Ultrasonic monitoring system and method for monitoring underwater sediment erosion and deposition in real time

Abstract

The invention relates to an ultrasonic monitoring system and method for real-time monitoring of underwater sediment erosion and deposition, and belongs to the technical field of port and navigation channel engineering, the ultrasonic monitoring system comprises an automatic pulley block, a data acquisition module, a data analysis module and a plurality of ultrasonic transducers, each ultrasonic transducer is provided with a detection end, each ultrasonic transducer is connected with the automatic pulley block through a cable, the outer side of each ultrasonic transducer is sleeved with a steel pipe, the ultrasonic transducers and the steel pipes are arranged in the water body, a plurality of guide strips are fixed to the inner walls of the steel pipes, and a limiting device is installed at one end of each steel pipe; and a guide device is fixed on the side wall of each ultrasonic transducer. The ultrasonic transducer is matched with the automatic pulley block to detect different positions in the same area, so that the turbidity of a water area is prevented from being large, and the accuracy of monitoring data is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of port and waterway engineering, and particularly to an ultrasonic monitoring system and method for real-time monitoring of underwater sediment erosion and deposition. Background Art

[0002] The erosion and deposition of underwater sediment seriously affect the safety of structures such as artificial revetment foundations, gravity quay beds, around the piles of high-pile wharves, breakwater toe slopes, and offshore wind power foundations. The erosion and deposition of sediment are usually a long-term and slowly evolving process, but after extreme weather and large river floods, local rapid erosion or deposition causes the original structures to become unstable or collapse. Therefore, it is of great significance to seek a general and efficient monitoring system and method that can real-time monitor underwater sediment erosion and deposition.

[0003] For example, Chinese Patent with publication number CN115839065B discloses a pneumatically controlled self-propelled underwater dredging device and an underwater automatic dredging method, including: an underwater pneumatic dredging component; a walking support component for driving the underwater pneumatic dredging component to move; the walking support component includes: two walking bodies fixed to the underwater pneumatic dredging component; two walking air supply pipes respectively connected to the walking bodies; two moving rods respectively movably connected to the walking bodies; two walking plates respectively fixed to the moving rods; wherein, the gas input by the walking air supply pipes controls the stroke, amplitude, and frequency of the two moving rods, so that the two walking plates walk directionally underwater; this pneumatically controlled self-propelled underwater dredging device and underwater automatic dredging method have a fast pneumatic drive response speed provided by the air source equipment, and the walking support component can make a quick feedback.

[0004] However, there are still some deficiencies in the above patent during use. For example, currently, the most common methods for simultaneously monitoring sediment erosion and deposition are multi-beam velocity or sonar monitoring, and temperature-sensitive optical fiber monitoring. Other methods are more used for sediment erosion monitoring and cannot monitor sediment deposition. In addition, although multi-beam monitoring or sonar monitoring and temperature-sensitive optical fiber monitoring can simultaneously monitor sediment erosion and deposition, when the water turbidity is large, the monitoring data will have large errors, and it is difficult to guarantee the detection accuracy.

[0005] In view of the above problems, an ultrasonic monitoring system and method for real-time monitoring of underwater sediment erosion and deposition are proposed. Summary of the Invention

[0006] The purpose of the present invention is to provide an ultrasonic monitoring system and method for real-time monitoring of underwater sediment erosion and deposition. By using this device for work, the problems in the above background are solved.

[0007] To achieve the above object, the present invention provides the following technical solution: An ultrasonic monitoring system for real-time monitoring of underwater sediment erosion and deposition, comprising an automatic pulley block, a data acquisition module, a data analysis module, and a plurality of ultrasonic transducers. Each ultrasonic transducer is provided with a detection end, and each ultrasonic transducer is connected to the automatic pulley block through a cable. A steel pipe is sleeved outside each ultrasonic transducer. The ultrasonic transducer and the steel pipe are both arranged in the water body, and a plurality of guiding strips are fixed on the inner wall of the steel pipe. A limiting device is installed at one end of each steel pipe, and a guiding device is fixed on the side wall of each ultrasonic transducer. The guiding device includes two guiding rings fixedly connected to the side wall of the ultrasonic transducer. A plurality of grooves and a plurality of guiding grooves are formed on the side wall of each guiding ring. The plurality of guiding strips are correspondingly slidably inserted into the guiding grooves. A slider is slidably connected inside each groove. A spring is elastically connected between each slider and the inner wall of the groove where it is located. Each slider abuts against and slides on the inner wall of the steel pipe. A counterweight is fixedly connected between two sliders on the same vertical line. The data acquisition module is communicatively connected to the data analysis module, and is used for receiving the monitoring data of the ultrasonic transducer in real time and transmitting it to the data analysis module. The data analysis module generates a control instruction according to the received monitoring data, and drives the automatic pulley block through the data acquisition module to adjust the lifting position of the ultrasonic transducer.

[0008] Further, a first ball is rotatably connected to the inner wall of one side of the slider by embedding, and a protective rod is fixedly connected to the outer wall of the other side of the slider. The protective rod is slidably connected to the inner wall of the groove where it is located by embedding, and the protective rod penetrates through the inner ring of the spring.

[0009] Further, the limiting device includes a protective cover, a plurality of elastic members, a plurality of second balls, an upper limiting plate, and a lower limiting plate connected to the upper limiting plate. The protective cover is installed at the top of the steel pipe, and the cable penetrates through the protective cover. The upper limiting plate is fixedly connected to the bottom wall of the protective cover. The plurality of elastic members are arranged in a circular array between the upper limiting plate and the lower limiting plate. Each second ball is fixedly connected to one end of one of the elastic members.

[0010] Further, a foundation soil is provided at the bottom of the water body, a bedrock is provided on the foundation soil, and a water-crossing structure is prefabricated on the bedrock. The automatic pulley block and the data acquisition module are both installed on the water-crossing structure. Each steel pipe is arranged vertically, and the bottom end of each steel pipe passes through the bedrock and extends into the foundation soil. The top end of each steel pipe exposes above the water surface of the water body, and the steel pipe is anchored to the water-crossing structure.

[0011] Further, the automatic pulley block includes a pulley block bracket fixedly connected to the top surface of the wading structure. A plurality of pulley devices are rotatably arranged on the pulley block bracket. All the pulley devices are correspondingly arranged with all the ultrasonic transducers. The cable on the ultrasonic transducer is connected to the corresponding pulley device. A pulley block linkage switch is fixedly installed on the pulley block bracket.

[0012] The present invention also provides a monitoring method for an ultrasonic monitoring system for real-time monitoring of underwater sediment erosion and deposition, including the following steps: S1: Select a plurality of steel pipes adapted to the water depth of the monitoring point, and insert all the steel pipes into the bottom of the water body; S2: Arrange ultrasonic transducers in each steel pipe, and ensure that all the ultrasonic transducers are at the same set height; S3: Start all the ultrasonic transducers to monitor the data information at the current set height, denoted as h0, and use this data information as the reference data; S4: Through the monitoring instruction issued by the data analysis module, drive the data acquisition module to start the automatic pulley block to achieve synchronous descent of all the ultrasonic transducers; S5: When the set distance of descent is reached, obtain the data information after descent, denoted as h1; S6: Transmit the data information h1 to the data analysis module synchronously through the data acquisition module, and judge the erosion depth or deposition height by comparing with the reference data h0.

[0013] Further, in step S6, the judgment method for obtaining the erosion depth by comparing with the reference data h0 is: calculated by the formula Δh = h1 - h0. In the formula Δh = h1 - h0, Δh is the erosion depth or deposition height, h1 is the transducer depth at the point where the ultrasonic wave velocity changes significantly, and h0 is the mud surface depth at the time of burial; Where: When h1 > h0, Δh is the erosion depth; When h1 < h0, Δh is the deposition height; The data analysis module automatically generates a judgment result of erosion or deposition according to the positive or negative value of Δh.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The present invention realizes the detection of different positions in the same area through the cooperation of an ultrasonic transducer and an automatic pulley block, thereby avoiding the problem that due to the large turbidity of the water area, large errors will occur in the monitoring data, resulting in difficulty in ensuring the accuracy. It directly guides the detection end of the ultrasonic transducer to perform the first detection on the monitoring point to be monitored. After the first detection is completed, the detection end is static for a set period of time, and the automatic pulley block drives the detection end to descend so that the detection end performs at least two detections in the water body. Then, the scouring depth is obtained by judging the elevation of the detection end during the two detections.

[0015] 2. In the present invention, when the ultrasonic transducer descends in the steel pipe, multiple guiding strips on the inner wall of the steel pipe are embedded in the guiding grooves on the side wall of the guiding ring, avoiding the problems that the cable is affected by external factors such as wind blowing and water body fluctuation, resulting in the ultrasonic transducer being shaken and greatly twisted, and the ultrasonic transducer itself is slow to stabilize, affecting the detection efficiency. The multiple sliders and multiple springs provided on the guiding ring make the ultrasonic transducer centered in the steel pipe. Under the action of the spring force, the ultrasonic transducer will not easily shift to one side, avoiding the problem that the different distances between the ultrasonic transducer and the inner wall of the steel pipe affect the detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is the front view of an ultrasonic monitoring system for real-time monitoring of underwater sediment erosion and deposition according to the present invention; Figure 2 is Figure 1 the a-a cross-sectional view in Figure 3 is the structural schematic diagram of the steel pipe and the guiding device part in the present invention; Figure 4 is the structural schematic diagram of the guiding device and the guiding strip part in the present invention; Figure 5 is the structural schematic diagram of the guiding device and the ultrasonic transducer part in the present invention; Figure 6 is the structural schematic diagram of the guiding ring part in the present invention; Figure 7 is the structural schematic diagram of the slider and the counterweight part in the present invention; Figure 8 is the top view of the limiting device part in the present invention; Figure 9 is Figure 8 the b-b cross-sectional view of the limiting device in Figure 10 is the monitoring method flow chart of an ultrasonic monitoring system for real-time monitoring of underwater sediment erosion and deposition according to the present invention.

[0017] In the figure: 1. automatic pulley block; 11. pulley block bracket; 12. pulley device; 13. pulley block linkage switch; 2. data acquisition module; 21. equipment protection frame; 22. anchor bolt; 23. ultrasonic collector; 24. signal unit; 25. solar panel; 26. wireless transmitting antenna; 3. data analysis module; 4. ultrasonic transducer; 5. steel pipe; 6. limit device; 61. protective cover; 62. elastic member; 63. second ball; 64. upper limit plate; 65. lower limit plate; 7. cable; 8. guide device; 81. guide ring; 82. groove; 83. guide groove; 84. slider; 841. first ball; 842. protective rod; 85. spring; 86. counterweight; 9. foundation soil; 10. bed stone; 20. wading structure; 30. guide strip; 40. water surface. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] Please refer to Figure 1 - Figure 7 , an ultrasonic monitoring system for real-time monitoring of underwater silt scouring and silting, comprising an automatic pulley block 1, a data acquisition module 2, a data analysis module 3 and a plurality of ultrasonic transducers 4, each ultrasonic transducer 4 is provided with a detection end for detecting a desired monitoring point, each ultrasonic transducer 4 is connected to the automatic pulley block 1 through a cable 7, a steel pipe 5 is sleeved on the outside of each ultrasonic transducer 4, the ultrasonic transducer 4 and the steel pipe 5 are both arranged in the water body, and a plurality of guide strips 30 are fixed on the inner wall of the steel pipe 5, and the steel pipe 5 serves to isolate the ultrasonic transducer 4 detection end and the water body, the automatic pulley block 1 can pull the ultrasonic transducer 4 to move it upward or downward, one end of each steel pipe 5 is installed with a limit device 6, and a guide device 8 is fixed on the side wall of each ultrasonic transducer 4 to guide the movement of the ultrasonic transducer 4 so that the ultrasonic transducer 4 can remain stable when moving in the steel pipe 5, avoiding external factors from causing torsion and shaking of the ultrasonic transducer 4 when moving, thereby causing the ultrasonic transducer 4 to take a long time to reach a stable state, thereby reducing the detection efficiency.

[0020] The guiding device 8 includes two guiding rings 81 fixedly connected to the side wall of the ultrasonic transducer 4. A plurality of grooves 82 and a plurality of guiding grooves 83 are formed in the side wall of each guiding ring 81. A plurality of guiding bars 30 are correspondingly and slidably inserted into the guiding grooves 83. A slider 84 is slidably connected to the inside of each groove 82. A spring 85 is elastically connected between each slider 84 and the inner wall of the corresponding groove 82. Each slider 84 abuts against and slides on the inner wall of the steel pipe 5. A counterweight 86 is fixedly connected between two sliders 84 on the same vertical line.

[0021] A first ball 841 is rotatably and slidably embedded on one outer wall of the slider 84. A protective rod 842 is fixedly connected to the other outer wall of the slider 84. The protective rod 842 is slidably and embeddedly connected to the inner wall of the corresponding groove 82, and the protective rod 842 penetrates through the inner ring of the spring 85.

[0022] Specifically, the data acquisition module 2, including an equipment protection frame 21, anchor bolts 22, an ultrasonic collector 23, a signal unit 24, a solar panel 25, and a wireless transmitting antenna 26, is a prior art. Specifically: Equipment protection frame 21: Fixed to the top surface of the wading structure 20 through anchor bolts 22, used to carry and protect the internal components; Ultrasonic collector 23: Integrated in the equipment protection frame 21, connected to the ultrasonic transducer 4 through a cable 7, used to receive and preprocess ultrasonic signals; Signal unit 24: Adopting a 5G communication module, electrically connected to the ultrasonic collector 23, encrypting and transmitting the preprocessed data to the data analysis module 3; Solar panel 25: Installed on the top of the equipment protection frame 21, connected to the ultrasonic collector 23 and the signal unit 24 through a power line, providing continuous power for the system; Wireless transmitting antenna 26: Integrated with the signal unit 24, used to enhance the stability of remote communication signals.

[0023] The equipment protection frame 21 is installed on the top surface of the wading structure 20 through anchor bolts 22. The ultrasonic collector 23 and the signal unit 24, specifically a 5G signal unit, can be placed in the iron box of the equipment protection frame 21. The solar panel 25 and the wireless transmitting antenna 26 are fixed on the equipment protection frame 21. The data analysis module 3 can send instructions through the 5G network to simultaneously start the automatic pulley block 1 and the ultrasonic collector 23, used to store and analyze the monitoring data.

[0024] The data analysis module 3 processes data through the following steps: Data reception: Real-time receive the ultrasonic wave velocity data transmitted by the data acquisition module 2 through the 5G network; Noise filtering: Adopt the wavelet transform algorithm to eliminate environmental interference signals; Elevation calculation: Calculate the mud surface elevation h1 based on the time difference of ultrasonic wave propagation; Comparison and analysis: Compare h1 with the reference data h0 to generate Δh and the determination result; Instruction issuance: If Δh exceeds the safety threshold, control the motor speed of the automatic pulley block 1 through the PWM signal to drive the ultrasonic transducer 4 to lift to the target position.

[0025] The data acquisition module 2 is connected to the pulley linkage switch 13 of the automatic pulley block 1 through the RS-485 bus, and adjusts the rotation direction and speed of the pulley device 12 according to the instructions of the data analysis module 3.

[0026] The data acquisition module 2 controls the automatic pulley block 1 to drive the ultrasonic transducer 4 to move, and transmits the data detected by the ultrasonic transducer 4 to the data analysis module 3. The data analysis module 3 can receive and store the data transmitted by the data acquisition module 2, and issue monitoring instructions to the data acquisition module 2. The automatic pulley block 1 directly guides the detection end of the ultrasonic transducer 4 to perform the first detection on the required monitoring point. When the detection end of the ultrasonic transducer 4 completes the first detection, the detection end of the ultrasonic transducer 4 is stationary for a set period of time, and then the automatic pulley block 1 drives the detection end of the ultrasonic transducer 4 to descend, so that the detection end of the ultrasonic transducer 4 performs at least two detections in the water body. Through the cooperation of the ultrasonic transducer 4 and the automatic pulley block 1, the detection of different positions in the same area is realized, thus avoiding the problem that when the water turbidity is large, the monitoring data has large errors and the accuracy is difficult to guarantee.

[0027] It should be noted that during specific operations, it is not only the initial state that will be detected once and once when there is a large fluctuation in the data of the ultrasonic transducer 4, but multiple times according to needs. The purpose of performing multiple detections is to obtain the elevations before and after to calculate the scouring depth. Taking the first test result as the initial height, subsequent detections can be carried out at regular intervals, so that the law of erosion and deposition can be obtained.

[0028] Furthermore, when the ultrasonic transducer 4 descends in the steel pipe 5, multiple guide strips 30 on the inner wall of the steel pipe 5 are embedded in the guide grooves 83 on the side wall of the guide ring 81, and the guide strips 30 are in contact with and slide along the inner wall of the guide grooves 83, avoiding the problem that the cable 7 drives the ultrasonic transducer 4 to shake and twist greatly due to external factors such as wind blowing and water body fluctuation, thus avoiding the problem that the ultrasonic transducer 4 needs a long time to stabilize itself and affect the detection efficiency.

[0029] Since there is a certain gap between the guide bar 30 and the guide groove 83, and wear during use will cause the gap to become larger and larger. Therefore, a plurality of sliders 84 and a plurality of springs 85 are provided on the guide ring 81, so that the ultrasonic transducer 4 is centered in the steel pipe 5. Even if the gap between the guide bar 30 and the guide groove 83 increases, under the elastic force of the spring 85, the ultrasonic transducer 4 will not easily shift to one side, avoiding the problem that the distance between the ultrasonic transducer 4 and the inner wall of the steel pipe 5 is different and affecting the detection. And at this time, the ultrasonic transducer 4 is slightly twisted at the centered position in the steel pipe 5 by external factors and will not affect the detection. By setting the counterweight 86, the mass distribution of the outer ring of the guide ring 81 is made uniform, avoiding the inclination of the ultrasonic transducer 4 when moving in the steel pipe 5 and affecting the detection.

[0030] Please refer to Figure 8 - Figure 9 The limiting device 6 includes a protective cover 61, a plurality of elastic members 62, a plurality of second balls 63, an upper limiting plate 64 and a lower limiting plate 65 connected to the upper limiting plate 64. The protective cover 61 is installed at the top end of the steel pipe 5 and can be disassembled. The cable 7 passes through the protective cover 61. The upper limiting plate 64 is fixedly connected to the bottom wall of the protective cover 61. The plurality of elastic members 62 are arranged in a circular array between the upper limiting plate 64 and the lower limiting plate 65. Each second ball 63 is fixedly connected to one end of one of the elastic members 62. The steel pipe 5 is clamped into the inner rings of the upper limiting plate 64 and the lower limiting plate 65 through the plurality of elastic members 62 and the second balls 63 to complete the installation of the protective cover 61.

[0031] Please refer to Figure 1 - Figure 2 At the bottom of the water body, there is a foundation soil 9. On the foundation soil 9, there is a bedrock 10. A water-crossing structure 20 is precast on the bedrock 10. The automatic pulley block 1 and the data acquisition module 2 are both installed on the water-crossing structure 20. Each steel pipe 5 is arranged vertically. The bottom end of each steel pipe 5 passes through the bedrock 10 and extends into the foundation soil 9. The top end of each steel pipe 5 exposes above the water surface 40 of the water body. The steel pipe 5 is anchored to the water-crossing structure 20. The specific anchoring method is: welding a flange plate at the top end of the steel pipe 5 and fixing it with a steel anchor plate embedded in the water-crossing structure 20 through high-strength bolts; generally, the embedding depth of the anchor plate is 0.5 - 1.0 m and it is welded to the steel bar framework in the bedrock 10 to ensure that the verticality deviation of the steel pipe 5 is less than 0.5°.

[0032] The automatic pulley block 1 includes a pulley block support 11 fixedly connected to the top surface of the water-crossing structure 20. A plurality of pulley devices 12 are rotatably arranged on the pulley block support 11. All the pulley devices 12 are arranged corresponding to all the ultrasonic transducers 4. The cable 7 on the ultrasonic transducer 4 is connected to the corresponding pulley device 12. A pulley block linkage switch 13 is fixedly installed on the pulley block support 11.

[0033] Specifically, the automatic pulley block 1 can switch between single-actuation and linkage of multiple pulley devices 12 through the pulley block linkage switch 13, so that when one of the multiple ultrasonic transducers 4 moves along the axis of the steel pipe 5, the remaining ultrasonic transducers 4 move in the same direction or in the opposite direction or remain stationary.

[0034] The present invention also provides a monitoring method for an ultrasonic monitoring system for real-time monitoring of underwater sediment erosion and deposition, including the following steps: Step 1: Select a plurality of suitable steel pipes 5 according to the water depth of the monitoring point, and insert all the steel pipes 5 into the bottom of the water body. Step 2: Arrange ultrasonic transducers 4 in each steel pipe 5 and ensure that all the ultrasonic transducers 4 are at the same set height. Step 3: Start all the ultrasonic transducers 4 to monitor the data information at the current set height, denoted as h0, and use this data information as the reference data. Step 4: Through the monitoring instruction issued by the data analysis module 3, drive the data acquisition module 2 to start the automatic pulley block 1 to achieve synchronous descent of all the ultrasonic transducers 4. Step 5: When the set distance of descent is reached, obtain the data information after descent, denoted as h1. Step 6: Transmit the data information h1 back to the data analysis module 3 synchronously through the data acquisition module 2, and judge the erosion depth or silt height by comparing with the reference data h0.

[0035] In Step 6, the judgment method for obtaining the erosion depth by comparing with the reference data h0 is: calculated by the formula Δh = h1 - h0, where Δh in the formula Δh = h1 - h0 is the erosion depth or deposition height, h1 is the transducer depth at the point where the ultrasonic wave velocity changes significantly, and h0 is the mud surface depth at the time of burial.

[0036] When h1 > h0, Δh is positive, indicating the sediment erosion depth, that is, the elevation of the original mud surface decreases due to water flow erosion. When h1 < h0, Δh is negative, indicating the sediment deposition height, that is, the elevation of the mud surface increases due to sediment accumulation. The judgment result of the formula is automatically output through the algorithm of the data analysis module 3 and compared with a preset threshold to trigger an alarm.

[0037] The specific steps are as follows: 1. Select a monitoring point, prepare steel pipes 5 of corresponding lengths according to the water depth, use a drill to penetrate the bedrock 10, bury the steel pipes 5 in the foundation soil 9, the burial depth of which can be selected according to the properties of the soil layer, then expose the steel pipes 5 40 above the water surface, anchor them to the water-related structure 20, and install a limiting device 6 on the steel pipes 5 while ensuring the verticality of the steel pipes 5.

[0038] Second, check the status of the ultrasonic transducers 4 to ensure that the status of the two ultrasonic transducers 4 is normal. Then, pass the two ultrasonic transducers 4 through the limiting device 6 and slowly lower them into the steel pipe 5, and ensure that during the lowering process, the multiple ultrasonic transducers 4 are at the same depth.

[0039] The purpose of selecting two steel pipes 5 is to ensure the integrity of ultrasonic pile testing, which can achieve fan-shaped scanning (i.e., increasing the scanning range, not limited to two here), and the pipes for transmitting and receiving can also be exchanged to improve the accuracy.

[0040] Third, install the data acquisition module 2 on the wading structure 20, and fix the cables 7 of the remaining ultrasonic transducers 4 on the pulley devices 12 of the automatic pulley block 1 and wind them. Start the automatic pulley block 1 to check the free lifting and lowering of the ultrasonic transducers 4 in the steel pipe 5, and check the status of the pulley block linkage switch 13.

[0041] Fourth, turn on the ultrasonic collector 23, check the working status of the ultrasonic collector 23 and the signal unit 24, start the automatic pulley block 1, and synchronously lift the two ultrasonic transducers 4 to a certain height, which is about 1 - 2 m above the scouring or siltation mud surface.

[0042] Fifth, stabilize for several minutes. After the data is stable, the ultrasonic collector 23 records the data and sends it to the data analysis module 3 as reference data for comparison with the data monitored later to calculate the underwater scouring and siltation.

[0043] Sixth, the monitoring instructions issued by the data analysis module 3 are transmitted to the data acquisition module 2 through the wireless transmitting and receiving device. The data acquisition module 2 starts the automatic pulley block 1 through the cable 7 to achieve the synchronous and slow descent of the ultrasonic transducers 4 and collect ultrasonic data. When the data changes, the monitoring frequency can be adjusted for encrypted monitoring.

[0044] Seventh, when the ultrasonic transducers 4 are slowly lowered to a certain depth and the monitoring data becomes stable again, reverse the rotation direction of the automatic pulley block 1 to make the ultrasonic transducers 4 slowly rise. When the ultrasonic monitoring data is consistent with the reference data, stop the monitoring.

[0045] Eighth, during the whole monitoring process, the ultrasonic data is synchronously transmitted back to the data analysis module 3 through the data acquisition module 2, and the scouring depth is judged by comparing with the reference data. The scouring or siltation depth can be judged by the following method: Δh = h1 - h0, where Δh is the scouring depth or siltation height, h1 is the transducer depth at the point where the ultrasonic wave velocity changes significantly, and h0 is the mud surface depth during installation.

[0046] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device.

[0047] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An ultrasonic monitoring system for real-time monitoring of underwater sediment erosion and siltation, comprising an automatic pulley block (1), a data acquisition module (2), a data analysis module (3) and a plurality of ultrasonic transducers (4), characterized in that: Each of the ultrasonic transducers (4) is provided with a detection end, each of the ultrasonic transducers (4) is connected to the automatic pulley block (1) via a cable (7), each of the ultrasonic transducers (4) is sheathed with a steel pipe (5) on the outside, the ultrasonic transducers (4) and the steel pipe (5) are both arranged in the water body, and a plurality of guide strips (30) are fixed on the inner wall of the steel pipe (5), a limiting device (6) is installed at one end of each of the steel pipes (5), and a guide device (8) is fixed on the side wall of each of the ultrasonic transducers (4); The guide device (8) comprises two guide rings (81) fixedly connected to the side wall of the ultrasonic transducer (4), each of the guide rings (81) having a plurality of grooves (82) and a plurality of guide grooves (83) formed on the side wall, the plurality of guide strips (30) correspondingly slidably embedded in the guide grooves (83), each of the grooves (82) having a slider (84) slidably connected thereto, each of the sliders (84) being elastically connected to the inner wall of the groove (82) via a spring (85), each of the sliders (84) being abutted against and slidable against the inner wall of the steel pipe (5), and a counterweight (86) being fixedly connected therebetween between the two sliders (84) on the same vertical line; The data acquisition module (2) is in communication connection with the data analysis module (3) and is used to receive monitoring data of the ultrasonic transducer (4) in real time and transmit the data to the data analysis module (3); the data analysis module (3) generates a control instruction based on the received monitoring data and drives the automatic pulley block (1) to adjust the lifting position of the ultrasonic transducer (4) through the data acquisition module (2).

2. The ultrasonic monitoring system for real-time monitoring of underwater sediment scouring and silting according to claim 1 is characterized by: A first ball (841) is rotatably embedded in an outer wall on one side of the slider (84), and a protective rod (842) is fixedly connected to an outer wall on the other side of the slider (84). The protective rod (842) is slidably embedded in the inner wall of the groove (82) where it is located, and the protective rod (842) passes through the inner ring of the spring (85).

3. The ultrasonic monitoring system for real-time monitoring of underwater sediment scouring and silting according to claim 1 is characterized by: The limiting device (6) comprises a protective cover (61), a plurality of elastic members (62), a plurality of second balls (63), an upper limiting plate (64), and a lower limiting plate (65) connected to the upper limiting plate (64); the protective cover (61) is mounted on the top of the steel pipe (5); the cable (7) is arranged to pass through the protective cover (61); the upper limiting plate (64) is fixedly connected to the bottom wall of the protective cover (61); the plurality of elastic members (62) are arranged in a circular array between the upper limiting plate (64) and the lower limiting plate (65); and each of the second balls (63) is fixedly connected to one end of one of the elastic members (62).

4. The ultrasonic monitoring system for real-time monitoring of underwater sediment scouring and silting according to claim 1 is characterized by: The bottom of the water body is provided with foundation soil (9), on which a bedrock (10) is provided. A water-crossing structure (20) is prefabricated on the bedrock (10). The automatic pulley block (1) and the data acquisition module (2) are both installed on the water-crossing structure (20). Each steel pipe (5) is vertically arranged, and the bottom end of each steel pipe (5) passes through the bedrock (10) and extends into the foundation soil (9). The top end of each steel pipe (5) exposes above the water surface (40) of the water body, and the steel pipe (5) is anchored to the water-crossing structure (20).

5. The ultrasonic monitoring system for real-time monitoring of underwater sediment scouring and silting according to claim 4 is characterized by: The automatic pulley block (1) includes a pulley block support (11) fixedly connected to the top surface of the water-crossing structure (20). A plurality of pulley devices (12) are rotatably arranged on the pulley block support (11). All the pulley devices (12) are arranged corresponding to all the ultrasonic transducers (4). The cable (7) on the ultrasonic transducer (4) is connected to the corresponding pulley device (12). A pulley block linkage switch (13) is fixedly installed on the pulley block support (11).

6. The monitoring method of an ultrasonic monitoring system for real-time monitoring of underwater sediment scouring and silting according to claims 1-5 is characterized in that: It includes the following steps: S1: Select a plurality of suitable steel pipes (5) according to the water depth of the monitoring point, and insert all the steel pipes (5) into the bottom of the water body. S2: An ultrasonic transducer (4) is arranged in each steel pipe (5), and ensure that all the ultrasonic transducers (4) are at the same set height. S3: Start all the ultrasonic transducers (4) to monitor the data information at the current set height, denoted as h0, and use this data information as the reference data. S4: Through the monitoring instruction issued by the data analysis module (3), drive the data acquisition module (2) to start the automatic pulley block (1) to realize the synchronous descent of all the ultrasonic transducers (4). S5: When the set distance of descent is reached, obtain the data information after descent, denoted as h1. S6: Transmit the data information h1 to the data analysis module (3) synchronously through the data acquisition module (2), and judge the scouring depth or siltation height by comparing with the reference data h0.

7. The monitoring method of an ultrasonic monitoring system for real-time monitoring of underwater sediment scouring and silting according to claim 6 is characterized by: In the step S6, the judgment method for obtaining the scouring depth by comparing with the reference data h0 is: calculated by the formula Δh = h1 - h0. In the formula Δh = h1 - h0, Δh is the scouring depth or siltation height, h1 is the transducer depth at the point where the ultrasonic wave velocity changes significantly, and h0 is the mud surface depth at the time of burial, where: When h1 > h0, Δh is the scouring depth; When h1 < h0, Δh is the siltation height; The data analysis module (3) automatically generates a judgment result of scouring or siltation according to the positive or negative value of Δh.

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