Movable comprehensive measuring device suitable for under-ice environment

Abstract

The invention relates to the technical field of underwater detection and environment monitoring, and provides a movable comprehensive measurement device suitable for an under-ice environment, namely an autonomous underwater vehicle which is used for autonomously or remotely moving along a set path in the under-ice environment. The thickness measuring transducer is mounted at the top of the autonomous underwater vehicle, is vertically upward and is used for measuring thickness information of an ice layer in real time; the flow measuring transducer is mounted in the side direction of the autonomous underwater vehicle and is used for measuring flow velocity information of a water body in real time; and the signal processing and information storage module is connected with the thickness measurement transducer and the flow measurement transducer and is used for processing and converting the collected original signals and storing corresponding hydrographic measurement data. The system is used for obtaining and monitoring key environmental parameters such as water depth, ice layer thickness and water flow speed of a river channel area by digging an ice hole and lowering an autonomous underwater vehicle in an ice-sealed water area.

Description

Technical Field

[0001] The invention relates to the technical field of underwater detection and environmental monitoring, and proposes a movable comprehensive measuring device suitable for under-ice environments. Background Art

[0002] In cold regions, especially at high latitudes or in polar regions, rivers, lakes, and reservoirs are often covered by thick ice in winter. Changes in the subglacial hydrological environment have a significant impact on disaster prevention and mitigation, water resources management, shipping security, and scientific research. Accurate information on ice thickness, water depth, and current velocity is crucial for assessing ice carrying capacity, predicting floods, developing and maintaining waterways, and monitoring the ecological environment.

[0003] However, due to the obstruction of ice, obtaining subglacial hydrological information faces many difficulties. Traditional methods usually require personnel to drill multiple holes on the ice surface and conduct decentralized measurements using single-point instruments. This operation method has problems such as sparse measurement points, poor data continuity, and limited spatial coverage. At the same time, it is limited by harsh climatic conditions and the operating environment, resulting in low measurement efficiency, high labor costs, and great safety risks. In addition, parameters such as ice thickness, water depth, and flow velocity are spatially non-uniform and temporally variable. Single-point measurements cannot reflect the overall distribution characteristics and dynamic change trends of the subglacial environment, and it is difficult to meet the needs of modern hydrological surveys for high-resolution and timely data.

[0004] With increasing demands for environmental monitoring and the rise in extreme weather events, the need for systematic, continuous, high-precision, and simultaneous multi-parameter measurements of the subglacial hydrological environment is becoming increasingly urgent. Existing technologies lack a comprehensive measurement method that can cover a large area, acquire multiple key hydrological parameters such as water depth, ice thickness, and flow velocity in real time, and offer rapid deployment and convenient operation. Especially given limited shore-based conditions, complex ice structures, and high uncertainty in the underwater environment, achieving rapid deployment and continuous measurement has become a key challenge that needs to be addressed in technological development. Summary of the Invention

[0005] This invention proposes a comprehensive measurement device suitable for subglacial environments that can efficiently, accurately, and systematically acquire a variety of hydrological information. This device improves the efficiency and quality of subglacial hydrological surveys and meets the practical needs for refined subglacial monitoring in various application scenarios. This invention aims to overcome the limitations of existing methods for acquiring subglacial hydrological information, such as limited coverage, low measurement efficiency, and poor data continuity.

[0006] A mobile integrated measurement device suitable for under-ice environments, including an autonomous underwater vehicle, a thickness measurement transducer, a current measurement transducer, and a signal processing and information storage module;

[0007] The autonomous underwater vehicle as an integral platform has underwater navigation, attitude control and positioning capabilities;

[0008] The thickness measuring transducer is installed on the top of the autonomous underwater vehicle and is used to transmit sound wave signals upward and receive echoes reflected from the bottom of the ice layer, and calculate the thickness of the ice layer by the echo time delay;

[0009] The flow measuring transducer is installed on the side of the autonomous underwater vehicle and is used to measure the flow velocity inside the water body;

[0010] The signal processing and information storage module is disposed inside the autonomous underwater vehicle and is electrically connected to the thickness measuring transducer and the current measuring transducer. The module is used to receive the raw data collected by each sensor, perform filtering, time delay extraction, and velocity calculation data processing operations, and store the processed measurement results in a local storage unit. A data communication interface is provided to transmit the measurement data in real time to a shore-based control center via wireless or wired means for real-time monitoring and data analysis by the operator.

[0011] It also includes a vertical thruster and a forward thruster for realizing the device's up and down floating and forward and backward movement. The autonomous underwater vehicle is remotely navigated by a shore-based control system.

[0012] The thickness measuring transducer is a small high-frequency ultrasonic transducer suitable for low-temperature waters.

[0013] The flow measuring transducer operates on the Doppler principle and can obtain water flow velocity and distribution information in real time during navigation.

[0014] The present invention is used to obtain and monitor key environmental parameters such as water depth, ice thickness and water flow velocity in river areas by digging ice holes and launching autonomous underwater vehicles (UUVs) in frozen waters. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is an overall schematic diagram of the movable comprehensive measuring device suitable for under-ice environment of the present invention.

[0016] Figure 2 The diagram is a structural diagram of the movable comprehensive measuring device suitable for under-ice environment according to the present invention. DETAILED DESCRIPTION

[0017] The present invention is further described in detail below with reference to specific embodiments, but the present invention is not limited to the following embodiments. Any modification, replacement or improvement made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.

[0018] like Figure 1 and Figure 2As shown, the present invention provides a movable integrated measurement device suitable for an under-ice environment, which mainly includes an autonomous underwater vehicle 102 , a thickness measuring transducer 101 , a flow measuring transducer 105 , and a signal processing and information storage module 106 .

[0019] The autonomous underwater vehicle 102, as an integrated platform, has underwater navigation, attitude control, and positioning capabilities. The autonomous underwater vehicle 102 can be remotely controlled and navigated by a shore-based control system.

[0020] Thickness measuring transducer 101, mounted on top of autonomous underwater vehicle 102, transmits acoustic signals upward and receives echoes reflected from the bottom of the ice layer, calculating ice thickness based on echo time delay. Thickness measuring transducer 101 is preferably a small, high-frequency ultrasonic transducer suitable for low-temperature waters, ensuring excellent signal quality and measurement accuracy under ice.

[0021] The flow measuring transducer 105 is installed below the autonomous underwater vehicle 102 to measure the flow velocity in the water. The flow measuring transducer preferably operates using the Doppler principle and can obtain real-time water flow velocity and distribution information during navigation.

[0022] The signal processing and information storage module 106 is located within the autonomous underwater vehicle 102 and is electrically connected to the thickness measurement transducer 101 and the current measurement transducer 105. This module receives the raw data collected by each sensor, performs data processing operations such as filtering, time delay extraction, and velocity calculation, and stores the processed measurement results in a local storage unit. The module also features a data communication interface that transmits measurement data in real time to a shore-based control center via wireless or wired means, facilitating real-time monitoring and data analysis by operators.

[0023] It also includes a vertical thruster 103, which is responsible for the up and down floating of the autonomous underwater vehicle; and a forward thruster 104, which is responsible for the forward and backward movement of the autonomous underwater vehicle.

[0024] Directions:

[0025] First, an ice hole is dug at a suitable location on the shore. The size of the ice hole is large enough to allow the autonomous underwater vehicle 102 to be lowered smoothly.

[0026] Then, the loaded autonomous underwater vehicle 102 is slowly lowered into the subglacial waters through the ice hole.

[0027] Next, the operator remotely controls AUV 102, moving perpendicular to the riverbank. During its navigation, AUV 102 collects real-time data on ice thickness, water depth, and current velocity. During the measurement process, AUV 102 can sample at predetermined intervals or continuously, ensuring comprehensive coverage of the target river channel. After completing the measurement, AUV 102 returns to the ice hole and is retrieved to the ice surface using a hoisting mechanism.

[0028] The comprehensive measuring device provided by the present invention can realize synchronous, efficient and continuous collection of multiple parameters of the subglacial environment, greatly improving the efficiency and accuracy of hydrological measurements in ice-covered waters and reducing the personnel risks and environmental adaptation difficulties in traditional operations.

Claims

1. A mobile integrated measuring device suitable for under-ice environments, characterized in that: It includes an autonomous underwater vehicle (102), a thickness measuring transducer (101), a flow measuring transducer (105), and a signal processing and information storage module (106); The autonomous underwater vehicle (102) as an integral platform has underwater navigation, attitude control and positioning capabilities; The thickness measuring transducer (101) is installed on the top of the autonomous underwater vehicle (102) and is used to transmit sound wave signals upward and receive reflected echoes from above and below the ice layer, and calculate the thickness of the ice layer through the echo time delay; The flow measuring transducer (105) is installed below the autonomous underwater vehicle (102) and is used to measure the flow velocity inside the water body; The signal processing and information storage module (106) is arranged inside the autonomous underwater vehicle (102) and is electrically connected to the thickness measuring transducer (101) and the flow measuring transducer (105); the module is used to receive the raw data collected by each sensor, perform filtering, time delay extraction, and speed calculation data processing operations, and store the processed measurement results in a local storage unit; Equipped with a data communication interface to transmit measurement data to the shore-based control center in real time via wireless or wired means for real-time monitoring and data analysis by operators; It also includes a vertical thruster (103) and a forward thruster (104) for achieving the up and down floating and forward and backward movement of the device.

2. The movable integrated measuring device suitable for under-ice environment according to claim 1, characterized in that: The autonomous underwater vehicle (102) is remotely navigated via a shore-based control system.

3. The movable integrated measuring device suitable for under-ice environment according to claim 1, characterized in that: The thickness measuring transducer (101) is a small high-frequency ultrasonic transducer suitable for low-temperature waters.

4. The movable integrated measuring device suitable for under-ice environment according to claim 1, characterized in that: The flow measuring transducer (105) operates on the Doppler principle and can obtain water flow velocity and distribution information in real time during navigation.

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