driven device 10 and the second oil-driven device 11 respectively drive the piston pipes 414 in the first draft piece 4 and the third draft piece 7 and the piston pipes 414 in the second draft piece 6 and the fourth draft piece 9 to move, so that the purposes of injecting and discharging water of all the water inlet pipes 411 are achieved.

The periphery of the ups and downs cabin body 1 is respectively provided with a convex edge plate 12, a gravity sensor is embedded in each convex edge plate 12, all the gravity sensors are electrically connected with a main controller, an oil storage bin 5 is arranged in the ups and downs cabin body 1, two feed pumps 511 are also arranged in the ups and downs cabin body 1, the input ends of the two feed pumps 511 are communicated with the oil storage bin 5, and the output ends of the two feed pumps 511 are respectively communicated with all the piston pipes 414 on the two sides of the ups and downs cabin body 1 through a compensation pipeline 512; the four gravity sensors are used for feeding back the stability of the ups and downs silo body 1 in real time, and the detection vehicle is prevented from side turning due to the complex condition in the seabed, so that when the ups and downs silo body 1 is inclined from side turning, the gravity sensors on the side of side turning can detect the change of a three-dimensional coordinate system, all the gravity sensors synchronously and quickly transmit data to the main controller, the main controller obtains the specific side of the side turning of the ups and downs silo body 1 according to the fed back data and drives the supply pump 511 on the side corresponding to the side of the side turning, so that the supply pump 511 extracts counterweight oil in the two corresponding piston pipes 414, the side of the previous side turning is corrected due to the fact that the weight of the side is larger than that of the other side, and after the side of the previous side turning is close to be stable, the counterweight oil extracted in the previous piston pipes 414 is quickly; therefore, the stability of the ups and downs cabin body 1 in the moving process of the seabed is improved, and the side turning rate is reduced.

One end of each piston pipe 414, which is far away from the water inlet pipe 411 at each position, is provided with a liquid inlet pipe 420, the liquid inlet pipe 420 is communicated with the piston pipe 414, the liquid inlet pipe 420 is provided with a flow valve 421, the compensation pipeline 512 is a Y-shaped hose, the compensation pipeline 512 penetrates through the outside of the ups and downs cabin body 1, the two bifurcated ends of the compensation pipeline 512 are communicated with the two liquid inlet pipes 420 at one side of the ups and downs cabin body 1, and the compensation pipeline 512 is hermetically connected with the ups and downs cabin body 1; the flow valve 421 is used for detecting the flow rate of the counterweight oil, so that the counterweight oil in each piston tube 414 can be accurately distributed and extracted, the stability of the ups and downs silo body 1 moving downwards on the seabed can be further improved, and the side turning rate can be reduced.

A propeller thruster 14 is arranged at the rear end of the bottom of the ups and downs cabin body 1; the propeller 14 is used to drive the movement of the caisson 1 in the seabed, which is prior art and not described in detail herein.

The working principle is as follows: when the detection vehicle is assembled/designed in advance, the total weight of the ups and downs bin body 1, the methane sensor 3, the first oil-driven device 10, the second oil-driven device 11, the first draft piece 4 (in a non-working state), the second draft piece 6 (in a non-working state), the third draft piece 7 (in a non-working state) and the fourth draft piece 9 (in a non-working state) is designed/adjusted to be a fixed weight value/numerical value, namely an initial weight value/numerical value of the machine body; the main controller is internally provided with a wireless communication module/positioning module for communicating and connecting with a computer on the land, the detection vehicle is placed into the sea of a detection area after being assembled, information such as coordinates and speed of a walking route of the detection vehicle is input into the main controller in advance, then two supply pumps 511 inject counterweight oil in an oil storage bin 5 into each piston tube 414, the weight of the piston tubes 414 is improved, and the sum of the weight of all the piston tubes 414 and the initial weight value of the whole detection vehicle forces the sinking and floating bin body 1 to be positioned below the water surface and the inflatable floating body 2 to be positioned above the water surface; the piston tube 414 of the first draft piece 4/the second draft piece 6/the third draft piece 7/the fourth draft piece 9 is in a normal state, and the whole section of the piston tube is positioned in the corresponding water inlet pipe 411 to seal the water inlet pipe 411 and prevent the seawater from entering the water inlet pipe 411; when sinking is needed, the first oil-driven device 10 drives the piston pipes 414 in the first and third draft parts 4 and 7 to work, and the working process is that the piston pipes are drawn in the corresponding water inlet pipes 411 and gradually drawn towards the outside of the water inlet pipe 411, so that the inner wall of the water inlet pipe 411 is gradually released, and similarly, the second oil-driven device 11 drives the second and fourth draft parts 6 and 9 to have the same meaning as above, so that the whole weight is increased after seawater enters the water inlet pipe 411, the weight is greater than the buoyancy at the moment, sinking occurs, when sinking to a certain degree, the first and second oil-driven devices 10 and 11 start to reset, the piston pipes 414 driven by each other push out the water source in the water inlet pipe 411 to reach the gravity equal to the buoyancy, namely, the water is suspended at the sinking depth, and then moves on the seabed through the propeller 14, detection is performed by the methane sensor 3; in the moving process, the four gravity sensors are used for feeding back the stability of the ups and downs bin body 1 in real time, and the detection vehicle is prevented from generating side rollover due to the complex condition in the sea bottom, so that when the ups and downs bin body 1 is inclined from side rollover, the gravity sensors on the side of side rollover detect the change of a three-dimensional coordinate system, all the gravity sensors synchronously and quickly transmit data to the main controller, the main controller obtains the side rollover specific side of the ups and downs bin body 1 according to the fed back data and drives the supply pump 511 on the side corresponding to the side rollover side to enable the supply pump 511 to pump counterweight oil in the two corresponding piston pipes 414, the side of previous side rollover is corrected due to the fact that the weight of the side is larger than that of the other side, and the counterweight oil pumped previously is quickly replenished into the previous piston pipes 414 after the side rollover is close to be stable, so that the weights on; therefore, the stability of the ups and downs cabin body 1 in the moving process of the seabed is improved, and the side turning rate is reduced; when the ups and downs cabin body 1 needs to float upwards, the first oil-driven device 10 and the second oil-driven device 11 can completely push the piston pipe 414 into the water inlet pipe 411, so that after the water inlet pipe 411 is filled with water, the seawater flows outwards, the weight is smaller than the buoyancy, and then the ups and downs are realized through the inflatable floating body 2; the first draft piece 4 is positioned above the third draft piece 7, and the fourth draft piece 9 is positioned above the second draft piece 6, so that the stress on the front end and the rear end of the ups and downs cabin body 1 is uniform, the front weight and the rear weight are not different due to height difference, and the forward tilting or backward tilting phenomenon is prevented; the material of the outer direction bead 416 of every piston tube 414 for piston tube 414 is in advancing to the inlet tube 411 in the back, because the cooperation of direction bead 416 and second bead groove 412, makes the interior fluid of inlet tube 411 almost all obtain arranging outward, obtains the accurate reduction of weight.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the technical scope of the present invention, so that any minor modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention are within the technical scope of the present invention.