A deposit thickness monitoring device, system and method of deployment thereof

Abstract

The application discloses a sediment thickness monitoring device, which comprises a plurality of monitoring units and a delivery mechanism for sequentially delivering each monitoring unit to each monitoring point. The monitoring unit comprises a mounting frame, a collection tray and an optical monitoring device arranged on the mounting frame. A plurality of monitoring units are stacked on the delivery mechanism through the mounting frame. The application also discloses a sediment thickness monitoring system, which comprises an underwater robot and a sediment thickness monitoring device. The sediment thickness monitoring device is hung below the underwater robot. The application also discloses a deployment method of the sediment thickness monitoring system. The monitoring unit of the application has a simple operation process, high measurement accuracy, continuous and accurate data. Through the cooperation of the monitoring unit and the delivery mechanism, a plurality of monitoring units can be sequentially delivered to each monitoring point at one time, a large-scale deployment is realized, the operation process is further simplified, and the monitoring efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of measurement, and particularly relates to a thickness monitoring device, a system and a laying method thereof. BACKGROUND

[0002] In underwater engineering investigation, marine environment monitoring and geological disaster warning, the dynamic monitoring of the thickness of the bottom sediments in the disturbed area of the seabed after mining operation is a core technical requirement for quantifying the environmental disturbance effect, evaluating the stability of the seabed and ensuring the safe operation of the mining equipment. Especially in the local high-concentration settlement area disturbed by the mining vehicle track, the settlement data in the height of the lower layer of the seabed need to be collected to support the key links such as the construction of the sediment transport model, the ecological impact assessment and the dynamic optimization of the mining path.

[0003] The prior art mainly uses a remotely operated vehicle (ROV) to carry an optical camera to periodically take pictures of the preset seabed tray, which has multiple technical bottlenecks: first, the time interval of sampling is large, and it is difficult to accurately capture the dynamic change process of the sediment settlement, so the collected data cannot provide real-time and high-precision settlement thickness change information; second, the ROV needs to repeatedly perform complex operations such as high-precision positioning and shooting, and the control stability is significantly affected by water flow disturbance and equipment vibration, which easily introduces systematic errors such as image blur and positioning deviation, increasing the measurement difficulty and cost; third, in order to realize full coverage monitoring of the large-scale disturbed area, multiple test points need to be laid out, which leads to repeated deployment of the ROV and a sharp increase in sampling workload, and has the defects of complex laying operation and high operation redundancy. Therefore, it is urgent to develop a monitoring device that can realize real-time monitoring, has high measurement accuracy and can be laid out in a large area at one time. SUMMARY

[0004] The technical problem to be solved by the present application is to overcome the deficiencies and defects mentioned in the background, and to provide a sediment thickness monitoring device, system and laying method that can realize real-time monitoring, has high measurement accuracy, can be laid out in a large area at one time, is simple to operate and has high monitoring efficiency.

[0005] To solve the above technical problems, the technical solution provided by the present application is as follows:

[0006] A sediment thickness monitoring device, comprising a plurality of monitoring units and a launching mechanism for launching each of the monitoring units to each monitoring point in turn, wherein the monitoring unit comprises a mounting frame, a collection tray and an optical monitoring device arranged on the mounting frame, and a plurality of the monitoring units are stacked on the launching mechanism through the mounting frame.

[0007] Preferably, the delivery mechanism comprises a delivery frame, a delivery telescopic member for delivering the bottommost monitoring unit, and a locking telescopic member for fixing other monitoring units, the delivery telescopic member is arranged on the lower side of the delivery frame, the locking telescopic member is arranged on the upper side of the delivery frame and above the delivery telescopic member, and the delivery telescopic member and the locking telescopic member are sequentially arranged at each monitoring point through telescopic cooperation. By arranging the delivery frame, the delivery telescopic member and the locking telescopic member, the orderly stacking and accurate delivery of multiple monitoring units can be realized. The telescopic cooperation of the delivery telescopic member and the locking telescopic member enables the bottommost monitoring unit to be delivered first, and the remaining monitoring units are sequentially fixed and released, ensuring that each monitoring unit is sequentially arranged at each monitoring point according to the plan, improving the delivery accuracy and efficiency, and reducing the complexity and time cost of underwater equipment operation.

[0008] Preferably, the installation frame comprises an upper frame for cooperating with the delivery mechanism to realize delivery; when the delivery telescopic member and the locking telescopic member are simultaneously extended, the upper frame of the bottommost monitoring unit is clamped on the delivery telescopic member, and the upper frame of the adjacent monitoring unit above the bottommost monitoring unit is arranged on the locking telescopic member; when the delivery telescopic member is retracted and the locking telescopic member is extended, the bottommost monitoring unit is delivered; when the delivery telescopic member is extended and the locking telescopic member is retracted, the other monitoring units fall as a whole, wherein the upper frame of the bottommost monitoring unit is clamped on the delivery telescopic member. Through the cooperative action of the delivery telescopic member and the locking telescopic member, the accurate delivery of the bottommost monitoring unit can be realized, the structure is compact, which is conducive to the orderly management and delivery of multiple monitoring units, and can adapt to different numbers of monitoring units. The number of monitoring units can be flexibly adjusted according to actual monitoring requirements, the universality is high, the deployment cost is reduced, and the applicability and economy of the monitoring device are improved.

[0009] The lower end of the upper frame is provided with a limiting member for limiting the horizontal movement of the upper frame, and the limiting member is provided with a groove, and the extension part of the delivery telescopic member or the locking telescopic member is clamped in the groove when the delivery telescopic member or the locking telescopic member is extended. This arrangement enables the extension part 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, limiting the movement of the monitoring unit in the horizontal direction. When the monitoring unit is subjected to external forces such as water flow impact during work, the monitoring unit will not deviate, improving the stability and accuracy of the entire device.

[0010] Preferably, the installation frame further comprises a lower frame arranged below the upper frame, and a plurality of counterweights are arranged on the lower frame in a uniform distribution, and a downward preventing rod is arranged at the lower end of the counterweight for insertion into the seabed, the downward preventing rod is arranged vertically downward, and a guide hole matched with the downward preventing rod is arranged on the upper frame at the upper end of the counterweight, and the upper monitoring unit passes through the guide hole of the lower monitoring unit through the downward preventing rod thereof, and is arranged on the counterweight of the lower monitoring unit. The arrangement of the counterweights increases the overall weight of the device, so that the device can be placed more stably on the seabed, and the counterweights are uniformly distributed on the lower frame to reduce the center of gravity of the entire device, so that the device is more stable and less likely to tilt when subjected to external forces such as sea currents and waves. The design of the downward preventing rod allows the monitoring unit to fall vertically downward into the seabed through the downward preventing rod, thereby firmly fixing the device on the seabed without the need for other manual operations, simplifying the operation process, and further enhancing the anti-toppling ability of the device. On the other hand, the downward preventing rod of the upper monitoring unit can be inserted into the guide hole of the lower monitoring unit, so that the upper monitoring unit can be stably stacked on the lower monitoring unit, thereby ensuring the stability of the entire monitoring device.

[0011] Preferably, the distance from the top end of the counterweight to the bottom end of the downward preventing rod is equal to the distance between the locking telescopic member and the releasing telescopic member, and 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 releasing telescopic member. The distance is arranged so that the distance between the upper frames of the upper and lower adjacent monitoring units is equal to the distance between the locking telescopic member and the releasing telescopic member, and the upper and lower adjacent monitoring units can be accurately clamped on the locking telescopic member and the releasing telescopic member, respectively, thereby avoiding instability caused by positional deviation. The size of the frame is arranged to avoid interference of the lower frame with the upper frame, and the smaller size of the lower frame ensures that the upper frame is not hindered during clamping, thereby being able to be more accurately positioned on the locking telescopic member or the releasing telescopic member.

[0012] Preferably, the collecting tray is arranged on the lower frame, a scale is vertically arranged on the collecting tray, and the optical monitoring device comprises an underwater camera and an underwater laser range finder arranged on both sides of the collecting tray through mounting brackets. The underwater camera can take photos containing the scale information and the sediment coverage area at regular time intervals, so that the distribution, shape and relative position relationship with the collecting tray of the sediment can be clearly observed, the sedimentation condition can be comprehensively understood, and a visual basis for analyzing the characteristics and changes of the sediment can be provided. By comparing the changes of the sediment coverage scale in the photos taken at different time points, the thickness of the sediment can be calculated, and the settling velocity of the sediment can be further calculated in combination with the photographing time interval. The underwater laser range finder has high measurement accuracy and strong real-time performance. Based on the laser triangulation principle, the laser emitter emits a laser beam to the surface of the sediment, and the thickness of the sediment is calculated through the reflected light. The real-time thickness of the sediment can be obtained through accurate calculation of the parameters such as the laser emission angle, the reflected light receiving angle and the distance between the emitter and the receiver by using the trigonometric function. The settling velocity of the sediment can be calculated by using the real-time measurement data. The combination of the two can make the measurement result more accurate and reliable.

[0013] Preferably, the upper frame is provided with a first avoiding space for arranging the optical monitoring device, and the lower frame and the mounting bracket are provided with a second avoiding space for stacking the optical monitoring devices of adjacent lower monitoring units. The avoiding space can make the adjacent monitoring units compactly stacked, avoid space waste, and stack more detection units. Meanwhile, the mounting bracket can also protect the optical monitoring devices of the lower layer, reducing the risk of collision damage of the equipment under external force.

[0014] As a general technical concept, the present application also provides a sediment thickness monitoring system comprising an underwater robot and the sediment thickness monitoring device, and the sediment thickness monitoring device is arranged below the underwater robot. The underwater robot can be used as a mobile platform to move flexibly in a large underwater area, so as to facilitate the arrangement of the monitoring units in the sediment thickness monitoring device.

[0015] As a general technical concept, the present application also provides a method for arranging the sediment thickness monitoring system, comprising the following steps:

[0016] S1, stacking a plurality of monitoring units above a launching mechanism, arranging the sediment thickness monitoring device below the underwater robot, and controlling the underwater robot to move above and close to the monitoring point;

[0017] S2, the lowermost monitoring unit is separated from the delivery mechanism by the delivery mechanism and falls to the lower monitoring point;

[0018] S3, the other monitoring units are dropped onto the delivery mechanism by the delivery mechanism;

[0019] S4, the underwater robot is controlled to move above the next monitoring point and close to the monitoring point;

[0020] S5, steps S2 to S4 are repeated until all monitoring units are delivered.

[0021] This delivery method can complete the delivery of multiple monitoring points in a relatively short time, improve the work efficiency, and the operator only needs to control the underwater robot to move above the monitoring point and start the delivery mechanism to complete the delivery of the monitoring unit, without complex mechanical operation or frequent water surface and underwater round trip, reducing the operation difficulty and error probability; After delivery, a sediment thickness monitoring network covering multiple monitoring points is formed, which can provide continuous and stable data input for subsequent sediment dynamic change analysis, facilitating data comparison and analysis.

[0022] Compared with the prior art, the advantages of the present application are:

[0023] The monitoring unit of the present application is provided with optical monitoring equipment, which can obtain real-time dynamic change data of sediment deposition thickness, replacing the traditional underwater robot periodic sampling method, simplifying the operation process and improving the monitoring efficiency. The optical monitoring equipment and the collection tray are arranged on the mounting frame to form a stable reference surface, effectively avoiding image distortion and positioning deviation caused by external mechanical operation or environmental disturbance, with high measurement accuracy, continuous and accurate data, effectively meeting the real-time and high-precision requirements of seabed sediment monitoring. At the same time, through the cooperation of the monitoring unit and the delivery mechanism, multiple monitoring units can be sequentially delivered to each monitoring point at one time, realizing large-scale deployment and further simplifying the operation process and improving the monitoring efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0025] Figure 1 The perspective view of the sediment thickness monitoring device of embodiment 1 without cover frame;

[0026] Figure 2 The front view of the sediment thickness monitoring device of embodiment 1;

[0027] Figure 3 Schematic diagram of the stereoscopic structure of the monitoring unit of Example 1;

[0028] Figure 4 Front view of the monitoring unit of Example 1;

[0029] Figure 5 Schematic diagram of the sediment thickness monitoring system of Example 1;

[0030] Figure 6 Principle diagram of the delivery mechanism of Example 1;

[0031] Figure 7 Front view of the sediment thickness monitoring device of Example 2.

[0032] Legend

[0033] 1, monitoring unit; 11, mounting frame; 111, upper frame; 1111, guide hole; 1112, limiting piece; 112, lower frame; 1121, counterweight; 1122, anti-falling rod; 12, collection tray; 13, optical monitoring equipment; 131, mounting bracket; 132, underwater camera; 133, underwater laser range finder; 2, delivery mechanism; 21, delivery frame; 22, delivery telescopic piece; 23, locking telescopic piece; 24, cover frame; 3, underwater robot. DETAILED DESCRIPTION

[0034] In order to facilitate the understanding of the present application, the following will be a more comprehensive and detailed description of the present application in conjunction with the drawings and preferred embodiments of the specification, but the protection scope of the present application is not limited to the following specific embodiments.

[0035] It should be particularly noted that when a certain element is described as "fixed to, fixedly connected to, connected to or communicated to" another element, it can be directly fixed, fixedly connected, connected or communicated to another element, or indirectly fixed, fixedly connected, connected or communicated to another element through other intermediate connecting elements.

[0036] Unless otherwise defined, all professional terms used in the following are the same as those commonly understood by those skilled in the art. The professional terms used in this paper are only for the purpose of describing specific embodiments and are not intended to limit the protection scope of the present application.

[0037] Unless otherwise specified, various raw materials, reagents, instruments and equipment used in the present application can be purchased from the market or can be prepared by existing methods.

[0038] Example 1:

[0039] As Figures 1 to 6As shown, the sediment thickness monitoring device of the embodiment comprises four monitoring units 1 and a delivery mechanism 2 for sequentially delivering each monitoring unit 1 to each monitoring point, the monitoring unit 1 comprises a mounting frame 11, and a collection tray 12 and an optical monitoring device 13 arranged on the mounting frame 11, and the plurality of monitoring units 1 are stacked above the delivery mechanism 2 through the mounting frame 11.

[0040] In the embodiment, the delivery mechanism 2 comprises a delivery frame 21, a delivery telescopic member 22 for delivering the bottommost monitoring unit 1, and a locking telescopic member 23 for fixing other monitoring units 1, the delivery telescopic member 22 is arranged on the lower side of the delivery frame 21, the locking telescopic member 23 is arranged on the upper side of the delivery frame 21 and above the delivery telescopic member 22, and the delivery telescopic member 22 and the locking telescopic member 23 sequentially arrange each monitoring unit 1 at each monitoring point through telescopic cooperation.

[0041] In the embodiment, the mounting frame 11 comprises an upper frame 111 for cooperating with the delivery mechanism 2 to realize delivery; when the delivery telescopic member 22 and the locking telescopic member 23 are simultaneously extended, 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 arranged on the locking telescopic member 23; when the delivery telescopic member 22 is retracted and the locking telescopic member 23 is extended, the bottommost monitoring unit 1 is delivered; when the delivery telescopic member 22 is extended and the locking telescopic member 23 is retracted, 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 in the same plane which can be simultaneously extended or retracted, and the locking telescopic member 23 is also composed of four telescopic oil cylinders in the same plane which can be simultaneously extended or retracted.

[0042] In the embodiment, the mounting frame 11 further comprises a lower frame 112 arranged below the upper frame 111, the lower frame 112 is provided with a plurality of evenly distributed counterweight blocks 1121, the lower end of the counterweight block 1121 is provided with an anti-inversion rod 1122 for inserting into the seabed, the anti-inversion rod 1122 is vertically arranged downward, the upper frame 111 on the upper end of the counterweight block 1121 is provided with a guide hole 1111 matched with the anti-inversion rod 1122, and the anti-inversion rod 1122 of the upper monitoring unit 1 passes 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, the counterweight blocks 1121 are evenly arranged on the lower frame 112 at four corners, and the guide holes 1111 matched with the anti-inversion rods 1122 are arranged on the upper frame 111 at four corners, so that the adjacent mounting frames 11 can be stably stacked.

[0043] In the embodiment, the distance from the top end of the counterweight 1121 to the bottom end of the anti-falling 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 clamped on the locking telescopic member 23 or the delivery telescopic member 22.

[0044] In the embodiment, the collection tray 12 is arranged on the lower frame 112, a scale is vertically arranged on the collection tray 12, and the optical monitoring device 13 includes an underwater camera 132 and an underwater laser range finder 133 arranged on both sides of the collection tray 12 through mounting brackets 131 respectively. The underwater camera 132 is provided with a flash that cooperates with the underwater camera 132; the underwater camera 132 and the underwater laser range finder 133 are respectively sleeved with pressure-resistant packaging members to improve the durability of the devices.

[0045] In the embodiment, the upper frame 111 is provided with a first avoiding space for arranging the optical monitoring device 13, and the lower frame 112 and the mounting bracket 131 are provided with a second avoiding space for stacking the optical monitoring device 13 of the adjacent lower monitoring unit 1.

[0046] In the embodiment, the delivery frame 21 is provided with a cover frame 24 for protecting the monitoring unit 1. The cover frame 24 can be used for cooperating with the underwater robot.

[0047] In the embodiment, the stacked monitoring units 1 are sequentially arranged from bottom to top as the first monitoring unit, the second monitoring unit, the third monitoring unit, and the fourth monitoring unit. The installation mode can be that 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 and reaches the counterweight 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 and reaches the counterweight 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 and reaches the counterweight 1121 of the third monitoring unit, and then the cover frame 24 is arranged above the delivery mechanism 2 to prevent the monitoring unit 1 from falling.

[0048] The sediment thickness monitoring system of the embodiment includes the underwater robot 3 and the sediment thickness monitoring device, and the sediment thickness monitoring device is hung below the underwater robot 3.

[0049] The deployment method of the sediment thickness monitoring system of the embodiment includes the following steps:

[0050] S1. Stack multiple monitoring units 1 above the delivery mechanism 2, install a sediment thickness monitoring device below the underwater robot 3, and control the underwater robot 3 to move above and close to the monitoring point;

[0051] 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;

[0052] S3, the other monitoring units 1 are dropped onto the delivery mechanism 2 through the delivery mechanism 2;

[0053] S4, controlling the underwater robot 3 to move above the next monitoring point and approach the monitoring point;

[0054] S5. Repeat steps S2 to S4 until all monitoring units 1 are deployed.

[0055] In this embodiment, the specific deployment method is that after the above-mentioned installation method is installed, the underwater robot 3 carries the sediment thickness monitoring device to the bottom of the deep sea, moves to above the first monitoring point and close to the monitoring point, the telescopic part 22 is deployed and retracted, and the first monitoring unit falls to the first monitoring point below, the anti-fall rod 1122 is inserted into the mud, the telescopic part 22 is deployed and extended, the locking telescopic part 23 is retracted, all other monitoring units 1 fall, the second monitoring unit is clamped on the extended part of the deployment telescopic part 22, the locking telescopic part 23 is extended, the third monitoring unit is clamped on the extended part of the locking telescopic part 23, the underwater robot 3 is moved to the second monitoring point, the telescopic part 22 is deployed and retracted, the second monitoring unit falls to the second monitoring point below, and the above steps are repeated until all monitoring units 1 are deployed to their corresponding monitoring points.

[0056] In other embodiments, the number of monitoring units 1 can be adjusted according to demand, such as three, five, six, etc.

[0057] Example 2:

[0058] like Figure 7 As shown, the sediment thickness monitoring device of this embodiment is basically the same as that of Example 1, except that a limiter 1112 is provided at the lower end of the upper frame 111 to limit the horizontal movement of the upper frame 111. The limiter 1112 has a groove into which the extended portion of the telescopic delivery member 22 or the telescopic locking member 23 is retained when extended. The limiter can be a column with a C-shaped cross-section, vertically disposed at the lower end of the upper frame 111, with its opening positioned to correspond to the positions of the telescopic delivery member 22 and the telescopic locking member 23.

[0059] The above merely provides the preferred embodiments of the present application, and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the principles and technical scope of the present application shall fall into the scope of the present application.

Claims

1. A sediment thickness monitoring device, characterized in that: The invention comprises a plurality of monitoring units (1) and a delivery mechanism (2) for sequentially delivering each monitoring unit (1) to each monitoring point, wherein the monitoring unit (1) comprises a mounting frame (11), and a collection tray (12) and an optical monitoring device (13) arranged on the mounting frame (11); the plurality of monitoring units (1) are stacked and arranged above the delivery mechanism (2) via the mounting frame (11); The delivery mechanism (2) comprises a delivery frame (21), a delivery telescopic member (22) for delivering the monitoring unit (1) at the bottom layer, and a locking telescopic member (23) for fixing the other monitoring units (1). The delivery telescopic member (22) is arranged on the lower side of the delivery frame (21), and the locking telescopic member (23) is arranged 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) are telescopically matched to sequentially deploy the monitoring units (1) at the respective monitoring points. 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) are extended at the same time, the upper frame (111) of the monitoring unit (1) at the bottom layer is clamped on the delivery telescopic member (22), and the upper frame (111) of the adjacent monitoring unit (1) above it is arranged on the locking telescopic member (23); when the delivery telescopic member (22) is retracted and the locking telescopic member (23) is extended, the monitoring unit (1) at the bottom layer is delivered; when the delivery telescopic member (22) is extended and the locking telescopic member (23) is retracted, the other monitoring units (1) fall as a whole, wherein the upper frame (111) of the monitoring unit (1) at the bottom layer is clamped on the delivery telescopic member (22); The installation frame (11) further comprises a lower frame (112) arranged below the upper frame (111); a plurality of evenly distributed counterweights (1121) are provided on the lower frame (112); an anti-fall rod (1122) for inserting into the seabed is provided at the lower end of the counterweight (1121); the anti-fall rod (1122) is arranged vertically downward; a guide hole (1111) matching the anti-fall rod (1122) is provided on the upper frame (111) at the upper end of the counterweight (1121); the upper monitoring unit (1) passes through the guide hole (1111) of the lower monitoring unit (1) through its anti-fall rod (1122) and abuts against the counterweight (1121) of the lower monitoring unit (1).

2. The sediment thickness monitoring device according to claim 1, characterized in that: A limiting member (1112) for limiting horizontal movement of the upper frame (111) is provided at the lower end of the upper frame (111), and the limiting member (1112) is provided with a groove, and an extended portion of the telescopic member (22) or the telescopic member (23) is clamped in the groove when extended.

3. The sediment thickness monitoring device according to claim 1, characterized in that: The distance between the top end of the counterweight (1121) and the bottom end of the anti-fall rod (1122) is equal to the distance between the locking telescopic member (23) and the launching telescopic member (22); the lower frame (112) is smaller than the upper frame (111), and the lower frame (112) does not prevent the upper frame (111) from being clamped on the locking telescopic member (23) or the launching telescopic member (22).

4. The sediment thickness monitoring device according to claim 1, characterized in that: The collecting tray (12) is arranged on the lower frame (112), and a scale is vertically provided on the collecting tray (12). The optical monitoring device (13) comprises an underwater camera (132) and an underwater laser rangefinder (133) respectively mounted on both sides of the collecting tray (12) via mounting brackets (131).

5. The sediment thickness monitoring device according to claim 4, characterized in that: 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).

6. A sediment thickness monitoring system, characterized in that: It comprises an underwater robot (3) and a sediment thickness monitoring device according to any one of claims 1 to 5, wherein the sediment thickness monitoring device is suspended below the underwater robot (3).

7. A method for deploying a sediment thickness monitoring system according to claim 6, characterized in that: The following steps are involved: S1, stacking a plurality of monitoring units (1) above the delivery mechanism (2), installing the sediment thickness monitoring device below the underwater robot (3), and controlling the underwater robot (3) to move above 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, causing the other monitoring units (1) to fall onto the delivery mechanism (2) through the delivery mechanism (2); S4, controlling the underwater robot (3) to move above the next monitoring point and approach the monitoring point; S5. Repeat steps S2 to S4 until all monitoring units (1) are deployed.

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