A monitoring device and method for seabed topography changes

Abstract

The invention relates to the technical field of marine geological exploration and engineering monitoring, and discloses a monitoring device and method for seabed topography changes, comprising an underwater robot, wherein the underwater robot is connected to a monitoring column through a rotating mechanism, and a monitoring mechanism is arranged on the monitoring column, wherein the monitoring mechanism comprises a monitoring shaft rotatably connected to the upper part of the monitoring column, a monitoring device is fixedly connected to the upper end of the monitoring shaft, and the monitoring shaft is connected to a monitoring motor power, and the monitoring motor is fixedly installed in the monitoring column, so that not only the changes of the seabed can be monitored, but also multiple positions can be monitored simultaneously, and relevant processing and analysis can be performed after the monitoring data is stored, the monitoring range of the device is relatively wide, the monitoring device is fixed during operation, and will not move due to the flow of seawater, thereby ensuring the monitoring efficiency, and the monitoring device can be protected to prevent damage due to impact.

Description

Technical Field

[0001] The present invention belongs to the technical field of marine geological exploration and engineering monitoring, and specifically relates to a monitoring device and method for seabed topography and landform changes. Background Art

[0002] During the marine geological survey and engineering operation stage, such as commercial energy mineral mining through platform drilling, when the well pressure is unstable, the sediment skeleton in the formation softens or the reservoir liquefies, it is possible to cause local formation settlement or tilt in the development area, and in severe cases, it will cause changes in the pile foundation of the marine platform and cause accidents. Therefore, it is of great significance to effectively monitor the changes in topography and landforms during the deep-sea operation stage.

[0003] The monitoring devices in the prior art mainly rely on cables for power supply and communication, and have poor operability below 2,000 meters on the seabed. At the same time, the reliability and stability of the equipment measurement are adversely affected by the flow of seawater, fish collisions and cable gnawing, etc., and it is not convenient to monitor different locations or multiple locations on the seabed during monitoring. The monitoring efficiency is low, and the fixing of the monitoring equipment on the seabed is not firm and is easily moved by the impact of seawater, resulting in monitoring failure.

[0004] In view of the above situation, in order to overcome the defects of the prior art, the present invention provides a monitoring device and method for seabed topography changes, which effectively solves the problems mentioned in the above background technology. Summary of the invention

[0005] The present invention provides the following technical solutions: a monitoring device for seabed topography changes, comprising an underwater robot, wherein the underwater robot is connected to a monitoring column through a rotating mechanism, the monitoring column is provided with a monitoring mechanism, the monitoring mechanism comprises a monitoring shaft rotatably connected to the upper part of the monitoring column, a monitoring device is fixedly connected to the upper end of the monitoring shaft, the monitoring shaft is connected to the monitoring motor power, the monitoring motor is fixedly installed in the monitoring column, a transparent protective cover is fixedly connected to the upper part of the monitoring column, the monitoring device is located in the transparent protective cover, a storage cavity is provided in the monitoring column, an input socket is fixedly connected to the end wall of the storage cavity, a storage card is inserted into the input socket, a groove is provided on the end wall of the monitoring column, the groove and the storage cavity are connected through a channel, a cover plate is detachably connected to the end wall of the groove by bolts, a sealing strip is provided between the cover plate and the end wall of the groove, and a fixing mechanism is connected to the lower end of the monitoring column;

[0006] The fixing mechanism includes a mounting column fixedly connected to the lower end of the monitoring column, a driving gear cavity is machined in the mounting column, a driving gear shaft is rotatably connected to the end wall of the driving gear cavity, the driving gear shaft is dynamically connected to the driving motor, the driving motor is fixedly mounted in the mounting column, a driving main gear is fixedly connected to the lower end of the driving gear shaft, the driving main gear is meshed with a plurality of driving sub-gears, the driving sub-gears are fixedly mounted on the end of a fixed rotating shaft, the fixed rotating shaft is rotatably connected to the end wall of the driving gear cavity, a plurality of fixed cavities are machined in the mounting column, and a transmission gear is machined between the fixed cavity and the driving gear cavity. The fixed rotating shaft extends into the fixed cavity, the outer surface of the fixed rotating shaft in the fixed cavity is threadedly connected with a fixed rotating cylinder, the outer surface of the fixed rotating cylinder is rotatably connected with a pushing plate, a pushing screw is rotatably connected between the transmission gear cavity and the fixed cavity, the outer surface of the pushing screw in the fixed cavity is threadedly connected with the pushing plate, the outer surface of the pushing screw in the transmission gear cavity is threadedly connected with a driven gear, the driven gear is meshed with a driving gear, the driving gear is fixedly mounted on the outer surface of the fixed rotating shaft, the end of the fixed rotating cylinder is fixedly connected with a fixed drill bit, and the lower end of the mounting column is fixedly connected with a drill bit.

[0007] Preferably, the rotating mechanism includes a rotating gear cavity processed in the underwater robot, a rotating gear shaft is rotatably connected between the end walls of the rotating gear cavity, the rotating gear shaft is dynamically connected to a rotating motor, the rotating motor is fixedly installed in the underwater robot, a rotating gear is fixedly installed on the outer surface of the rotating gear shaft, the rotating gear is meshed with a rotating annular rack, the rotating annular rack is rotatably installed on the underwater robot, a rotating ring is fixedly connected to the upper part of the rotating annular rack, and an adjustment mechanism is provided on the rotating ring.

[0008] Preferably, the adjusting mechanism includes a fixed frame fixedly connected to the circumferential end wall of the rotating ring, an extension slot is machined in the fixed frame, an extension screw is rotatably connected to the end wall of the extension slot, the extension screw is dynamically connected to the adjusting motor, the adjusting motor is fixedly installed in the rotating ring, the extension screw is threadedly connected to a nut plate, the nut plate is slidably installed between the end walls of the extension slot, the end of the nut plate away from the fixed frame is fixedly connected to a lifting plate, a lifting slot is machined on the end wall of the lifting plate, a lifting screw is rotatably connected between the end walls of the lifting slot, the lifting screw is dynamically connected to the lifting motor, the lifting motor is fixedly installed in the lifting plate, the outer surface of the lifting screw is threadedly connected to the lifting nut plate, and the end of the lifting nut plate is connected to an auxiliary fixing mechanism.

[0009] Preferably, the auxiliary fixing mechanism includes a fixing cylinder fixedly connected to the end of the lifting nut plate, an annular groove is processed in the fixing cylinder, an auxiliary annular rack is rotatably connected to the end wall of the annular groove, a plurality of auxiliary electric push rods are fixedly connected to the inner surface of the auxiliary annular rack, an auxiliary gear cavity is processed in the lifting nut plate, an auxiliary gear shaft is rotatably connected between the end walls of the auxiliary gear cavity, the auxiliary gear shaft is connected to the power of the auxiliary motor, the auxiliary motor is fixedly installed in the lifting nut plate, an auxiliary gear is fixedly installed on the outer surface of the auxiliary gear shaft, the auxiliary gear is meshed with the auxiliary annular rack, the auxiliary electric push rod is inserted into the insertion groove, the insertion groove is processed on the outer surface of the monitoring column, and the insertion groove is arranged along the circumferential direction of the monitoring column.

[0010] Preferably, a cleaning mechanism is provided on the monitoring column, and the cleaning mechanism includes a cleaning gear cavity provided in the monitoring column, a cleaning main gear is fixedly mounted on the outer surface of the monitoring shaft in the cleaning gear cavity, the cleaning main gear is meshed with a cleaning sub-gear, the cleaning sub-gear is fixedly mounted on the outer surface of the cleaning gear shaft, the cleaning gear shaft is rotatably mounted between the end walls of the cleaning gear cavity, the cleaning sub-gear is meshed with an annular rotating frame, the annular rotating frame is rotatably mounted on the monitoring column, a cleaning brush is fixedly mounted on the upper surface of the annular rotating frame, and the cleaning brush is in contact with the transparent protective cover.

[0011] Preferably, a stabilizing mechanism is provided on the outer surface of the monitoring column, and the stabilizing mechanism includes a disc slidably connected to the outer surface of the monitoring column, a stabilizing electric push rod is fixedly connected to the lower surface of the disc, and the stabilizing electric push rod is arranged along the circumferential direction of the disc, a plurality of fixed blocks are fixedly connected to the upper surface of the disc, and the fixed blocks are arranged along the circumferential direction of the disc, and a clamping electric push rod is fixedly installed on the inner surface of the fixed block.

[0012] Preferably, a motion mechanism is provided at the bottom of the underwater robot, and the motion mechanism includes a support frame fixedly connected to the bottom wall of the underwater robot, a motion frame fixedly connected to the end wall of the support frame, a motion gear cavity symmetrically provided on the motion frame, a motion gear shaft rotatably connected between the end walls of the motion gear cavity, the motion gear shaft is power-connected to a motion motor, the motion motor is fixedly installed in the motion frame, a motion gear is fixedly installed on the outer surface of the motion gear shaft, the motion gear is meshed with a motion guide rail, the motion guide rail is rotatably installed on the motion frame, and a motion plate is evenly and fixedly connected to the outer surface of the motion guide rail.

[0013] Preferably, the underwater robot is provided with a lifting mechanism, which includes a clamping electric push rod symmetrically fixedly connected to the inner surface of the underwater robot, the end of the clamping electric push rod is fixedly connected with a clamping plate, a water tank is clamped between the clamping plates, the input end of the water tank is fixedly connected with a water pump, and the output end of the water tank is fixedly connected with a drainage pump.

[0014] Preferably, the underwater robot is provided with a propulsion mechanism, which includes a fixed plate fixedly connected to the end wall of the underwater robot, a propulsion shaft is symmetrically rotatably connected to the end wall of the fixed plate, the propulsion shaft is power-connected to a propulsion motor, the propulsion motor is fixedly installed in the fixed plate, a propeller is evenly fixedly connected to the outer surface of the propulsion shaft, a protective mesh cover is fixedly installed on the end wall of the fixed plate, and the propeller is located in the protective mesh cover.

[0015] The present invention provides a method for monitoring changes in seabed topography and landforms, based on the above-mentioned device for monitoring changes in seabed topography and landforms, the steps include:

[0016] Step 1: Put the whole device into water;

[0017] Step 2: The lifting mechanism moves, so that the underwater robot sinks. During the sinking process, the pushing mechanism moves, so as to adjust the position of the underwater robot, so as to adjust the position of the underwater robot when it sinks to the seabed, and to avoid obstacles during the sinking.

[0018] Step 3: After sinking to the seabed, the motion mechanism moves, thereby driving the underwater robot to move on the seabed, so that the underwater robot moves to a corresponding position;

[0019] Step 4: The rotating mechanism moves, thereby driving the rotating ring to rotate, thereby driving the fixing frame to rotate, thereby driving the fixing frame to rotate to a corresponding position;

[0020] Step 5: After the fixing frame rotates to the corresponding position, the adjusting mechanism moves to adjust the position height of the fixing tube, and at the same time, the auxiliary fixing mechanism moves to drive the monitoring column to move into the seabed rock;

[0021] Step 6: After the monitoring column enters the rock, the fixing mechanism moves to fix the monitoring column;

[0022] Step 7: The stabilizing mechanism moves to stabilize the monitoring column;

[0023] Step 8: The monitoring mechanism moves to monitor the deformation of the seabed and stores the monitored information;

[0024] Step nine: The cleaning mechanism moves to clean the surface of the transparent protective cover to ensure monitoring efficiency.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. The present invention provides a monitoring device for seabed topography changes, which can monitor changes in the seabed, can monitor multiple locations, and can store monitoring data. The monitoring range is relatively wide, and the monitoring device can be fixed during monitoring and will not move due to the flow of water, thereby ensuring the efficiency of monitoring. The monitoring device can also be protected to prevent damage due to impact.

[0027] 2. The present invention provides a monitoring device for seabed topography changes, which can be moved on the seabed and can deploy and recover monitoring equipment on the seabed, making it easy to deploy in different locations, thereby making the monitoring range wider.

[0028] 3. The present invention provides a monitoring device for changes in seabed topography, which can clean the surface of the protective cover to prevent it from affecting monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0030] In the attached picture:

[0031] Figure 1 It is a schematic diagram of the structure in the first direction of a monitoring device for seabed topography and landform changes in the present invention;

[0032] Figure 2 It is a schematic diagram of the structure in the second direction of a monitoring device for seabed topography and landform changes in the present invention;

[0033] Figure 3 It is a schematic diagram of the third direction structure of a monitoring device for seabed topography and landform changes in the present invention;

[0034] Figure 4 It is a schematic diagram of the structure of a device for monitoring changes in seabed topography and landforms in the present invention in the fourth direction;

[0035] Figure 5 It is a schematic diagram of the structure in the fifth direction of a monitoring device for seabed topography and landform changes in the present invention;

[0036] Figure 6It is a sixth structural diagram of a device for monitoring changes in seabed topography and landforms in the present invention;

[0037] Figure 7 It is a seventh structural diagram of a device for monitoring changes in seabed topography and landforms in the present invention;

[0038] Figure 8 for Figure 7 Schematic diagram of the cross-sectional structure at AA in the middle;

[0039] Fig. 9 for Figure 8 Schematic diagram of the cross-sectional structure at the middle BB;

[0040] Fig.10 for Figure 8 Schematic diagram of the cross-sectional structure at CC in the middle;

[0041] Fig.11 for Figure 8 Schematic diagram of the cross-sectional structure at DD in the middle;

[0042] Fig.12 for Fig.11 Schematic diagram of the cross-sectional structure at EE in the middle;

[0043] Fig.13 for Fig.11 Schematic diagram of the cross-sectional structure at FF in the middle;

[0044] Fig.14 for Figure 8 Schematic diagram of the enlarged structure at G in the middle;

[0045] Fig.15 for Figure 8 Schematic diagram of the enlarged structure at H in the middle;

[0046] Fig.16 for Fig.10 Schematic diagram of the enlarged structure at I in the middle.

[0047] In the figure: 1- underwater robot, 2- fixed frame, 3- nut plate, 4- lifting plate, 5- lifting nut plate, 6- fixed cylinder, 7- monitoring column, 8- transparent protective cover, 9- cleaning brush, 10- rotating ring, 11- lifting slide, 12- disc, 13- stable electric push rod, 14- fixed block, 15- moving frame, 16- moving guide rail, 17- lifting screw, 18- moving plate, 19- supporting frame, 20- water storage tank, 21- clamping plate, 2 2-water pump, 23-drill bit, 24-annular groove, 25-mounting column, 26-clamping electric push rod, 30-fixed plate, 31-protective net cover, 33-annular rotating frame, 34-insertion groove, 35-monitoring equipment, 36-monitoring shaft, 37-cleaning gear cavity, 38-cleaning main gear, 39-monitoring motor, 40-cleaning gear shaft, 41-cleaning sub-gear, 42-auxiliary motor, 43-extension screw, 44-extension slide, 45 -adjusting motor, 46-rotating gear, 47-rotating gear shaft, 48-rotating motor, 49-rotating ring rack, 50-drainage pump, 51-rotating gear chamber, 58-propeller, 53-auxiliary electric push rod, 54-auxiliary ring rack, 55-auxiliary gear, 56-auxiliary gear shaft, 57-auxiliary gear chamber, 59-moving gear chamber, 60-moving gear shaft, 61-moving gear, 62-driving shaft, 63-storage chamber, 64 -input socket, 65-memory card, 66-channel, 67-cover plate, 68-bolt, 69-groove, 70-driving gear chamber, 71-driving sub-gear, 72-driving main gear, 73-driving gear shaft, 74-driving motor, 75-transmission gear chamber, 76-driven gear, 77-fixed chamber, 78-pushing screw rod, 79-pushing plate, 80-fixed rotating drum, 81-fixed rotating shaft, 82-driving gear, 83-clamping electric push rod. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0049] like Figure 1-16As shown, the present invention provides a monitoring device for changes in seabed topography, wherein the components in the device are made of pressure-resistant, corrosion-resistant and wear-resistant materials, including an underwater robot 1, wherein the underwater robot 1 is connected to a monitoring column 7 via a rotating mechanism, wherein the rotating mechanism is used to drive the fixing frame 2 to rotate, so as to facilitate the installation of all monitoring columns 7, wherein a storage battery is installed in the monitoring column 7 for power supply, wherein a monitoring mechanism is provided on the monitoring column 7, wherein the monitoring mechanism is used to monitor the deformation of the seabed, wherein the monitoring mechanism comprises a monitoring shaft 36 rotatably connected to the upper part of the monitoring column 7, wherein a monitoring device 35 is fixedly connected to the upper end of the monitoring shaft 36, wherein the monitoring device 35 is used to monitor the deformation of the seabed, wherein the monitoring shaft 36 is power-connected to a monitoring motor 39, wherein the monitoring motor 39 is fixedly installed on the monitoring column 7. A transparent protective cover 8 is fixedly connected to the upper part of the monitoring column 7, and the transparent protective cover 8 is made of transparent material. The monitoring device 35 is located in the transparent protective cover 8. A storage cavity 63 is provided in the monitoring column 7, and an input socket 64 is fixedly connected to the end wall of the storage cavity 63. A storage card 65 is inserted into the input socket 64, and the storage card 65 is used to store the observed information. The input socket 64 is connected to the monitoring device 35 by signal. A groove 69 is provided on the end wall of the monitoring column 7, and the groove 69 is connected to the storage cavity 63 through a channel 66. A cover plate 67 is detachably connected to the end wall of the groove 69 through a bolt 68, and a sealing strip is provided between the cover plate 67 and the end wall of the groove 69. A fixing mechanism is connected to the lower end of the monitoring column 7, and the fixing mechanism is used to fix the monitoring column 7;

[0050] The fixing mechanism includes a mounting column 25 fixedly connected to the lower end of the monitoring column 7, a driving gear cavity 70 is machined in the mounting column 25, a driving gear shaft 73 is rotatably connected to the end wall of the driving gear cavity 70, the driving gear shaft 73 is power-connected to a driving motor 74, the driving motor 74 is fixedly mounted in the mounting column 25, a driving main gear 72 is fixedly connected to the lower end of the driving gear shaft 73, the driving main gear 72 is meshed with a plurality of driving sub-gears 71, the driving sub-gears 71 are fixedly mounted on the end of a fixed rotating shaft 81, the fixed rotating shaft 81 is rotatably connected to the end wall of the driving gear cavity 70, a plurality of fixed cavities 77 are machined in the mounting column 25, a transmission gear cavity 7 is machined between the fixed cavity 77 and the driving gear cavity 70 5. The fixed rotating shaft 81 extends into the fixed cavity 77. The outer surface of the fixed rotating shaft 81 in the fixed cavity 77 is threadedly connected with a fixed rotating cylinder 80. The outer surface of the fixed rotating cylinder 80 is rotatably connected with a pushing plate 79. A pushing screw 78 is rotatably connected between the transmission gear cavity 75 and the fixed cavity 77. The outer surface of the pushing screw 78 in the fixed cavity 77 is threadedly connected with the pushing plate 79. The outer surface of the pushing screw 78 in the transmission gear cavity 75 is threadedly connected with a driven gear 76. The driven gear 76 is meshed with a driving gear 82. The driving gear 82 is fixedly mounted on the outer surface of the fixed rotating shaft 81. The end of the fixed rotating cylinder 80 is fixedly connected with a fixed drill bit. The lower end of the mounting column 25 is fixedly connected with a drill bit 23.

[0051] Thus, the monitoring column 7 rotates, thereby driving the drill bit 23 to rotate, so that the installation column 25 rotates and enters the rock. When the installation column 25 enters the rock, the drive motor 74 is started to rotate, thereby driving the drive gear shaft 73 to rotate, thereby driving the drive main gear 72 to rotate, and the drive main gear 72 is meshed with the drive sub-gear 71, thereby driving the fixed shaft 81 to rotate, thereby causing the driving gear 82 to rotate, and the driving gear 82 is engaged with the driven gear 76, thereby driving the push screw 78 to rotate, and the push screw 78 is threadedly connected to the push plate 79, thereby pushing the fixed rotating cylinder 80 to move, and the fixed rotating shaft 81 rotates, so that the fixed rotating cylinder 80 is rotated. The cylinder 80 rotates, thereby driving the fixed drill bit to rotate and move outward into the rock to fix it, thereby fixing the monitoring column 7. During monitoring, the monitoring motor 39 is started to rotate, thereby driving the monitoring shaft 36 to rotate, thereby driving the monitoring device 35 to rotate to monitor and image the changes on the seabed. The monitoring device 35 sends the monitored information to the input socket 64, which is input into the memory card 65 to store the information. After the monitoring is completed, when the monitoring column 7 is recovered to the shore, the bolt 68 is removed, thereby removing the cover plate 67, thereby pulling out the memory card 65 through the channel 66, and reading the information in the memory card 65 through a computer.

[0052] Advantageously, the rotating mechanism comprises a rotating gear cavity 51 processed in the underwater robot 1, a rotating gear shaft 47 is rotatably connected between the end walls of the rotating gear cavity 51, the rotating gear shaft 47 is power-connected to a rotating motor 48, the rotating motor 48 is fixedly installed in the underwater robot 1, a rotating gear 46 is fixedly installed on the outer surface of the rotating gear shaft 47, the rotating gear 46 is meshed with a rotating annular rack 49, the rotating annular rack 49 is rotatably installed on the underwater robot 1, a rotating ring 10 is fixedly connected to the upper part of the rotating annular rack 49, the rotating ring 10 is provided with an adjusting mechanism, the adjusting mechanism is used to adjust the position height of the fixed cylinder 6;

[0053] The rotating motor 48 is started to rotate the rotating gear shaft 47, thereby driving the rotating gear 46 to rotate. The rotating gear 46 is meshed with the rotating annular rack 49, thereby driving the rotating annular rack 49 to rotate, thereby driving the rotating ring 10 to rotate.

[0054] Advantageously, the adjustment mechanism comprises a fixed frame 2 fixedly connected to the circumferential end wall of the rotating ring 10, an extension slot 44 is machined in the fixed frame 2, an extension screw rod 43 is rotatably connected to the end wall of the extension slot 44, the extension screw rod 43 is dynamically connected to an adjustment motor 45, the adjustment motor 45 is fixedly installed in the rotating ring 10, the extension screw rod 43 is threadedly connected to a nut plate 3, the nut plate 3 is slidably installed between the end walls of the extension slot 44, the end of the nut plate 3 away from the fixed frame 2 is fixedly connected to a lifting plate 4, a lifting slot 11 is machined on the end wall of the lifting plate 4, a lifting screw rod 17 is rotatably connected between the end walls of the lifting slot 11, the lifting screw rod 17 is dynamically connected to the lifting motor, the lifting motor is fixedly installed in the lifting plate 4, a lifting nut plate 5 is threadedly connected to the outer surface of the lifting screw rod 17, an auxiliary fixing mechanism is connected to the end of the lifting nut plate 5, and the auxiliary fixing mechanism is used to auxiliary fix the monitoring column 7;

[0055] The adjusting motor 45 is thereby started, thereby driving the extending screw rod 43 to rotate, and the extending screw rod 43 is threadedly connected to the nut plate 3, thereby pushing the lifting plate 4 to move. When the lifting plate 4 moves to the corresponding position, the lifting motor is started, thereby driving the lifting screw rod 17 to rotate, and the lifting screw rod 17 is threadedly connected to the lifting nut plate 5, thereby driving the fixing tube 6 to move downward, thereby driving the monitoring column 7 to move downward.

[0056] Advantageously, the auxiliary fixing mechanism comprises a fixing cylinder 6 fixedly connected to the end of the lifting nut plate 5, an annular groove 24 is machined in the fixing cylinder 6, an auxiliary annular rack 54 is rotatably connected to the end wall of the annular groove 24, a plurality of auxiliary electric push rods 53 are fixedly connected to the inner surface of the auxiliary annular rack 54, an auxiliary gear cavity 57 is machined in the lifting nut plate 5, an auxiliary gear shaft 56 is rotatably connected between the end walls of the auxiliary gear cavity 57, the auxiliary gear shaft 56 is power-connected to the auxiliary motor 42, the auxiliary motor 42 is fixedly installed in the lifting nut plate 5, an auxiliary gear 55 is fixedly installed on the outer surface of the auxiliary gear shaft 56, the auxiliary gear 55 meshes with the auxiliary annular rack 54, the auxiliary electric push rod 53 is inserted into the insertion groove 34, the insertion groove 34 is machined on the outer surface of the monitoring column 7, and the insertion groove 34 is arranged along the circumferential direction of the monitoring column 7;

[0057] The auxiliary motor 42 is thereby started, thereby driving the auxiliary gear shaft 56 to rotate, thereby driving the auxiliary gear 55 to rotate, the auxiliary gear 55 engages with the auxiliary annular rack 54, thereby driving the auxiliary electric push rod 53 to rotate, thereby driving the monitoring column 7 to rotate, the fixed cylinder 6 moves downward, thereby driving the monitoring column 7 to rotate and move downward.

[0058] Advantageously, a cleaning mechanism is provided on the monitoring column 7, and the cleaning mechanism is used to clean the surface of the transparent protective cover 8 to prevent the transparent protective cover 8 from being adhered to the surface of the transparent protective cover 8 and affecting the monitoring. The cleaning mechanism includes a cleaning gear cavity 37 provided in the monitoring column 7, and a cleaning main gear 38 is fixedly installed on the outer surface of the monitoring shaft 36 in the cleaning gear cavity 37. The cleaning main gear 38 is meshed with a cleaning sub-gear 41, and the cleaning sub-gear 41 is fixedly installed on the outer surface of a cleaning gear shaft 40. The cleaning gear shaft 40 is rotatably installed between the end walls of the cleaning gear cavity 37, and the cleaning sub-gear 41 is meshed with an annular rotating frame 33. The annular rotating frame 33 is rotatably installed on the monitoring column 7, and a cleaning brush 9 is fixedly installed on the upper surface of the annular rotating frame 33, and the cleaning brush 9 is in contact with the transparent protective cover 8;

[0059] The monitoring shaft 36 rotates, thereby driving the cleaning main gear 38 to rotate, the cleaning main gear 38 engages with the cleaning sub-gear 41, and the cleaning sub-gear 41 engages with the annular rotating frame 33, thereby driving the cleaning brush 9 to move to remove debris on the surface of the transparent protective cover 8.

[0060] Advantageously, a stabilizing mechanism is provided on the outer surface of the monitoring column 7, and the stabilizing mechanism is used to stabilize the monitoring column 7. The stabilizing mechanism includes a disc 12 slidably connected to the outer surface of the monitoring column 7, a stabilizing electric push rod 13 is fixedly connected to the lower surface of the disc 12, and the stabilizing electric push rod 13 is arranged along the circumferential direction of the disc 12, and a plurality of fixing blocks 14 are fixedly connected to the upper surface of the disc 12, and the fixing blocks 14 are arranged along the circumferential direction of the disc 12, and a clamping electric push rod 83 is fixedly installed on the inner surface of the fixing block 14;

[0061] The clamping electric push rod 83 is energized, so that the clamping electric push rod 83 clamps the monitoring column 7, thereby achieving a fixed connection between the disc 12 and the monitoring column 7, and the stabilizing electric push rod 13 is energized, thereby driving the stabilizing electric push rod 13 to be energized, so that the stabilizing electric push rod 13 moves downward and contacts the seabed, thereby achieving support.

[0062] Advantageously, a motion mechanism is provided at the bottom of the underwater robot 1, and the motion mechanism is used to drive the underwater robot 1 to move. The motion mechanism includes a support frame 19 fixedly connected to the bottom wall of the underwater robot 1, and a motion frame 15 is fixedly connected to the end wall of the support frame 19. The motion frame 15 is symmetrically provided with a motion gear cavity 59, and a motion gear shaft 60 is rotatably connected between the end walls of the motion gear cavity 59. The motion gear shaft 60 is connected to the power of the motion motor, and the motion motor is fixedly installed in the motion frame 15. A motion gear 61 is fixedly installed on the outer surface of the motion gear shaft 60, and the motion gear 61 is meshed with a motion guide rail 16. The motion guide rail 16 is rotatably installed on the motion frame 15, and a motion plate 18 is evenly fixedly connected to the outer surface of the motion guide rail 16;

[0063] The motion motor is started, thereby driving the motion gear shaft 60 to rotate, thereby driving the motion gear 61 to rotate, and the motion gear 61 engages with the motion guide rail 16, thereby driving the motion guide rail 16 to rotate, thereby driving the motion plate 18 to move, thereby driving the underwater robot 1 to move on the seabed.

[0064] Advantageously, the underwater robot 1 is provided with a lifting mechanism, which is used to drive the device to lift in the water, and the lifting mechanism includes a clamping electric push rod 26 symmetrically fixedly connected to the inner surface of the underwater robot 1, and the end of the clamping electric push rod 26 is fixedly connected to a clamping plate 21, and a water tank 20 is clamped between the clamping plates 21, and the input end of the water tank 20 is fixedly connected to a water pump 22, and the output end of the water tank 20 is fixedly connected to a drainage pump 50;

[0065] The clamping electric push rod 26 is energized, thereby driving the clamping plate 21 to move and clamp the water tank 20, and the water pump 22 is turned on to pump water, so that water enters the water tank 20, thereby causing the underwater robot 1 to sink. When the underwater robot 1 rises, the drainage pump 50 is turned on to discharge the water in the water tank 20, thereby causing the underwater robot 1 to float.

[0066] Advantageously, the underwater robot 1 is provided with a propulsion mechanism, which is used to propel the underwater robot 1 to move in the water. The propulsion mechanism includes a fixed plate 30 fixedly connected to the end wall of the underwater robot 1, and a propulsion shaft 62 is symmetrically rotatably connected to the end wall of the fixed plate 30. The propulsion shaft 62 is connected to the propulsion motor power, and the propulsion motor is fixedly installed in the fixed plate 30. The outer surface of the propulsion shaft 62 is evenly fixedly connected with a propeller 58. A protective net cover 31 is fixedly installed on the end wall of the fixed plate 30, and the propeller 58 is located on the protective net cover 31;

[0067] The propulsion motor is thereby started, thereby driving the propulsion shaft 62 to rotate, thereby driving the propeller 58 to rotate, thereby driving the underwater robot 1 to move in the water.

[0068] The present invention provides a method for monitoring changes in seabed topography and landforms, based on the above-mentioned device for monitoring changes in seabed topography and landforms, the steps include:

[0069] Step 1: Put the whole device into water;

[0070] Step 2: The lifting mechanism moves, so that the underwater robot 1 sinks. During the sinking process, the pushing mechanism moves, so as to adjust the position of the underwater robot 1, so as to adjust the position of the underwater robot 1 when it sinks to the seabed, and to avoid obstacles during the sinking.

[0071] Step 3: After sinking to the seabed, the motion mechanism moves, thereby driving the underwater robot 1 to move on the seabed, so that the underwater robot 1 moves to a corresponding position;

[0072] Step 4: The rotating mechanism moves, thereby driving the rotating ring 10 to rotate, thereby driving the fixing frame 2 to rotate, thereby driving the fixing frame 2 to rotate to a corresponding position;

[0073] Step 5: After the fixing frame 2 rotates to the corresponding position, the adjusting mechanism moves to adjust the position height of the fixing tube 6, and at the same time, the auxiliary fixing mechanism moves to drive the monitoring column 7 to move into the seabed rock;

[0074] Step 6: After the monitoring column 7 enters the rock, the fixing mechanism moves to fix the monitoring column 7;

[0075] Step 7: The stabilizing mechanism moves to stabilize the monitoring column 7;

[0076] Step 8: The monitoring mechanism moves to monitor the deformation of the seabed and stores the monitored information;

[0077] Step nine: The cleaning mechanism moves to clean the surface of the transparent protective cover 8 to ensure monitoring efficiency.

[0078] The working process of the present invention is to put the entire device into water, energize the clamping electric push rod 26, thereby driving the clamping plate 21 to move and clamp the water tank 20, and start the water pump 22 to pump water, so that water enters the water tank 20, thereby causing the underwater robot 1 to sink. When the underwater robot 1 rises, the drainage pump 50 is turned on to discharge the water in the water tank 20, thereby realizing the buoyancy of the underwater robot 1. During the descent, the propulsion motor is started to drive the propulsion shaft 62 to rotate, thereby driving the propeller 58 to rotate, thereby driving the underwater robot 1 to move in the water. After sinking to the bottom of the sea, the motion motor is started to drive the motion gear shaft 60 to rotate. The moving gear 61 is driven to rotate, and the moving gear 61 is meshed with the moving guide rail 16, thereby driving the moving guide rail 16 to rotate, thereby driving the moving plate 18 to move, thereby driving the underwater robot 1 to move on the seabed, starting the rotating motor 48, thereby driving the rotating gear shaft 47 to rotate, thereby driving the rotating gear 46 to rotate, and the rotating gear 46 is meshed with the rotating annular rack 49, thereby driving the rotating annular rack 49 to rotate, thereby driving the rotating ring 10 to rotate, starting the adjusting motor 45, thereby driving the extending screw rod 43 to rotate, and the extending screw rod 43 is threadedly connected to the nut plate 3, thereby pushing the lifting plate 4 to move, and when the lifting plate 4 moves to the corresponding position After that, the lifting motor is started, thereby driving the lifting screw 17 to rotate, and the lifting screw 17 is threadedly connected with the lifting nut plate 5, thereby driving the fixed tube 6 to move downward, thereby driving the monitoring column 7 to move downward, and starting the auxiliary motor 42, thereby driving the auxiliary gear shaft 56 to rotate, thereby driving the auxiliary gear 55 to rotate, and the auxiliary gear 55 is engaged with the auxiliary annular rack 54, thereby driving the auxiliary electric push rod 53 to rotate, thereby driving the monitoring column 7 to rotate, the fixed tube 6 moves downward, thereby driving the monitoring column 7 to rotate and move downward, the monitoring column 7 rotates, thereby driving the drill bit 23 to rotate, so that the mounting column 25 rotates into the rock, when the mounting column 2 After entering the rock, the driving motor 74 is started to rotate, thereby driving the driving gear shaft 73 to rotate, thereby driving the driving main gear 72 to rotate, the driving main gear 72 is meshed with the driving sub-gear 71, thereby driving the fixed shaft 81 to rotate, thereby causing the driving gear 82 to rotate, the driving gear 82 is interlocked with the driven gear 76, thereby driving the pushing screw 78 to rotate, the pushing screw 78 is threadedly connected with the pushing plate 79, thereby pushing the fixed rotating drum 80 to move, the fixed rotating shaft 81 rotates, thereby rotating the fixed rotating drum 80, thereby driving the fixed drill bit to rotate and move outward into the rock, thereby fixing it, thereby achieving the fixing of the monitoring column 7,During monitoring, the monitoring motor 39 is started to rotate, thereby driving the monitoring shaft 36 to rotate, thereby driving the monitoring device 35 to rotate to monitor and image the changes on the seabed. The monitoring device 35 sends the monitored information to the input socket 64, and inputs it into the storage card 65 to store the information. After the monitoring is completed, when the monitoring column 7 is recovered to the shore, the bolt 68 is removed, thereby removing the cover plate 67, and then the storage card 65 is pulled out through the channel 66, and the information in the storage card 65 is read by a computer, etc. After the monitoring column 7 is fixed, the auxiliary electric push rod 53 is disengaged from the insertion slot 34, and the clamping electric push rod 83 is energized. Thus, the clamping electric push rod 83 clamps the monitoring column 7, thereby realizing the fixed connection between the disc 12 and the monitoring column 7, and energizing the stabilizing electric push rod 13, thereby driving the stabilizing electric push rod 13 to be energized, so that the stabilizing electric push rod 13 moves downward to contact the seabed, thereby achieving support and increasing the stability of the monitoring column 7. The monitoring shaft 36 rotates, thereby driving the cleaning main gear 38 to rotate, the cleaning main gear 38 meshes with the cleaning sub gear 41, and the cleaning sub gear 41 meshes with the annular rotating frame 33, thereby driving the cleaning brush 9 to move to remove debris on the surface of the transparent protective cover 8, thereby ensuring the efficiency of monitoring.

[0079] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0080] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A monitoring device for seabed topography changes, characterized in that: The invention comprises an underwater robot (1), wherein the underwater robot (1) is connected to a monitoring column (7) via a rotating mechanism, wherein the monitoring column (7) is provided with a monitoring mechanism, wherein the monitoring mechanism comprises a monitoring shaft (36) rotatably connected to the upper part of the monitoring column (7), wherein the upper end of the monitoring shaft (36) is fixedly connected to a monitoring device (35), wherein the monitoring shaft (36) is dynamically connected to a monitoring motor (39), wherein the monitoring motor (39) is fixedly installed in the monitoring column (7), wherein the upper part of the monitoring column (7) is fixedly connected to a transparent protective cover (8), wherein the monitoring device (35) is located on the transparent protective cover. Inside the protective cover (8), a storage cavity (63) is provided in the monitoring column (7), an input socket (64) is fixedly connected to the end wall of the storage cavity (63), a storage card (65) is inserted into the input socket (64), a groove (69) is provided on the end wall of the monitoring column (7), the groove (69) and the storage cavity (63) are communicated through a channel (66), a cover plate (67) is detachably connected to the end wall of the groove (69) through bolts (68), a sealing strip is provided between the cover plate (67) and the end wall of the groove (69), and a fixing mechanism is connected to the lower end of the monitoring column (7); The fixing mechanism comprises a mounting column (25) fixedly connected to the lower end of the monitoring column (7), a driving gear cavity (70) is machined in the mounting column (25), a driving gear shaft (73) is rotatably connected to the end wall of the driving gear cavity (70), the driving gear shaft (73) is in power connection with a driving motor (74), the driving motor (74) is fixedly mounted in the mounting column (25), a driving main gear (72) is fixedly connected to the lower end of the driving gear shaft (73), the driving main gear (72) is meshed with a plurality of driving sub-gears (71), the driving sub-gears (71) are fixedly mounted at the end of a fixed rotating shaft (81), the fixed rotating shaft (81) is rotatably connected to the end wall of the driving gear cavity (70), a plurality of fixed cavities (77) are machined in the mounting column (25), a transmission gear cavity (75) is machined between the fixed cavity (77) and the driving gear cavity (70), ), the fixed rotating shaft (81) extends into the fixed cavity (77), the outer surface of the fixed rotating shaft (81) in the fixed cavity (77) is threadedly connected to a fixed rotating cylinder (80), the outer surface of the fixed rotating cylinder (80) is rotatably connected to a push plate (79), a push screw (78) is rotatably connected between the transmission gear cavity (75) and the fixed cavity (77), the outer surface of the push screw (78) in the fixed cavity (77) is threadedly connected to the push plate (79), the outer surface of the push screw (78) in the transmission gear cavity (75) is threadedly connected to a driven gear (76), the driven gear (76) is meshed with a driving gear (82), the driving gear (82) is fixedly mounted on the outer surface of the fixed rotating shaft (81), the end of the fixed rotating cylinder (80) is fixedly connected to a fixed drill bit, and the lower end of the mounting column (25) is fixedly connected to a drill bit (23); The adjustment mechanism comprises a fixed frame (2) fixedly connected to the circumferential end wall of a rotating ring (10), an extension slide groove (44) is processed in the fixed frame (2), an extension screw rod (43) is rotatably connected to the end wall of the extension slide groove (44), the extension screw rod (43) is dynamically connected to an adjustment motor (45), the adjustment motor (45) is fixedly installed in the rotating ring (10), the extension screw rod (43) is threadedly connected to a nut plate (3), and the nut plate (3) is slidably installed on the end wall of the extension slide groove (44). The end of the nut plate (3) away from the fixed frame (2) is fixedly connected with a lifting plate (4), and a lifting slot (11) is processed on the end wall of the lifting plate (4). A lifting screw (17) is rotatably connected between the end walls of the lifting slot (11). The lifting screw (17) is connected to the lifting motor power. The lifting motor is fixedly installed in the lifting plate (4). The outer surface of the lifting screw (17) is threadedly connected with a lifting nut plate (5), and the end of the lifting nut plate (5) is connected with an auxiliary fixing mechanism; The auxiliary fixing mechanism comprises a fixing cylinder (6) fixedly connected to the end of the lifting nut plate (5), an annular groove (24) is machined inside the fixing cylinder (6), an auxiliary annular rack (54) is rotatably connected to the end wall of the annular groove (24), a plurality of auxiliary electric push rods (53) are fixedly connected to the inner surface of the auxiliary annular rack (54), an auxiliary gear cavity (57) is machined inside the lifting nut plate (5), an auxiliary gear shaft (56) is rotatably connected between the end walls of the auxiliary gear cavity (57), and the auxiliary gear The shaft (56) is connected to the auxiliary motor (42) by power, the auxiliary motor (42) is fixedly installed in the lifting nut plate (5), the outer surface of the auxiliary gear shaft (56) is fixedly installed with an auxiliary gear (55), the auxiliary gear (55) is meshed with the auxiliary annular rack (54), the auxiliary electric push rod (53) is inserted into the insertion groove (34), the insertion groove (34) is processed on the outer surface of the monitoring column (7), and the insertion groove (34) is arranged along the circumferential direction of the monitoring column (7).

2. A monitoring device for seabed topography changes according to claim 1, characterized in that: The rotating mechanism comprises a rotating gear cavity (51) processed in the underwater robot (1), a rotating gear shaft (47) is rotatably connected between the end walls of the rotating gear cavity (51), the rotating gear shaft (47) is power-connected to a rotating motor (48), the rotating motor (48) is fixedly installed in the underwater robot (1), a rotating gear (46) is fixedly installed on the outer surface of the rotating gear shaft (47), the rotating gear (46) is meshed with a rotating annular rack (49), the rotating annular rack (49) is rotatably installed on the underwater robot (1), a rotating ring (10) is fixedly connected to the upper part of the rotating annular rack (49), and an adjusting mechanism is provided on the rotating ring (10).

3. A monitoring device for seabed topography changes according to claim 2, characterized in that: The monitoring column (7) is provided with a cleaning mechanism, the cleaning mechanism comprising a cleaning gear chamber (37) provided in the monitoring column (7), a cleaning main gear (38) being fixedly mounted on the outer surface of the monitoring rotating shaft (36) in the cleaning gear chamber (37), the cleaning main gear (38) being meshed with a cleaning sub-gear (41), the cleaning sub-gear (41) being fixedly mounted on the outer surface of a cleaning gear shaft (40), the cleaning gear shaft (40) being rotatably mounted between end walls of the cleaning gear chamber (37), the cleaning sub-gear (41) being meshed with an annular rotating frame (33), the annular rotating frame (33) being rotatably mounted on the monitoring column (7), a cleaning brush (9) being fixedly mounted on the upper surface of the annular rotating frame (33), the cleaning brush (9) being in contact with the transparent protective cover (8).

4. The device for monitoring changes in seabed topography according to claim 3, characterized in that: The outer surface of the monitoring column (7) is provided with a stabilizing mechanism, and the stabilizing mechanism comprises a disc (12) slidably connected to the outer surface of the monitoring column (7); a stabilizing electric push rod (13) is fixedly connected to the lower surface of the disc (12); the stabilizing electric push rod (13) is arranged along the circumferential direction of the disc (12); a plurality of fixing blocks (14) are fixedly connected to the upper surface of the disc (12); the fixing blocks (14) are arranged along the circumferential direction of the disc (12); and a clamping electric push rod (83) is fixedly installed on the inner surface of the fixing block (14).

5. The device for monitoring changes in seabed topography according to claim 4, characterized in that: A motion mechanism is provided at the bottom of the underwater robot (1), the motion mechanism comprising a support frame (19) fixedly connected to the bottom wall of the underwater robot (1), a motion frame (15) fixedly connected to the end wall of the support frame (19), a motion gear cavity (59) symmetrically provided on the motion frame (15), a motion gear shaft (60) rotatably connected between the end walls of the motion gear cavity (59), the motion gear shaft (60) being connected to the power of a motion motor, the motion motor being fixedly mounted in the motion frame (15), a motion gear (61) being fixedly mounted on the outer surface of the motion gear shaft (60), the motion gear (61) being meshed with a motion guide rail (16), the motion guide rail (16) being rotatably mounted on the motion frame (15), and a motion plate (18) being evenly fixedly connected to the outer surface of the motion guide rail (16).

6. The device for monitoring changes in seabed topography according to claim 5, characterized in that: The underwater robot (1) is provided with a lifting mechanism, the lifting mechanism comprising a clamping electric push rod (26) symmetrically fixedly connected to the inner surface of the underwater robot (1), the end of the clamping electric push rod (26) is fixedly connected to a clamping plate (21), a water tank (20) is clamped between the clamping plates (21), the input end of the water tank (20) is fixedly connected to a water pump (22), and the output end of the water tank (20) is fixedly connected to a drainage pump (50).

7. The device for monitoring changes in seabed topography according to claim 6, characterized in that: The underwater robot (1) is provided with a propulsion mechanism, which comprises a fixed plate (30) fixedly connected to the end wall of the underwater robot (1), a propulsion shaft (62) symmetrically rotatably connected to the end wall of the fixed plate (30), the propulsion shaft (62) being connected to the power of a propulsion motor, the propulsion motor being fixedly installed in the fixed plate (30), a propeller (58) being evenly fixedly connected to the outer surface of the propulsion shaft (62), a protective net cover (31) being fixedly installed on the end wall of the fixed plate (30), and the propeller (58) being located on the protective net cover (31).

8. A method for monitoring changes in seabed topography and landforms, based on the device for monitoring changes in seabed topography and landforms as claimed in claim 7, characterized in that: include: Step 1: Put the whole device into water; Step 2: The lifting mechanism moves to make the underwater robot (1) sink, and during the sinking process, the pushing mechanism moves to adjust the position of the underwater robot (1), so as to facilitate the adjustment of the position of the underwater robot (1) when it sinks to the seabed, and to facilitate avoiding obstacles during the sinking; Step 3: After sinking to the seabed, the motion mechanism moves to drive the underwater robot (1) to move on the seabed, so that the underwater robot (1) moves to a corresponding position; Step 4: The rotating mechanism moves, driving the rotating ring (10) to rotate, driving the fixing frame (2) to rotate, and driving the fixing frame (2) to rotate to a corresponding position; Step 5: After the fixing frame (2) is rotated to the corresponding position, the adjusting mechanism moves to adjust the position height of the fixing cylinder (6), and at the same time, the auxiliary fixing mechanism moves to drive the monitoring column (7) to move into the seabed rock; Step 6: After the monitoring column (7) enters the rock, the fixing mechanism moves to fix the monitoring column (7); Step 7: The stabilizing mechanism moves to stabilize the monitoring column (7); Step 8: The monitoring mechanism moves to monitor the deformation of the seabed and stores the monitored information; Step nine: the cleaning mechanism moves to clean the surface of the transparent protective cover (8) to ensure the efficiency of monitoring.

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