Sediment thickness monitoring device and system and laying method thereof

Abstract

A sediment thickness monitoring device disclosed by the present invention comprises a plurality of monitoring units and a putting mechanism used for putting all the monitoring units to all monitoring points in sequence, each monitoring unit comprises a mounting frame, and a collection tray and an optical monitoring device arranged on the mounting frame, and the plurality of monitoring units are stacked above the putting mechanism through the mounting frame. The invention further discloses a sediment thickness monitoring system which comprises the underwater robot and the sediment thickness monitoring device, and the sediment thickness monitoring device is hung below the underwater robot. The invention further discloses a laying method of the sediment thickness monitoring system. The monitoring units are simple in operation process, high in measurement precision and continuous and accurate in data, meanwhile, through cooperation of the monitoring units and the putting mechanism, the multiple monitoring units can be put to all monitoring points in sequence at a time, large-range arrangement is achieved, the operation process is further simplified, and the monitoring efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of measurement, and particularly relates to a thickness monitoring device, a system and a placement method thereof. Background Art

[0002] In underwater engineering investigation, marine environmental monitoring and geological disaster warning, for the dynamic monitoring of the settlement thickness of bottom sediments in the seabed disturbance area after mining operations, it is a core technical requirement to quantify the environmental disturbance effect, evaluate the seabed stability and ensure the safe operation of mining equipment. Especially in the local high-concentration settlement area formed by the disturbance of the mining vehicle track, it is necessary to collect the settlement data within a certain height of the lower bottom of the seabed to support key links such as the construction of sediment transport models, ecological impact assessment and dynamic optimization of mining paths.

[0003] The existing technology mainly uses a remotely operated underwater vehicle (ROV) equipped with an optical camera to take periodic photos and samples of a preset seabed tray, which has multiple technical bottlenecks: First, the sampling time interval is large, and it is difficult to accurately capture the dynamic change process of sediment settlement. Therefore, the collected data cannot provide real-time and high-precision settlement thickness change information; Second, the ROV needs to repeatedly perform complex operations of high-precision positioning and shooting. Its control stability is significantly affected by water flow disturbance and equipment vibration, and it is easy to introduce systematic errors such as image blurring and positioning deviation, increasing the measurement difficulty and cost; Third, in order to achieve full-coverage monitoring of a large disturbance area, multiple test points need to be arranged, resulting in repeated deployment of the ROV and a sharp increase in the sampling workload, with the defects of complex placement operations and high operation redundancy. Therefore, it is urgent to develop a monitoring device that can monitor in real time, has high measurement accuracy, and can be deployed in a large area at one time. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the above-mentioned deficiencies and defects in the background art, and provide a sediment thickness monitoring device, a system and a placement method thereof that can monitor in real time, have high measurement accuracy, can be deployed in a large area at one time, have simple operations, and have high monitoring efficiency.

[0005] To solve the above technical problem, the technical solution proposed by the present invention is: A sediment thickness monitoring device includes a plurality of monitoring units and a placement mechanism for sequentially placing each of the monitoring units at each monitoring point. Each monitoring unit includes a mounting frame, a collection tray and an optical monitoring device provided on the mounting frame. The plurality of monitoring units are stacked on top of the placement mechanism through the mounting frame.

[0006] In the above sediment thickness monitoring device, preferably, the delivery mechanism includes a delivery frame, a delivery telescopic member for delivering the lowermost monitoring unit, and a locking telescopic member for fixing the other monitoring units. The delivery telescopic member is provided on the lower side of the delivery frame, and the locking telescopic member is provided on the upper side of the delivery frame and above the delivery telescopic member. The delivery telescopic member and the locking telescopic member cooperate telescopically to deploy each monitoring unit at each monitoring point in sequence. By providing the delivery frame, the delivery telescopic member, and the locking telescopic member, orderly stacking and precise delivery of multiple monitoring units can be achieved. The telescopic cooperation between the delivery telescopic member and the locking telescopic member enables the lowermost monitoring unit to be delivered first, and the remaining monitoring units are fixed and released in sequence, ensuring that each monitoring unit is deployed at each monitoring point as planned, improving the delivery accuracy and efficiency, and reducing the complexity and time cost of underwater equipment operation.

[0007] In the above sediment thickness monitoring device, preferably, the installation frame includes an upper frame for cooperating with the delivery mechanism to achieve delivery; when the delivery telescopic member and the locking telescopic member extend simultaneously, the upper frame of the lowermost monitoring unit is clamped on the delivery telescopic member, and the upper frame of the adjacent monitoring unit above it is provided on the locking telescopic member; when the delivery telescopic member contracts and the locking telescopic member extends, the lowermost monitoring unit is delivered; when the delivery telescopic member extends and the locking telescopic member contracts, the other monitoring units fall as a whole, and the upper frame of the lowermost monitoring unit is clamped on the delivery telescopic member. Through the coordinated action of the delivery telescopic member and the locking telescopic member, precise delivery of the lowermost monitoring unit can be achieved, with a compact structure, which is conducive to the orderly management and delivery of multiple layers of monitoring units, and can adapt to different numbers of monitoring units. The number of monitoring units can be flexibly adjusted according to actual monitoring needs, with strong versatility, reduced deployment costs, and improved applicability and economy of the monitoring device.

[0008] A limiting member for restricting the horizontal movement of the upper frame is provided at the lower end of the upper frame. The limiting member is provided with a groove, and the extending portion when the delivery telescopic member or the locking telescopic member extends is clamped in the groove. This setting enables the extending portion of the delivery telescopic member or the locking telescopic member to enter and be clamped in the groove from the lower end of the groove when the monitoring unit falls, restricting the horizontal movement of the monitoring unit. When subjected to external forces such as water flow impact during operation, the monitoring unit will not shift, improving the stability of the entire device and the accuracy of delivery.

[0009] In the above sediment thickness monitoring device, preferably, the installation frame further includes a lower frame disposed below the upper frame. A plurality of evenly distributed counterweights are provided on the lower frame. An anti-tipping rod for inserting into the seabed is provided at the lower end of the counterweight. The anti-tipping rod is vertically downward. A guiding hole matching the anti-tipping rod is provided on the upper frame at the upper end of the counterweight. The anti-tipping rod of the upper monitoring unit passes through the guiding hole of the lower monitoring unit and abuts against the counterweight of the lower monitoring unit. The arranged counterweights increase the overall weight of the device, enabling the device to be placed more stably on the seabed. And the counterweights are evenly distributed on the lower frame to lower the center of gravity of the whole device. When affected by external forces such as seabed water flow and waves, the device is more stable and less likely to tilt. The design of the anti-tipping rod enables the anti-tipping rod to vertically insert into the seabed when the monitoring unit falls, firmly fixing the device to the seabed without other manual operations, simplifying the operation process and further enhancing the anti-tipping ability of the device. On the other hand, the anti-tipping rod of the upper monitoring unit can be inserted into the guiding hole of the lower monitoring unit, enabling the upper monitoring unit to be stably stacked on the lower monitoring unit, ensuring the stability of the whole monitoring device.

[0010] In the above sediment thickness monitoring device, preferably, the distance from the top end of the counterweight to the bottom end of the anti-tipping rod is equal to the distance between the locking telescopic member and the throwing telescopic member. The lower frame is smaller than the upper frame, and the lower frame does not block the upper frame from being clamped on the locking telescopic member or the throwing telescopic member. This distance setting makes the distance between the upper frames adjacent up and down equal to the distance from the locking telescopic member to the throwing telescopic member. The adjacent upper and lower monitoring units can be accurately clamped on the locking telescopic member and the throwing telescopic member respectively, avoiding device instability caused by position deviation. The setting of the frame size avoids interference of the lower frame on the upper frame. The smaller size of the lower frame ensures that the upper frame will not be hindered during the clamping process, so that it can be more accurately positioned on the locking telescopic member or the throwing telescopic member.

[0011] In the above-mentioned sediment thickness monitoring device, preferably, the collecting tray is arranged on the lower frame, a scale is vertically provided on the collecting tray, and the optical monitoring equipment includes an underwater camera and an underwater laser rangefinder respectively mounted on both sides of the collecting tray through mounting brackets. The underwater camera can take pictures containing sediment coverage area and scale information at regular intervals, which is convenient for clearly observing the distribution, morphology and relative position relationship of the sediment with the collection tray, etc., so as to have a more comprehensive understanding of the sedimentation situation and provide a visual basis for analyzing the characteristics and changes of the sediment. By comparing the changes in the sediment coverage scale in the photos taken at different time points, the thickness of the sediment can be calculated, and the sedimentation rate can be further calculated in combination with the time interval between photos. The underwater laser rangefinder has high measurement accuracy and stronger real-time performance. Based on the principle of laser triangulation, the laser transmitter emits a laser beam to the sediment surface and calculates the thickness of the sediment by receiving the reflected light. The trigonometric function is used to perform precise calculations based on parameters such as the laser emission angle, the reflected light receiving angle and the distance between the transmitter and the receiver, so as to obtain the real-time sediment thickness. The sedimentation rate can be calculated using the real-time measurement data. The combination of the two makes the measurement results more accurate and more reliable.

[0012] In the above sediment thickness monitoring device, preferably, the upper frame is provided with a first avoidance space for setting up the optical monitoring device, and the lower frame and the mounting bracket are provided with a second avoidance space for stacking the optical monitoring devices of the adjacent lower monitoring units. The set avoidance space enables the adjacent monitoring units to be compactly stacked, avoiding the waste of space, and more detection units can be stacked. At the same time, the mounting bracket can also protect the optical monitoring device of the lower layer, reducing the risk of collision damage to the device when subjected to external force.

[0013] As a general technical concept, the present invention also provides a sediment thickness monitoring system, including an underwater robot and the sediment thickness monitoring device, wherein the sediment thickness monitoring device is suspended below the underwater robot. The underwater robot can be used as a mobile platform and can be flexibly moved in a large underwater area, so as to facilitate the deployment of each monitoring unit in the sediment thickness monitoring device.

[0014] As a general technical concept, the present invention also provides a method for deploying the sediment thickness monitoring system as described above, comprising the following steps: S1. Stacking a plurality of monitoring units above the delivery mechanism, installing the sediment thickness monitoring device below the underwater robot, and controlling the underwater robot to move above and close to the monitoring point; S2, the lowermost monitoring unit is separated from the delivery mechanism through the delivery mechanism and falls to the lower monitoring point; S3. Use the deployment mechanism to make the other monitoring units fall onto the deployment mechanism; S4. Control the underwater robot to move above the next monitoring point and approach the monitoring point; S5. Repeat steps S2 to S4 until all the monitoring units are deployed.

[0015] This deployment method can complete the deployment of multiple monitoring points in a relatively short time, improving work efficiency. The operator only needs to control the underwater robot to move above the monitoring point and start the deployment mechanism to complete the deployment of the monitoring units, without complex mechanical operations or frequent round trips between the water surface and underwater, reducing the operation difficulty and error probability. After the deployment is completed, a sediment thickness monitoring network covering multiple monitoring points is formed, which can provide continuous and stable data input for subsequent analysis of sediment dynamic changes, facilitating data comparison and analysis.

[0016] Compared with the prior art, the advantages of the present invention are as follows: The monitoring unit of the present invention is provided with an optical monitoring device, which can obtain dynamic change data of the sediment settlement thickness in real time, replacing the traditional method of regular sampling by underwater robots, simplifying the operation process, improving the monitoring efficiency. The optical monitoring device and the collection tray are arranged on the installation frame to form a stable reference plane, effectively avoiding image distortion and positioning deviation caused by external mechanical operations or environmental disturbances, with high measurement accuracy, continuous and accurate data, effectively meeting the requirements of real-time and high-precision for seabed sediment monitoring. At the same time, through the cooperation of the monitoring unit and the deployment mechanism, multiple monitoring units can be sequentially deployed at each monitoring point at one time, realizing large-scale layout, further simplifying the operation process and improving the monitoring efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 Schematic perspective view of the sediment thickness monitoring device without a cover frame for Embodiment 1; Figure 2 Front view of the sediment thickness monitoring device for Embodiment 1; Figure 3 Schematic perspective view of the monitoring unit for Embodiment 1; Figure 4 Front view of the monitoring unit for Embodiment 1; Figure 5Schematic diagram of the sediment thickness monitoring system in Embodiment 1; Figure 6 Schematic diagram of the delivery mechanism in Embodiment 1; Figure 7 Front view of the sediment thickness monitoring device in Embodiment 2.

[0019] Legend description 1. Monitoring unit; 11. Installation frame; 111. Upper frame; 1111. Guide hole; 1112. Limiting member; 112. Lower frame; 1121. Counterweight; 1122. Anti - tipping rod; 12. Collection tray; 13. Optical monitoring device; 131. Installation bracket; 132. Underwater camera; 133. Underwater laser rangefinder; 2. Delivery mechanism; 21. Delivery frame; 22. Delivery telescopic member; 23. Locking telescopic member; 24. Cover frame; 3. Underwater robot. Detailed implementation manners

[0020] To facilitate the understanding of the present invention, the following will describe the present invention more comprehensively and meticulously in conjunction with the accompanying drawings of the specification and preferred embodiments. However, the protection scope of the present invention is not limited to the following specific embodiments.

[0021] It should be particularly noted that when an element is described as "fixed to, fixedly connected to, connected to, or communicated with" another element, it can be directly fixed, fixedly connected, connected, or communicated to the other element, or it can be indirectly fixed, fixedly connected, connected, or communicated to the other element through other intermediate connecting members.

[0022] Unless otherwise defined, all the technical terms used hereinafter have the same meaning as commonly understood by those skilled in the art. The technical terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the protection scope of the present invention.

[0023] Unless otherwise specifically stated, all kinds of raw materials, reagents, instruments, and equipment used in the present invention can be obtained through the market or can be prepared by existing methods.

[0024] Embodiment 1: As Figures 1 to 6 shown, the sediment thickness monitoring device of this embodiment includes four monitoring units 1 and a delivery mechanism 2 for sequentially delivering each monitoring unit 1 to each monitoring point. The monitoring unit 1 includes an installation frame 11, as well as a collection tray 12 and an optical monitoring device 13 provided on the installation frame 11. Multiple monitoring units 1 are stacked on top of the delivery mechanism 2 through the installation frame 11.

[0025] In this embodiment, the delivery mechanism 2 includes a delivery frame 21, a delivery telescopic member 22 for delivering the bottommost monitoring unit 1, and a locking telescopic member 23 for fixing the other monitoring units 1. The delivery telescopic member 22 is provided on the lower side of the delivery frame 21, and the locking telescopic member 23 is provided on the upper side of the delivery frame 21 and above the delivery telescopic member 22. The delivery telescopic member 22 and the locking telescopic member 23 cooperate in a telescopic manner to deploy each monitoring unit 1 at each monitoring point in sequence.

[0026] In this embodiment, the mounting frame 11 includes an upper frame 111 for cooperating with the delivery mechanism 2 to achieve delivery; when the delivery telescopic member 22 and the locking telescopic member 23 extend simultaneously, the upper frame 111 of the bottommost monitoring unit 1 is clamped on the delivery telescopic member 22, and the upper frame 111 of the adjacent monitoring unit 1 above it is provided on the locking telescopic member 23; when the delivery telescopic member 22 contracts and the locking telescopic member 23 extends, the bottommost monitoring unit 1 is delivered; when the delivery telescopic member 22 extends and the locking telescopic member 23 contracts, the other monitoring units 1 fall as a whole, and the upper frame 111 of the bottommost monitoring unit 1 is clamped on the delivery telescopic member 22. Specifically, the delivery telescopic member 22 is composed of four telescopic oil cylinders that can extend or retract simultaneously in the same plane, and the locking telescopic member 23 is also composed of four telescopic oil cylinders that can extend or retract simultaneously in the same plane.

[0027] In this embodiment, the mounting frame 11 further includes a lower frame 112 provided below the upper frame 111. A plurality of evenly distributed counterweight blocks 1121 are provided on the lower frame 112. An anti-toppling rod 1122 for inserting into the seabed is provided at the lower end of the counterweight block 1121. The anti-toppling rod 1122 is arranged vertically downward. A guide hole 1111 matching the anti-toppling rod 1122 is provided on the upper frame 111 at the upper end of the counterweight block 1121. The upper monitoring unit 1 passes its anti-toppling rod 1122 through the guide hole 1111 of the lower monitoring unit 1 and abuts against the counterweight block 1121 of the lower monitoring unit 1. The mounting frame 11 is a square frame. Counterweight blocks 1121 are evenly arranged at the four corners of the lower frame 112 respectively, and guide holes 1111 matching the anti-toppling rods 1122 are provided at the four corners of the upper frame 111 respectively, so that adjacent mounting frames 11 can be stacked stably.

[0028] In this embodiment, the distance from the top end of the counterweight block 1121 to the bottom end of the anti-toppling rod 1122 is equal to the distance between the locking telescopic member 23 and the delivery telescopic member 22; the lower frame 112 is smaller than the upper frame 111, and the lower frame 112 does not block the upper frame 111 from being clamped on the locking telescopic member 23 or the delivery telescopic member 22.

[0029] In this embodiment, the collection tray 12 is arranged on the lower frame 112, and a scale is vertically arranged on the collection tray 12. The optical monitoring device 13 includes an underwater camera 132 and an underwater laser rangefinder 133 respectively mounted on both sides of the collection tray 12 through a mounting bracket 131. The underwater camera 132 is provided with a flash light matched therewith; the underwater camera 132 and the underwater laser rangefinder 133 are respectively provided with pressure-resistant packaging components to improve the durability of the equipment.

[0030] In this embodiment, the upper frame 111 is provided with a first avoidance space for setting up the optical monitoring device 13 , and the lower frame 112 and the mounting bracket 131 are provided with a second avoidance space for stacking the optical monitoring devices 13 of the adjacent lower monitoring units 1 .

[0031] In this embodiment, a cover frame 24 for protecting the monitoring unit 1 is provided above the delivery frame 21. The cover frame 24 can be used to cooperate with the underwater robot.

[0032] In this embodiment, the stacked monitoring units 1 are the first monitoring unit, the second monitoring unit, the third monitoring unit, and the fourth monitoring unit from bottom to top. The installation method can be as follows: the delivery telescopic member 22 is extended, the first monitoring unit is clamped on the extended part of the delivery telescopic member 22, the anti-falling rod 1122 of the second monitoring unit is inserted into the guide hole 1111 of the first monitoring unit, to the counterweight block 1121 of the first monitoring unit, the locking telescopic member 23 is extended, the second monitoring unit is clamped on the extended part of the locking telescopic member 23, the anti-falling rod 1122 of the third monitoring unit is inserted into the guide hole 1111 of the second monitoring unit, to the counterweight block 1121 of the second monitoring unit, the anti-falling rod 1122 of the fourth monitoring unit is inserted into the guide hole 1111 of the third monitoring unit, to the counterweight block 1121 of the third monitoring unit, and then the cover frame 24 is installed above the delivery mechanism 2 to prevent the monitoring unit 1 from falling.

[0033] The sediment thickness monitoring system of this embodiment includes an underwater robot 3 and a sediment thickness monitoring device, and the sediment thickness monitoring device is suspended below the underwater robot 3 .

[0034] The deployment method of the sediment thickness monitoring system of this embodiment includes the following steps: S1, stacking a plurality of monitoring units 1 above the delivery mechanism 2, installing a sediment thickness monitoring device below the underwater robot 3, and controlling the underwater robot 3 to move above the monitoring point and close to the monitoring point; S2, the lowermost monitoring unit 1 is separated from the delivery mechanism 2 by the delivery mechanism 2 and falls to the lower monitoring point; S3, using the delivery mechanism 2 to drop other monitoring units 1 onto the delivery mechanism 2; S4. Control the underwater robot 3 to move above the next monitoring point and approach the monitoring point; S5. Repeat steps S2 to S4 until all the monitoring units 1 are released.

[0035] In this embodiment, the specific deployment method is as follows. After installing according to the above installation method, the underwater robot 3 carries the sediment thickness monitoring device to near the seabed in the deep sea, moves above the first monitoring point and approaches the monitoring point. The deployment telescopic member 22 contracts, and the first monitoring unit falls onto the first monitoring point below. The anti - tipping rod 1122 inserts into the mud. The deployment telescopic member 22 extends. The locking telescopic member 23 contracts, and all other monitoring units 1 fall. The second monitoring unit is clamped on the extending part of the deployment telescopic member 22. The locking telescopic member 23 extends, and the third monitoring unit is clamped on the extending part of the locking telescopic member 23. Move the underwater robot 3 to the second monitoring point. The deployment telescopic member 22 contracts, and the second monitoring unit falls onto the second monitoring point below. Repeat the above steps until all the monitoring units 1 are deployed to their corresponding monitoring points.

[0036] In other embodiments, the number of the monitoring units 1 can also be adjusted according to requirements. For example, the number of the monitoring units 1 can be three, five, six, etc.

[0037] Embodiment 2: As Figure 7 shown, the sediment thickness monitoring device of this embodiment is basically the same as that of Embodiment 1, except that: a limiting member 1112 for restricting the horizontal movement of the upper frame 111 is provided at the lower end of the upper frame 111. The limiting member 1112 is provided with a groove, and the extending part when the deployment telescopic member 22 or the locking telescopic member 23 extends is clamped in the groove. The limiting member can be a column with a C - shaped cross - section, which is vertically arranged at the lower end of the upper frame 111, and its opening position corresponds to the positions of the deployment telescopic member 22 and the locking telescopic member 23 one by one.

[0038] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A sediment thickness monitoring device, characterized in that, It includes multiple monitoring units (1) and a delivery mechanism (2) for sequentially delivering each of the monitoring units (1) to each monitoring point. The monitoring unit (1) includes a mounting frame (11), a collection tray (12) and an optical monitoring device (13) provided on the mounting frame (11). The multiple monitoring units (1) are stacked above the delivery mechanism (2) through the mounting frame (11).

2. The sediment thickness monitoring device according to claim 1, characterized in that The delivery mechanism (2) includes a delivery frame (21), a delivery telescopic member (22) for delivering the lowermost monitoring unit (1), and a locking telescopic member (23) for fixing the other monitoring units (1). The delivery telescopic member (22) is provided on the lower side of the delivery frame (21), and the locking telescopic member (23) is provided on the upper side of the delivery frame (21) and above the delivery telescopic member (22). The delivery telescopic member (22) and the locking telescopic member (23) sequentially arrange each monitoring unit (1) at each monitoring point through telescopic cooperation.

3. The sediment thickness monitoring device according to claim 2, wherein The mounting frame (11) includes an upper layer frame (111) for cooperating with the delivery mechanism (2) to achieve delivery; when the delivery telescopic member (22) and the locking telescopic member (23) both extend, the upper layer frame (111) of the lowermost monitoring unit (1) is clamped on the delivery telescopic member (22), and the upper layer frame (111) of the adjacent monitoring unit (1) above it is provided on the locking telescopic member (23); when the delivery telescopic member (22) contracts and the locking telescopic member (23) extends, the lowermost monitoring unit (1) is delivered; when the delivery telescopic member (22) extends and the locking telescopic member (23) contracts, the other monitoring units (1) fall as a whole, and the upper layer frame (111) of the lowermost monitoring unit (1) is clamped on the delivery telescopic member (22).

4. The sediment thickness monitoring device according to claim 3, characterized in that, The lower end of the upper layer frame (111) is provided with a limiting member (1112) for restricting the horizontal movement of the upper layer frame (111). The limiting member (1112) is provided with a groove, and the extending part when the delivery telescopic member (22) or the locking telescopic member (23) extends is clamped in the groove.

5. The sediment thickness monitoring device according to claim 3, characterized in that, The mounting frame (11) further includes a lower layer frame (112) provided below the upper layer frame (111). A plurality of evenly distributed counterweight blocks (1121) are provided on the lower layer frame (112). An anti - toppling rod (1122) for inserting into the seabed is provided at the lower end of the counterweight block (1121). The anti - toppling rod (1122) is arranged vertically downward. A guiding hole (1111) matching the anti - toppling rod (1122) is provided on the upper layer frame (111) at the upper end of the counterweight block (1121). The anti - toppling rod (1122) of the upper monitoring unit (1) passes through the guiding hole (1111) of the lower monitoring unit (1) and abuts against the counterweight block (1121) of the lower monitoring unit (1).

6. The sediment thickness monitoring device according to claim 5, wherein The distance from the top of the counterweight block (1121) to the bottom of the anti - tipping rod (1122) is equal to the distance between the locking telescopic member (23) and the delivery telescopic member (22); the lower frame (112) is smaller than the upper frame (111), and the lower frame (112) does not block the upper frame (111) from being clamped on the locking telescopic member (23) or the delivery telescopic member (22).

7. The sediment thickness monitoring device according to claim 5, characterized in that, The collection tray (12) is arranged on the lower frame (112). A scale ruler is vertically arranged on the collection tray (12). The optical monitoring device (13) includes an underwater camera (132) and an underwater laser rangefinder (133) respectively mounted on both sides of the collection tray (12) through mounting brackets (131).

8. The sediment thickness monitoring device according to claim 7, characterized in that, The upper frame (111) is provided with a first avoidance space for mounting the optical monitoring device (13). The lower frame (112) and the mounting bracket (131) are provided with a second avoidance space for stacking the optical monitoring devices (13) of adjacent lower monitoring units (1).

9. A sediment thickness monitoring system, characterized in that, It includes an underwater robot (3) and the sediment thickness monitoring device according to any one of claims 1 to 8, and the sediment thickness monitoring device is suspended below the underwater robot (3).

10. A method for deploying a sediment thickness monitoring system as described in claim 9, characterized in that, It includes the following steps: S1. Stack a plurality of monitoring units (1) above the delivery mechanism (2), install the sediment thickness monitoring device below the underwater robot (3), and control the underwater robot (3) to move above the monitoring point and approach the monitoring point; S2. Make the lowermost monitoring unit (1) disengage from the delivery mechanism (2) through the delivery mechanism (2) and fall to the lower monitoring point; S3. Make the other monitoring units (1) fall onto the delivery mechanism (2) through the delivery mechanism (2); S4. Control the underwater robot (3) to move above the next monitoring point and approach the monitoring point; S5. Repeat steps S2 to S4 until all the monitoring units (1) are delivered.

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