传统岩土性质调查为点式竖向勘察，不适用于海底采矿过程中面积广、土层浅的海底勘察技术需求。受蚯蚓蠕动行进方式的启发，研发了一种搭载静力触探探头的仿生蚯蚓横向勘测仪器。该仪器总长度1.56 m，主体外径75.0 mm，总质量17.0 kg，主要由勘测装置、仿生驱动装置、数据采集装置三部分组成。勘测装置主要由静力触探探头构成，可测量行进过程中探头锥尖阻力与超孔隙水压力；仿生驱动装置可以驱动仪器在土壤中横向行进；数据采集装置可实时记录、储存行进过程中测得的数据。通过室内水槽试验，对该仪器在海洋黏土中横向行进的可行性进行了验证。结果表明，当土体不排水抗剪强度S_u为0.60、1.25、1.75 kPa时，该仪器可在土中正常行进，仪器横向行进1.0 m所需时间分别为40、60、110 min。当土体不排水抗剪强度S_u由0.60 kPa增大到1.25、1.75 kPa时，该仪器测得的锥尖阻力分别增大至S_u为0.60 kPa时的2.25倍和3.97倍，相应的超孔隙水压力增大至1.27倍和2.00倍。

英文摘要:

Traditional geotechnical surveys, which primarily employ vertical point-based probing, are inadequate for the broad-area and shallow-layer survey requirements of subsea mining processes. Inspired by the peristaltic locomotion of earthworms, this study developed a biomimetic earthworm lateral surveying instrument equipped with a cone penetration test (CPT) probe. The instrument has a total length of 1.56 m, an outer diameter of 75.0 mm, and a total mass of 17.0 kg. It is composed of three main components: a surveying device, a biomimetic propulsion device, and a data acquisition device. The surveying device, primarily consisting of a CPT probe, is capable of measuring cone tip resistance and excess pore water pressure during movement. The biomimetic propulsion device enables the instrument to move laterally within the soil, while the data acquisition device continuously records and stores the data collected during movement. Feasibility tests were conducted in a laboratory flume to evaluate the instrument's lateral movement in marine clay. Experimental results indicated that the instrument could move laterally in soil with undrained shear strengths S_u of 0.60, 1.25, and 1.75 kPa. The time required for the instrument to traverse 1.0 m laterally was 40, 60, and 110 minutes, respectively. As the S_u increased from 0.60 kPa to 1.25 kPa and 1.75 kPa, the cone tip resistance measured by the instrument increased by 2.25 and 3.97 times, respectively, while the corresponding excess pore water pressure increased by 1.27 and 2.00 times.

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