Device and method for monitoring submarine topography and landform changes

Abstract

The invention discloses a monitoring device and method for submarine topography and landform changes, and belongs to the field of submarine geology monitoring. A submarine topography and landform change monitoring device comprises an underwater robot and a fixing frame installed on the underwater robot, and further comprises a water pump arranged on the underwater robot, and an exhaust pipe and an air inlet pipe are arranged on the underwater robot; the supporting column is fixedly connected to the fixing frame, and a stabilizing mechanism is arranged on the fixing frame and used for enabling the underwater robot to sink or float upwards in the vertical direction; the walking equipment is fixedly connected to the fixing frame, a mounting plate is fixedly connected to the fixing frame, and a buffering mechanism and a fixing mechanism are arranged on the mounting plate and used for buffering impact between the underwater robot and the seabed and fixing the equipment to the seabed; the problems that the stability of the equipment diving position is poor, the monitoring efficiency is low, the equipment is prone to being damaged, and the sundry cleaning effect is poor can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of seabed geological monitoring, and in particular to a monitoring device and method for seabed topography and landform changes. Background Art

[0002] Seabed topography and landform monitoring devices use acoustic, optical, physical and other technical means to track dynamic changes in the seabed in real time or over the long term; these technologies complement and integrate to form a three-dimensional monitoring network that covers all-scale seabed changes from macro to micro; they can warn of disasters, ensure the safety of resource development and protect the ecology; scientifically reveal the laws of plate movement, sediment migration and other laws, and militarily ensure the safety of waterways and facilities. Multidisciplinary data fusion will deepen the understanding of seabed dynamic processes and provide support for sustainable development and global ocean governance.

[0003] The publication number "CN118514841A" discloses a monitoring device and method for changes in seabed topography, including an underwater robot, which is connected to a monitoring column through a rotating mechanism. The monitoring column is provided with a monitoring mechanism, and the monitoring mechanism includes a monitoring shaft rotatably connected to the upper part of the monitoring column, and the upper end of the monitoring shaft is fixedly connected to a monitoring device, and the monitoring shaft is connected to the monitoring motor power, and the monitoring motor is fixedly installed in the monitoring column. Not only can the changes in the seabed be monitored, but also multiple positions can be monitored simultaneously. After the monitoring data is stored, relevant processing and analysis can be performed. The monitoring range of this device is relatively wide. The monitoring equipment is fixed during operation and will not move due to the flow of seawater, thereby ensuring the efficiency of monitoring, and the monitoring equipment can be protected to prevent damage due to impact.

[0004] In the prior art, during the diving process, the equipment can dive and move in the water only by injecting water into the equipment and using walking equipment. The stability of the diving position of the equipment needs to be ensured through control. Under the influence of the undercurrent on the seabed, a large deviation will occur between the diving position and the monitoring position, affecting the efficiency of monitoring. In addition, during the diving process, the equipment may collide with the seabed, causing damage to the equipment. Debris generated during the cleaning process is also likely to remain on the equipment, affecting the stability of the equipment operation. Summary of the invention

[0005] The purpose of the present invention is to solve the problems in the prior art of poor stability of the diving position of the equipment, low monitoring efficiency, easy damage to the equipment, and poor debris cleaning effect, and to propose a monitoring device and method for changes in seabed topography.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A monitoring device for changes in seabed topography comprises an underwater robot and a fixing frame mounted on the underwater robot, and further comprises: a water pump, which is arranged on the underwater robot, and an exhaust pipe and an air intake pipe are provided on the underwater robot; a pillar, which is fixedly connected to the fixing frame, and a stabilizing mechanism is provided on the fixing frame, and is used to make the underwater robot sink or float in a vertical direction; a walking device, which is fixedly connected to the fixing frame, and a mounting plate is fixedly connected to the fixing frame, wherein a buffer mechanism and a fixing mechanism are provided on the mounting plate, and are used to buffer the impact between the underwater robot and the seabed, and to fix the device on the seabed; a monitoring probe, which is arranged on the underwater robot, and a cleaning mechanism is provided on the mounting plate, and is used to clean the surface of the monitoring probe when the device contacts the seabed and walks.

[0008] In order to facilitate the diving and floating of the equipment, preferably, the underwater robot includes a group of water storage chambers and a group of air storage chambers, the water storage chambers are connected with the exhaust pipe, the air storage chambers are connected with the air intake pipe, the water pump is connected with the water storage chambers, a valve is arranged between the air storage chambers and the air intake pipe, and a two-way pneumatic valve is arranged on the side of the water storage chamber close to the exhaust pipe.

[0009] In order to facilitate the detection of the direction and flow rate of the submarine undercurrent, preferably, the stabilizing mechanism includes a mounting frame rotatably connected to the pillar, the mounting frame is rotatably connected to a rotating shaft, the rotating shaft is fixedly connected to a propulsion ring, the propulsion ring is fixedly connected to a driving motor, the output end of the driving motor is fixedly connected to a turbine, the mounting frame is provided with an adjustment component connected to the rotating shaft, the mounting frame is fixedly connected to a fixing rod, the fixing rod is fixedly connected to a sealing rod, a movable rod is slidably connected inside the sealing rod, a first spring is fixedly connected between the sealing rod and the movable rod, an end of the movable rod away from the sealing rod is fixedly connected to a guide plate, and an end of the guide plate away from the sealing rod is fixedly connected to a baffle, wherein the movable rod is a sliding resistor, a connecting piece slidably connected to the surface of the movable rod is provided inside the sealing rod, and the movable rod and the sealing rod are electrically connected to the driving motor.

[0010] To ensure the stability of the equipment's diving position, further, the adjustment assembly includes an adjustment block fixedly connected to the mounting bracket. A cavity is formed inside the adjustment block. The end of the rotating shaft extends into the cavity, and a permanent magnet plate is fixedly connected to the side wall of the rotating shaft. Electromagnets are symmetrically and fixedly connected inside the cavity. On one side of the adjustment block close to the cavity, grooves are symmetrically formed. A second spring is fixedly connected inside the groove, and the end of the second spring is fixedly connected to a clamping block that is slidably connected to the groove. Among them, the electromagnet is electrically connected to the drive motor, and when the direction of the current flowing through the electromagnet changes, the magnetism on the side of the electromagnet close to the permanent magnet plate is opposite. The distance between the clamping block and the electromagnet matches the size of the permanent magnet plate, and the side of the clamping block away from the electromagnet is inclined.

[0011] To reduce the collision between the equipment and the seabed, furthermore, the buffer mechanism includes rotating plates that are symmetrically and rotatably connected to the side of the mounting plate away from the underwater robot. One end of the rotating plate away from the mounting plate is rotatably connected to a hinge block. A pressing plate is arranged on the side of the hinge block away from the rotating plate. A first elastic sheet is fixedly connected between the pressing plate and the rotating plate. Among them, a groove matching the hinge block is formed on the pressing plate. When the rotating plate rotates, the hinge block slides in the groove of the pressing plate. A connecting cylinder is rotatably connected between the two rotating plates, and the connecting cylinder is connected to the two-way pneumatic valve through a pipeline.

[0012] To facilitate fixing the equipment to the seabed, furthermore, the fixing mechanism includes pneumatic motors that are symmetrically and fixedly connected to the side of the mounting plate close to the rotating plate. The output end of the pneumatic motor is fixedly connected to a fixed drill rod. A movable drill bit is slidably connected to the side of the fixed drill rod away from the pneumatic motor. Multiple limiting grooves are formed inside the fixed drill rod. A limiting block matching the limiting groove is fixedly connected to the movable drill bit. Among them, the end of the movable drill bit is conical. The pneumatic motor is connected to the air inlet pipe and the exhaust pipe through a pipeline. The connecting cylinder is connected to the fixed drill rod and the movable drill bit through an air slip ring and a pipeline.

[0013] To facilitate adjusting the position of the equipment on the seabed, furthermore, it also includes an air extraction device that is symmetrically and fixedly connected to the side of the mounting plate away from the underwater robot. A driven shaft is fixedly connected to the shaft end of the air extraction device. A drive shaft is fixedly connected to the shaft end of the walking device close to the driven shaft. A set of bevel gears that mesh with each other is arranged between the drive shaft and the driven shaft. Among them, the air extraction device is connected to the connecting cylinder and the air slip ring on the fixed drill rod through a pipeline.

[0014] In order to facilitate the cleaning of the monitoring probe when the device falls to the seabed, further, the cleaning mechanism includes a connecting shaft fixedly connected to the end of the rotating plate axis in central symmetry. A first cleaning brush is fixedly connected to the end of the connecting shaft, and the first cleaning brush is in contact with the surface of the monitoring probe, so that when the underwater robot falls to the seabed, the surface of the monitoring probe is cleaned.

[0015] In order to facilitate the cleaning of the monitoring probe when the device is moving, further, the cleaning mechanism further includes a driving wheel fixedly connected to the end of the driven shaft. A driven wheel is rotatably connected to the outer wall of the underwater robot. A belt is sleeved between the driving wheel and the driven wheel. A sector gear is fixedly connected to the end of the driven wheel. A linkage gear meshing with the sector gear is rotatably connected to one side of the outer wall of the underwater robot near the monitoring probe. A second cleaning brush in contact with the monitoring probe is fixedly connected to the linkage gear, and a second elastic piece is fixedly connected between the second cleaning brush and the underwater robot.

[0016] A method for monitoring changes in submarine topography and geomorphology includes the following steps:

[0017] Step 1: Place the device from the sea level at a specified position in the sea area;

[0018] Step 2: Realize the diving of the device by injecting water into the device and applying a downward thrust;

[0019] Step 3: When encountering an underwater current at the seabed, adjust the direction of the device thrust to ensure that the device dives while resisting the underwater current at the seabed;

[0020] Step 4: After the device reaches the seabed, fix the device on the seabed and monitor the changes in the submarine topography and geomorphology;

[0021] Step 5: When monitoring different positions on the seabed, release the fixation of the device and drive the device to move along the seabed;

[0022] Step 6: Clean the monitoring position of the device when the device falls to the seabed and when it is moving;

[0023] Step 7: After the monitoring is completed, drain the water in the device and apply an upward thrust to complete the recovery of the device.

[0024] Compared with the prior art, the present invention provides a monitoring device and method for changes in submarine topography and geomorphology, having the following beneficial effects:

[0025] 1. The monitoring device for seabed topography and geomorphology changes can not only achieve the diving and floating of the device in the sea through a water pump and a stabilizing mechanism, but also enable the device to resist the undercurrents on the seabed, ensuring the stability of the diving and floating positions, so as to guarantee the accuracy of the seabed monitoring position. At the same time, it is convenient to retrieve the device, and can also appropriately increase the diving and floating speeds of the device, thereby improving the monitoring efficiency.

[0026] 2. The monitoring device for seabed topography and geomorphology changes can reduce the impact between the device and the seabed through a buffering mechanism, avoiding damage to the device caused by the impact. At the same time, it can also control the fixing mechanism to quickly fix the device on the seabed to ensure the stability of the device during monitoring, and clean the monitoring probe when contacting the seabed, thereby improving the effect of seabed topography and geomorphology change monitoring and further enhancing the monitoring efficiency.

[0027] 3. The monitoring device for seabed topography and geomorphology changes can automatically release the fixation of the device with the seabed through a walking device, and continuously clean the monitoring probe during the movement of the device to ensure the monitoring effect.

[0028] The parts not involved in this device are the same as the prior art or can be implemented by the prior art. The present invention can overcome the problems of poor stability of the device's diving position, low monitoring efficiency, easy damage to the device, and poor debris cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a structural schematic diagram of a monitoring device for seabed topography and geomorphology changes proposed by the present invention Figure 1 ;

[0030] Figure 2 is a structural schematic diagram of a monitoring device for seabed topography and geomorphology changes proposed by the present invention Figure 2 ;

[0031] Figure 3 is a front view structural schematic diagram of a monitoring device for seabed topography and geomorphology changes proposed by the present invention;

[0032] Figure 4 is a partial structural schematic diagram of a monitoring device for seabed topography and geomorphology changes proposed by the present invention Figure 1 ;

[0033] Figure 5 is a cross-sectional structural schematic diagram of a monitoring device for seabed topography and geomorphology changes proposed by the present invention Figure 4 ;

[0034] Figure 6 is a cross-sectional structural schematic diagram of an adjusting block in a monitoring device for seabed topography and geomorphology changes proposed by the present invention;

[0035] Figure 7 Partial structural schematic diagram of a monitoring device for submarine topographic and geomorphic changes proposed by the present invention Figure 2 ;

[0036] Figure 8 Structural schematic diagram on the mounting plate in a monitoring device for submarine topographic and geomorphic changes proposed by the present invention;

[0037] Figure 9 Cross-sectional structural schematic diagram of a fixed drill pipe and a movable drill bit in a monitoring device for submarine topographic and geomorphic changes proposed by the present invention;

[0038] Figure 10 A monitoring device for submarine topographic and geomorphic changes proposed by the present invention Figure 6 Structural schematic diagram of part A in the device.

[0039] In the figure: 1, underwater robot; 2, water pump; 3, exhaust pipe; 4, intake pipe; 5, fixing frame; 6, walking device; 7, pillar; 8, mounting frame; 9, rotating shaft; 10, propulsion ring; 11, driving motor; 12, turbine; 13, adjusting component; 131, adjusting block; 132, cavity; 133, permanent magnet plate; 134, electromagnet; 135, groove; 136, second spring; 137, clamping block; 14, fixing rod; 15, sealing rod; 16, movable rod; 17, first spring; 18, guiding plate; 19, baffle; 20, mounting plate; 21, rotating plate; 22, hinge block; 23, pressing plate; 24, connecting cylinder; 25, first elastic sheet; 26, connecting shaft; 27, first cleaning brush; 28, monitoring probe; 29, pneumatic motor; 30, fixed drill pipe; 31, movable drill bit; 32, limiting groove; 33, limiting block; 34, air extraction device; 35, driven shaft; 36, driving shaft; 37, bevel gear set; 38, driving wheel; 39, driven wheel; 40, belt; 41, sector gear; 42, linkage gear; 43, second cleaning brush; 44, second elastic sheet. Detailed implementation manners

[0040] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments.

[0041] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0042] Embodiment 1:

[0043] Referring to Figures 1 - 10 , a monitoring device for submarine topographic and geomorphic changes includes an underwater robot 1 and a fixing frame 5 installed on the underwater robot 1, and further includes: a water pump 2 arranged on the underwater robot 1, and an exhaust pipe 3 and an air inlet pipe 4 are provided on the underwater robot 1; a support column 7 fixedly connected to the fixing frame 5, and a stabilizing mechanism is arranged on the fixing frame 5 for sinking or floating the underwater robot 1 in the vertical direction; a walking device 6 fixedly connected to the fixing frame 5, and a mounting plate 20 is fixedly connected to the fixing frame 5. Among them, a buffering mechanism and a fixing mechanism are arranged on the mounting plate 20 for buffering the impact between the underwater robot 1 and the seabed and fixing the device to the seabed; a monitoring probe 28 is arranged on the underwater robot 1, and a cleaning mechanism is arranged on the mounting plate 20 for cleaning the surface of the monitoring probe 28 when the device contacts the seabed and walks. The underwater robot 1 includes a group of water storage cavities and a group of air storage cavities. The water storage cavities are communicated with the exhaust pipe 3, and the air storage cavities are communicated with the air inlet pipe 4. The water pump 2 is communicated with the water storage cavities. A valve is arranged between the air storage cavity and the air inlet pipe 4, and a two-way pneumatic valve is arranged on one side of the water storage cavity close to the exhaust pipe 3.

[0044] In this embodiment, it should be explained that the underwater robot 1 further includes conventional structures of conventional underwater operation devices such as a data storage system, a data processing system, and a data transmission system, which will not be elaborated here. The monitoring probe 28 includes an acoustic monitoring device and an optical monitoring device. For example, sonar and multi-beam are used to identify geomorphic details; laser scanners and cameras provide high-definition images of local micro-topography. When the walking device 6 uses crawlers, it can adapt to various complex terrains. When pumping water, seawater will enter the underwater robot 1 and compress the internal gas. When the two-way pneumatic valve is opened, the compressed gas will be discharged through the exhaust pipe 3 and finally collected into the air storage cavity through the air inlet pipe 4. When draining water, the principle is the same as above, but the process is opposite.

[0045] Referring to Figure 1 、 Figure 4 and Figure 5, the stabilizing mechanism includes a mounting frame 8 rotatably connected to the support column 7. A rotating shaft 9 is rotatably connected to the mounting frame 8. A propulsion ring 10 is fixedly connected to the rotating shaft 9. A drive motor 11 is fixedly connected to the propulsion ring 10. A turbine 12 is fixedly connected to the output end of the drive motor 11. An adjusting component 13 connected to the rotating shaft 9 is arranged on the mounting frame 8. A fixing rod 14 is fixedly connected to the mounting frame 8. A sealing rod 15 is fixedly connected to the fixing rod 14. A movable rod 16 is slidably connected inside the sealing rod 15. A first spring 17 is fixedly connected between the sealing rod 15 and the movable rod 16. One end of the movable rod 16 away from the sealing rod 15 is fixedly connected to a guide plate 18. A baffle 19 is fixedly connected to one end of the guide plate 18 away from the sealing rod 15. Among them, the movable rod 16 is a sliding resistor. A connecting piece slidably connected to the surface of the movable rod 16 is arranged inside the sealing rod 15. The movable rod 16 and the sealing rod 15 are electrically connected to the drive motor 11.

[0046] In this embodiment, during the diving process of the underwater robot 1, the drive motor 11 is started to drive the turbine 12 to rotate to accelerate the diving speed of the underwater robot 1. When the underwater current in the sea passes through the underwater robot 1, it will drive the mounting frame 8 to rotate along the direction of the underwater current under the action of the guide plate 18. And the faster the speed of the underwater current, the greater the thrust on the baffle 19, which causes the movable rod 16 to extend outward along the sealing rod 15 to increase the rotation speed of the drive motor 11 so as to resist the underwater current.

[0047] Refer to Figure 4 and Figure 6 , the adjusting component 13 includes an adjusting block 131 fixedly connected to the mounting frame 8. A cavity 132 is opened inside the adjusting block 131. The end of the rotating shaft 9 extends into the cavity 132. A permanent magnet plate 133 is fixedly connected to the side wall of the rotating shaft 9. Electromagnets 134 are symmetrically and fixedly connected inside the cavity 132. Grooves 135 are symmetrically opened on one side of the adjusting block 131 close to the cavity 132. A second spring 136 is fixedly connected inside the groove 135. The end of the second spring 136 is fixedly connected to a clamping block 137 slidably connected to the groove 135. Among them, the electromagnets 134 are electrically connected to the drive motor 11. And when the direction of the current flowing into the electromagnets 134 changes, the magnetism on the side of the electromagnets 134 close to the permanent magnet plate 133 is opposite. The distance between the clamping block 137 and the electromagnets 134 matches the size of the permanent magnet plate 133. The side of the clamping block 137 away from the electromagnets 134 is inclined.

[0048] In this embodiment, it should be explained that when the underwater robot 1 dives and floats, the rotation direction of the drive motor 11 is opposite, that is, the direction of the current is opposite, so that the magnetism on the side of the electromagnet 134 close to the permanent magnet plate 133 is opposite. Under the action of the two electromagnets 134 on both sides, the permanent magnet plate 133 will rotate to one side of different electromagnets 134 when the underwater robot 1 dives and floats, so as to achieve the purpose of adjusting the thrust direction of the turbine 12. While increasing the diving or floating speed, it can resist the undercurrents in the sea, enabling the underwater robot 1 to dive or float stably. Among them, one side of the clamping block 137 close to the corresponding electromagnet 134 has magnetism, and when the permanent magnet plate 133 rotates towards its direction, the clamping block 137 and the corresponding electromagnet 134 attract each other, so that when the permanent magnet plate 133 rotates to one side of the electromagnet 134, the permanent magnet plate 133 can be positioned, thus ensuring the stability of the equipment operation. The magnetic poles of the permanent magnet plate 133, the electromagnet 134, and the clamping block 137 are not limited herein, as long as the above process can be achieved.

[0049] Refer to Figure 2 , Figure 3 and Figure 8 , the buffer mechanism includes rotating plates 21 symmetrically and rotatably connected to the side of the mounting plate 20 away from the underwater robot 1. One end of the rotating plate 21 away from the mounting plate 20 is rotatably connected to a hinge block 22. A pressing plate 23 is arranged on the side of the hinge block 22 away from the rotating plate 21. A first elastic sheet 25 is fixedly connected between the pressing plate 23 and the rotating plate 21. Among them, a groove matching the hinge block 22 is formed on the pressing plate 23. When the rotating plate 21 rotates, the hinge block 22 slides in the groove of the pressing plate 23. A connecting cylinder 24 is rotatably connected between the two rotating plates 21, and the connecting cylinder 24 is connected to the two-way pneumatic valve through a pipeline.

[0050] In this embodiment, during the diving process, first, the pressing plate 23 will contact the seabed. As the diving continues, it will drive the pressing plate 23 to move towards the side of the underwater robot 1, and drive the rotating plate 21 to rotate relatively, compressing the connecting cylinder 24, so as to protect the underwater robot 1 and prevent it from hitting the seabed. At the same time, the compressed gas in the connecting cylinder 24 will be introduced into the two-way pneumatic valve, so that the high-pressure gas in the underwater robot 1 is discharged through the exhaust pipe 3 and finally collected into the underwater robot 1 again through the intake pipe 4.

[0051] Refer to Figure 2 , Figure 3 , Figure 8 and Figure 9, The fixing mechanism includes a pneumatic motor 29 symmetrically and fixedly connected to the side of the mounting plate 20 close to the rotating plate 21. The output end of the pneumatic motor 29 is fixedly connected with a fixed drill rod 30. A movable drill bit 31 is slidably connected to the side of the fixed drill rod 30 away from the pneumatic motor 29. A plurality of limiting grooves 32 are formed inside the fixed drill rod 30. A limiting block 33 matched with the limiting grooves 32 is fixedly connected to the movable drill bit 31. Among them, the end of the movable drill bit 31 is tapered. The pneumatic motor 29 is connected to the intake pipe 3 and the exhaust pipe 4 through a pipeline. The connecting cylinder 24 is connected to the fixed drill rod 30 and the movable drill bit 31 through an air slip ring and a pipeline.

[0052] In this embodiment, the compressed gas of the underwater robot 1 will enter the pneumatic motor 29, driving the fixed drill rod 30 and the movable drill bit 31 to rotate. At the same time, the continuous compression of the connecting cylinder 24 will transport part of the gas to between the fixed drill rod 30 and the movable drill bit 31, thereby driving the movable drill bit 31 to extend outward along the fixed drill rod 30. In the way of rotation and extension, the movable drill bit 31 can be inserted into the seabed, so as to fix the underwater robot 1 for subsequent monitoring work.

[0053] Refer to Figure 2 , Figure 3 and Figure 8 , It further includes an air extraction device 34 symmetrically and fixedly connected to the side of the mounting plate 20 away from the underwater robot 1. The shaft end of the air extraction device 34 is fixedly connected with a driven shaft 35. The shaft end of the traveling device 6 close to the driven shaft 35 is fixedly connected with a driving shaft 36. A bevel gear set 37 that meshes with each other is arranged between the driving shaft 36 and the driven shaft 35. Among them, the air extraction device 34 is connected to the connecting cylinder 24 and the air slip ring on the fixed drill rod 30 through a pipeline.

[0054] In this embodiment, when one place on the seabed has been monitored and the position of the underwater robot 1 needs to be adjusted, the traveling device 6 is driven to rotate, driving the driven shaft 35 to rotate through the driving shaft 36 and the bevel gear set 37, thereby driving the air extraction device 34 (it should be noted that the air extraction device 34 is not affected by the rotation direction, that is, no matter which direction the underwater robot 1 moves, the air extraction device 34 can achieve air extraction. For example, devices such as a twin-screw vacuum pump and a valveless piston pump can achieve this. Among them, it also includes a gas storage device. When the air extraction stops, the high-pressure gas will flow back), extracting the gas between the connecting cylinder 24, the fixed drill rod 30 and the movable drill bit 31. On the one hand, it can separate the pressing plate 23 from the seabed, reducing the resistance when the device moves. On the other hand, it can make the movable drill bit 31 shrink into the fixed drill rod 30, releasing the fixation of the device to the seabed.

[0055] Refer to Figure 1 , Figure 2 , Figure 3 andFigure 7 The cleaning mechanism includes a connecting shaft 26 fixedly connected to the shaft end of the rotating plate 21 in central symmetry. A first cleaning brush 27 is fixedly connected to the end of the connecting shaft 26. The first cleaning brush 27 is in contact with the surface of the monitoring probe 28, so that when the underwater robot 1 lands on the seabed, the surface of the monitoring probe 28 is cleaned. The cleaning mechanism further includes a driving wheel 38 fixedly connected to the shaft end of the driven shaft 35. A driven wheel 39 is rotatably connected to the outer wall of the underwater robot 1. A belt 40 is sleeved between the driving wheel 38 and the driven wheel 39. A sector gear 41 is fixedly connected to the shaft end of the driven wheel 39. A linkage gear 42 meshing with the sector gear 41 is rotatably connected to one side of the outer wall of the underwater robot 1 near the monitoring probe 28. A second cleaning brush 43 in contact with the monitoring probe 28 is fixedly connected to the linkage gear 42. A second elastic piece 44 is fixedly connected between the second cleaning brush 43 and the underwater robot 1.

[0056] In this embodiment, during the diving process of the underwater robot 1, when the pressing plate 23 contacts the seabed instantaneously, sand, gravel, soil, etc. on the seabed will splash onto the monitoring probe 28, and then it will tend to calm down. Among them, during the compression process of the pressing plate 23, it will drive the rotating plate 21 to rotate, thereby driving the connecting shaft 26 to rotate, and further driving the first cleaning brush 27 to rotate along the surface of the monitoring probe 28, so as to clean the debris splashed onto the monitoring probe 28; when the device moves on the seabed, it will also cause sand, gravel and soil on the seabed to splash. At this time, the driven shaft 35 drives the driving wheel 38 to rotate. Under the action of the driven wheel 39 and the belt 40, the sector gear 41 is driven to rotate. First, it will drive the linkage gear 42 to rotate along the monitoring probe 28 to one side, and the second cleaning brush 43 is used to clean it. When the sector gear 41 is disengaged from the linkage gear 42, the second cleaning brush 43 will rotate to the initial position under the rotation of the second elastic piece 44, thereby driving the second cleaning brush 43 to rotate reciprocally along the surface of the monitoring probe 28. When the device stops moving, the sector gear 41 and the linkage gear 42 can be in a disengaged state.

[0057] Embodiment 2:

[0058] Basically the same as Embodiment 1, on the basis of Embodiment 1, a monitoring method for changes in submarine topography and geomorphology includes the following steps:

[0059] Step 1: Place the device from the sea level at a specified position in the sea area;

[0060] Step 2: Realize the diving of the device by injecting water into the device and applying a downward thrust;

[0061] Step 3: When encountering an underwater current at the seabed, adjust the direction of the device thrust to ensure that the device dives while resisting the underwater current at the seabed;

[0062] Step 4: After the device reaches the seabed, fix the device on the seabed and monitor the changes in the topography and geomorphology of the seabed;

[0063] Step 5: When monitoring different positions on the seabed, release the fixation of the device and drive the device to move along the seabed;

[0064] Step 6: Clean the monitoring positions of the device when the device falls to the seabed and when it is moving;

[0065] Step 7: After the monitoring is completed, drain the water in the device and apply an upward thrust to complete the recovery of the device.

[0066] As mentioned above, only the preferred specific embodiments of the present invention are described, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A monitoring device for submarine topographic and geomorphic changes, comprising an underwater robot (1) and a fixing frame (5) installed on the underwater robot (1), characterized in that, It further includes: A water pump (2) is provided on the underwater robot (1), and an exhaust pipe (3) and an air inlet pipe (4) are provided on the underwater robot (1). A support column (7) is fixedly connected to the fixed frame (5), and a stabilizing mechanism is provided on the fixed frame (5) for sinking or floating the underwater robot (1) in the vertical direction. A walking device (6) is fixedly connected to the fixed frame (5), and a mounting plate (20) is fixedly connected to the fixed frame (5). Wherein, a buffering mechanism and a fixing mechanism are provided on the mounting plate (20) for buffering the impact between the underwater robot (1) and the seabed, and fixing the device to the seabed. A monitoring probe (28) is provided on the underwater robot (1), and a cleaning mechanism is provided on the mounting plate (20) for cleaning the surface of the monitoring probe (28) when the device contacts the seabed and walks.

2. The monitoring device for submarine topography and geomorphology changes according to claim 1, characterized in that, The underwater robot (1) includes a group of water storage chambers and a group of air storage chambers. The water storage chambers are communicated with the exhaust pipe (3), the air storage chambers are communicated with the air inlet pipe (4), the water pump (2) is communicated with the water storage chambers, a valve is provided between the air storage chambers and the air inlet pipe (4), and a two-way pneumatic valve is provided on one side of the water storage chamber close to the exhaust pipe (3).

3. The monitoring device for changes in submarine topography and geomorphology according to claim 1, characterized in that, The stabilizing mechanism includes a mounting frame (8) rotatably connected to the support column (7). A rotating shaft (9) is rotatably connected to the mounting frame (8). A propulsion ring (10) is fixedly connected to the rotating shaft (9). A driving motor (11) is fixedly connected to the propulsion ring (10). An output end of the driving motor (11) is fixedly connected to a turbine (12). An adjusting component (13) connected to the rotating shaft (9) is provided on the mounting frame (8). A fixed rod (14) is fixedly connected to the mounting frame (8). A sealing rod (15) is fixedly connected to the fixed rod (14). A movable rod (16) is slidably connected inside the sealing rod (15). A first spring (17) is fixedly connected between the sealing rod (15) and the movable rod (16). One end of the movable rod (16) away from the sealing rod (15) is fixedly connected to a guiding plate (18). One end of the guiding plate (18) away from the sealing rod (15) is fixedly connected to a baffle (19). Wherein, the movable rod (16) is a sliding resistor, a connecting piece slidably connected to the surface of the movable rod (16) is provided inside the sealing rod (15), and the movable rod (16) and the sealing rod (15) are electrically connected to the driving motor (11).

4. The monitoring device for undersea topographic and geomorphic changes according to claim 3, characterized in that, The adjustment assembly (13) includes an adjustment block (131) fixedly connected to the mounting frame (8). A cavity (132) is formed inside the adjustment block (131). The end of the rotating shaft (9) extends into the cavity (132). A permanent magnet plate (133) is fixedly connected to the side wall of the rotating shaft (9). Electromagnets (134) are symmetrically and fixedly connected inside the cavity (132). Grooves (135) are symmetrically formed on one side of the adjustment block (131) close to the cavity (132). A second spring (136) is fixedly connected inside the groove (135). The end of the second spring (136) is fixedly connected to a clamping block (137) that is slidably connected to the groove (135). Among them, the electromagnet (134) is electrically connected to the drive motor (11). When the direction of the current flowing through the electromagnet (134) changes, the magnetism on the side of the electromagnet (134) close to the permanent magnet plate (133) is opposite. The distance between the clamping block (137) and the electromagnet (134) matches the size of the permanent magnet plate (133). The side of the clamping block (137) away from the electromagnet (134) is inclined.

5. The monitoring device for changes in submarine topography and geomorphology according to claim 2, characterized in that, The buffer mechanism includes rotating plates (21) symmetrically and rotatably connected to the side of the mounting plate (20) away from the underwater robot (1). One end of the rotating plate (21) away from the mounting plate (20) is rotatably connected to a hinge block (22). A pressing plate (23) is arranged on the side of the hinge block (22) away from the rotating plate (21). A first elastic sheet (25) is fixedly connected between the pressing plate (23) and the rotating plate (21). Among them, a groove matching the hinge block (22) is formed on the pressing plate (23). When the rotating plate (21) rotates, the hinge block (22) slides in the groove of the pressing plate (23). A connecting cylinder (24) is rotatably connected between the two rotating plates (21). The connecting cylinder (24) is connected to the two-way pneumatic valve through a pipeline.

6. The monitoring device for changes in submarine topography and geomorphology according to claim 5, characterized in that, The fixing mechanism includes pneumatic motors (29) symmetrically and fixedly connected to the side of the mounting plate (20) close to the rotating plate (21). A fixing drill rod (30) is fixedly connected to the output end of the pneumatic motor (29). A movable drill bit (31) is slidably connected to the side of the fixing drill rod (30) away from the pneumatic motor (29). Multiple limiting grooves (32) are formed inside the fixing drill rod (30). A limiting block (33) matching the limiting groove (32) is fixedly connected to the movable drill bit (31). Among them, the end of the movable drill bit (31) is tapered. The pneumatic motor (29) is connected to the air inlet pipe (3) and the exhaust pipe (4) through a pipeline. The connecting cylinder (24) is connected to the fixing drill rod (30) and the movable drill bit (31) through an air slip ring and a pipeline.

7. The monitoring device for changes in submarine topography and geomorphology according to claim 6, characterized in that, It further includes an air extraction device (34) fixedly connected in a centrosymmetric manner to the side of the mounting plate (20) away from the underwater robot (1). A driven shaft (35) is fixedly connected to the shaft end of the air extraction device (34). A driving shaft (36) is fixedly connected to the shaft end of the walking device (6) close to the driven shaft (35). A bevel gear set (37) engaged with each other is arranged between the driving shaft (36) and the driven shaft (35). Wherein, the air extraction device (34) is connected to the connection cylinder (24) and the air slip ring on the fixed drill rod (30) through a pipeline.

8. The monitoring device for changes in submarine topography and geomorphology according to claim 7, characterized in that, The cleaning mechanism includes a connecting shaft (26) fixedly connected to the shaft end of the rotating plate (21) in a centrosymmetric manner. A first cleaning brush (27) is fixedly connected to the end of the connecting shaft (26). The first cleaning brush (27) is in contact with the surface of the monitoring probe (28), so as to clean the surface of the monitoring probe (28) when the underwater robot (1) lands on the seabed.

9. The monitoring device for undersea topographic and geomorphic changes according to claim 7, wherein, The cleaning mechanism further includes a driving wheel (38) fixedly connected to the shaft end of the driven shaft (35). A driven wheel (39) is rotatably connected to the outer wall of the underwater robot (1). A belt (40) is sleeved between the driving wheel (38) and the driven wheel (39). A sector gear (41) is fixedly connected to the shaft end of the driven wheel (39). A linkage gear (42) engaged with the sector gear (41) is rotatably connected to the side of the outer wall of the underwater robot (1) close to the monitoring probe (28). A second cleaning brush (43) in contact with the monitoring probe (28) is fixedly connected to the linkage gear (42). A second elastic piece (44) is fixedly connected between the second cleaning brush (43) and the underwater robot (1).

10. A monitoring method for submarine topography and geomorphology changes, which uses a monitoring device for submarine topography and geomorphology changes described in any one of claims 1-9, characterized in that, It includes the following steps: Step 1: Place the device at a specified position in the sea area from the sea level. Step 2: Realize the diving of the device by injecting water into the device and applying a downward thrust. Step 3: When encountering an undersea current, adjust the direction of the device thrust to ensure that the device dives while resisting the undersea current. Step 4: After the device reaches the seabed, fix the device on the seabed and monitor the changes in the topography and geomorphology of the seabed. Step 5: When monitoring different positions on the seabed, release the fixation of the device and drive the device to walk along the seabed. Step 6: Clean the monitoring position of the device when the device lands on the seabed and walks. Step 7: After the monitoring is completed, drain the water in the device and apply an upward thrust to complete the recovery of the device.

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