CN-121978966-A - Intelligent sampling controller based on touch perception and control method

CN121978966ACN 121978966 ACN121978966 ACN 121978966ACN-121978966-A

Abstract

The invention discloses an intelligent sampling controller based on tactile sensation and a control method. The controller comprises a gesture stabilizing assembly, a sensing assembly, a power cabin, a control cabin and a sampling assembly, wherein the gesture stabilizing assembly defines a first guide part and comprises a flexible part which is in a tensioning state, the side wall of the sampling assembly is provided with a second guide part which is in sliding fit with the flexible part, and the second guide part are distributed at intervals in the vertical direction to form double-point track constraint. The method comprises the steps of collecting dynamic pressure response signals when a sampling tube penetrates through sediment, extracting mechanical characteristic feature vectors, identifying sediment types by using a classification model, obtaining initial control configuration according to the sediment types, dynamically adjusting vibration current and frequency based on penetration state data, calculating sample disturbance evaluation indexes, and generating a strength-reducing control instruction when the sample disturbance evaluation indexes exceed a threshold value. According to the invention, the flexible piece is tensioned by utilizing buoyancy to form the similar rigid guide rail, so that the self-adaptive control of sampling parameters and the on-line evaluation of sample quality are realized.

Inventors

CHEN QIUWEN
HE SHUFENG
DU MINGCHENG
FENG TAO
YU WENYONG
YAN XINGCHENG
ZHANG XIA
SUN ZHENG
QIAO RUXIA
XUE HANSONG
ZHOU XUDONG

Assignees

水利部交通运输部国家能源局南京水利科学研究院

Dates

Publication Date: 20260505
Application Date: 20260403

Claims (10)

1. An intelligent sampling controller based on tactile sensation, comprising: The attitude stabilizing assembly is used for limiting a first guide part penetrating along the vertical direction and comprises a flexible piece which is arranged in a tensioning state along the vertical direction; the sensing component is arranged on the bottom surface of the gesture stabilizing component; The power cabin (1) and the control cabin (2) are respectively arranged on two opposite sides of the upper surface of the bottom plate surface of the attitude stabilizing assembly; The sampling assembly penetrates through the first guide part in a sliding manner, a second guide part which is in sliding fit with the flexible part is arranged on the side wall of the sampling assembly, and the first guide part and the second guide part are arranged at intervals in the vertical direction so as to form double-point track constraint when the sampling assembly moves along the vertical direction; The sensing assembly and the sampling assembly are respectively connected with the control cabin (2) in a signal mode, and the power cabin (1) is electrically connected with the control cabin (2).
2. The intelligent sampling controller according to claim 1, wherein, The sampling assembly comprises a vibrator (8), a balancing weight (9) and a sampling tube (10) which are sequentially connected from top to bottom; The second guide part comprises a protruding body arranged on the side wall of the vibrator (8) and a limiting hole (11) penetrating through the protruding body along the vertical direction; the flexible pieces are arranged in the limiting holes (11) in a penetrating mode, the number of the limiting holes (11) corresponds to that of the flexible pieces one by one, and the flexible pieces are distributed at equal intervals along the circumferential direction of the vibrator (8); The inner diameter size of the limiting hole (11) is larger than the diameter size of the flexible piece, and the fit clearance between the limiting hole and the flexible piece is 0.5mm to 1mm.
3. The intelligent sampling controller according to claim 2, wherein the attitude stabilization assembly comprises a limit platform (7) and a float ball (5); The limiting platform (7) is of a columnar frame structure, the first guide part comprises coaxial through holes respectively formed in the top plate surface and the bottom plate surface of the limiting platform (7), and the sampling tube (10) is embedded in the coaxial through holes; The flexible piece is configured as a rope (6), the bottom end of the flexible piece is fixedly connected to the top plate surface of the limiting platform (7), and the top end of the flexible piece is connected with the floating ball (5); the buoyancy generated by the floating ball (5) enables the rope (6) to keep a tensioning state between the limiting platform (7) and the floating ball (5).
4. The intelligent sampling controller according to claim 1, wherein the sensing component comprises a deposit identifier (3) and an environmental sensor (4); The sediment recognizer (3) is arranged at the outer bottom of the gesture stabilization assembly in a central symmetry way, and the sediment recognizer (3) is configured as a pressure type touch sensor and is used for generating a touch current signal when contacting sediment; An edge calculation unit is provided within the control pod (2) and stores a pre-trained forward multi-layer back propagation neural network model configured to receive the haptic current signal and map it to a corresponding deposit type output.
5. The intelligent sampling controller according to claim 4, wherein an environmental sensor (4) is disposed at the bottom of the inside of the attitude stabilization assembly for collecting environmental depth and temperature data; the control pod (2) is configured to generate control instructions for the sampling assembly based on the deposit type output and the environmental depth and temperature data; the control instruction comprises setting a vibration frequency parameter, a vibration duration parameter and an operating current parameter of a vibrator (8) in the sampling assembly.
6. A control method for the tactile-sensing-based intelligent sampling controller according to any one of claims 1 to 5, characterized by comprising: collecting a dynamic pressure response signal of a sampling tube in an initial stage of penetrating sediment, extracting a mechanical characteristic feature vector representing the mechanical characteristic of the sediment, classifying the mechanical characteristic feature vector by using a preset classification model, and identifying the sediment type; Acquiring initial control configuration from a preset parameter database according to the sediment type, acquiring penetration state data in real time through a sensor in the continuous penetration process, and dynamically adjusting a vibration current set value and a vibration frequency set value according to the penetration state data so as to execute self-adaptive penetration; calculating a sample disturbance evaluation index based on a time sequence of a vibration current set value and a vibration frequency set value in the sampling process and fluctuation characteristics of a dynamic pressure response signal; And when the sample disturbance evaluation index exceeds a preset threshold value, generating a reducing control instruction to adjust the vibration current set value.
7. The method of claim 6, wherein extracting a mechanical property feature vector characterizing a mechanical property of the deposit comprises: Determining the reference pressure of the dynamic pressure response signal, and calculating an effective pressure curve after deducting the reference pressure; extracting initial contact pressure, pressure rising rate, peak pressure and multi-channel synchronicity coefficient from the effective pressure curve, and combining to form a mechanical characteristic feature vector; The mechanical characteristic feature vector also comprises pressure rising convexity and peak stability ratio; The pressure rising concavity and convexity is obtained by calculating the mean value of the second derivative of the effective pressure curve at the rising section and is used for representing the acceleration or deceleration trend of the resistance increase; The peak-to-steady ratio is obtained by calculating the ratio of the peak pressure to the steady-state pressure average value of the effective pressure curve in the preset proportion interval at the end section of the acquisition window, and is used for representing the elastoplasticity characteristic of the sediment.
8. The method of claim 6, wherein dynamically adjusting the vibration current setting and the vibration frequency setting based on the penetration state data is achieved by a multi-stage differential control scheme comprising: dividing the penetration process of the sampling tube into a penetration establishment stage, a stable deep stage and a stable ending stage; Comparing the penetration depth in the penetration state data with a preset stage switching threshold value in real time, and determining the current control stage; And acquiring a control mode corresponding to the current control stage, and adjusting the vibration current set value and the vibration frequency set value according to the control mode.
9. The method of claim 8, wherein the control mode is configured as a pulse-ramp-up mode when it is determined that the penetration establishment phase is currently in progress; The pulse increasing mode utilizes a preset S-shaped curve function to control the vibration current set value to be smoothly increased from the initial current to the rated working current of the stage, and the increasing rate of the S-shaped curve function is characterized by changing from slow to fast; when the current stable ending stage is determined, the control mode is configured into a cosine decreasement mode; the cosine gradual reduction mode utilizes a preset cosine function rule to control the set value of the vibration current to smoothly attenuate to the minimum maintaining current from the current value, and synchronously reduces the set value of the vibration frequency to a preset low frequency band so as to reduce continuous disturbance to the collected sample.
10. The method of claim 6, wherein dynamically adjusting the vibration current setting and the vibration frequency setting based on the penetration status data is further accomplished by a closed loop control based on target rate tracking, comprising: Selecting a corresponding target penetration rate curve from a preset curve template library according to the sediment type, wherein the corresponding target penetration rate curve defines the change relation of the expected penetration rate along with the penetration depth; acquiring a target penetration rate at the current moment on a target penetration rate curve based on the real-time penetration depth in the penetration state data; Calculating the rate deviation between the target penetration rate and the real-time penetration rate in the penetration state data, calculating the current adjustment quantity based on the rate deviation by using a proportional-integral-derivative control algorithm, updating the vibration current set value according to the current adjustment quantity, and synchronously adjusting the vibration frequency set value based on the change trend of the rate deviation.

Description

Intelligent sampling controller based on touch perception and control method Technical Field The invention relates to a sampling control method, in particular to an intelligent sampling controller based on tactile perception and a control method. Background In-situ acquisition of underwater sediment columnar samples is a fundamental work of marine geological investigation, paleoclimate reconstruction and environmental monitoring. The method for evaluating the sampling quality is an important technical index for evaluating the sampling quality, and the layer sequence structure and the pore characteristics of the sample are kept from being damaged by the sampling process. In a deepwater environment, sediment types are changeable and soft and hard interaction stratum always exist, and strict technical requirements are put forward on the attitude stability of a sampling device, the self-adaptability of a penetration control strategy and the on-line controllability of sampling quality. Existing underwater vibration sampling devices generally employ a rigid guide frame or an active propeller to maintain a vertical attitude, and their control systems often perform open loop control based on preset fixed parameters. In terms of deposit identification, some schemes utilize static pressure thresholds or penetration resistance peaks for simple classification. In terms of vibration control, the prior art generally applies a constant vibration current and frequency throughout the penetration stroke. In terms of quality assessment, the degree of disturbance of a sample is usually determined afterwards by means of laboratory geotechnical tests after the sampling is completed. The prior art is faced with the following specific problems under the condition of deep water complex stratum, adopts a single control mode at different stages of the penetrating process, leads to easy scattering of surface layer flow plastic soft mud due to vibration impact during initial penetrating, leads to easy sample slip in a pipe due to inertial force during emergency stop at the ending stage, is difficult to effectively distinguish sediment types with similar strength and different mechanical mechanisms only by means of a static pressure threshold value, for example, the dynamic response characteristic difference of hard plastic clay and compact sand is not utilized, lacks an online quantitative evaluation mechanism for vibration energy input and sediment structure response during sampling, and is difficult to timely intervene and adjust when disturbance exceeds standard. Disclosure of Invention The invention aims to provide an intelligent sampling controller based on touch perception and a control method thereof, which aim to solve at least one of the problems in the prior art. According to an aspect of the present application, an intelligent sampling controller based on haptic sensation includes: The attitude stabilizing assembly is used for limiting a first guide part penetrating along the vertical direction and comprises a flexible piece which is arranged in a tensioning state along the vertical direction; the sensing component is arranged on the bottom surface of the gesture stabilizing component; the power cabin and the control cabin are respectively arranged on two opposite sides of the upper surface of the bottom plate surface of the attitude stabilizing assembly; The sampling assembly penetrates through the first guide part in a sliding manner, a second guide part which is in sliding fit with the flexible part is arranged on the side wall of the sampling assembly, and the first guide part and the second guide part are arranged at intervals in the vertical direction so as to form double-point track constraint when the sampling assembly moves along the vertical direction; the sensing assembly and the sampling assembly are respectively connected with the control cabin through signals, and the power cabin is electrically connected with the control cabin. According to another aspect of the present application, a control method of an intelligent sampling controller based on haptic sensation includes: collecting a dynamic pressure response signal of a sampling tube in an initial stage of penetrating sediment, extracting a mechanical characteristic feature vector representing the mechanical characteristic of the sediment, classifying the mechanical characteristic feature vector by using a preset classification model, and identifying the sediment type; Acquiring initial control configuration from a preset parameter database according to the sediment type, acquiring penetration state data in real time through a sensor in the continuous penetration process, and dynamically adjusting a vibration current set value and a vibration frequency set value according to the penetration state data so as to execute self-adaptive penetration; calculating a sample disturbance evaluation index based on a time sequence of a vibration current set value and a v