Elevation measuring device for underwater rubble foundation bed

Abstract

The invention discloses an elevation measuring device for an underwater rubble foundation bed. The elevation measuring device comprises a base unit, the sleeve unit comprises a vertical pipe and a plurality of test pipe joints arranged in the vertical pipe, the vertical pipe is longitudinally installed on the base unit, the test pipe joints are sequentially connected in a sleeved mode, and the test pipe joints connected with the vertical pipe can linearly slide in the extension direction of the vertical pipe relative to the inner wall of the vertical pipe; the first measuring unit comprises a sound wave sensing assembly and a connecting rope, the connecting rope is connected with the testing pipe joint on the innermost side of the vertical pipe, and the sound wave sensing assembly is arranged on the testing pipe joint on the innermost side; the second measuring unit is mounted on the base unit, and the second measuring unit and the sound wave sensing assembly are coaxially arranged; and the real-time elevation of the underwater foundation bed is measured through the relative distance between the sound wave sensing assembly and the second measuring unit. The device does not need a special ship, reduces the equipment use threshold and the engineering coordination difficulty, improves the field operation flexibility, is suitable for different operation environments such as a near-shore shallow water area and an offshore deep water area, and is wide in application range.

Description

Technical Field

[0001] This invention belongs to the field of underwater detection technology, and in particular relates to an underwater boulders bed elevation measurement device. Background Technology

[0002] With the ongoing expansion of coastal ports, construction of cross-sea channels, construction of nearshore wind power foundations, and dredging and improvement of waterways, the application scenarios of underwater riprap foundations have expanded from nearshore shallow waters to offshore deep waters and complex sea areas. The scale of these projects and the difficulty of construction have increased significantly, placing more stringent requirements on the accuracy and flatness of the foundation elevation. Excessive deviations in foundation elevation can lead to uneven load distribution on the superstructure, excessive pile settlement, wharf deck tilting, and insufficient navigation clearance in waterways. These issues can range from increasing subsequent rectification costs to causing structural instability and safety accidents.

[0003] Traditional manual monitoring techniques rely primarily on divers. Divers typically descend with simple equipment such as depth sounders and levels to directly measure the elevation of the subgrade points, manually recording the data before returning to shore for analysis. Limited by underwater visibility, diving depth, and current speed, this method has significant errors and is only suitable for shallow near-shore waters. An improved manual water mound monitoring technique involves attaching a water mound to a handheld GPS device. Surveyors stand on the side of the vessel, and the elevation of the underwater subgrade is measured by moving both the personnel and the vessel a fixed unit distance. However, this method is also affected by water depth, current speed, and swells, resulting in significant measurement errors. Furthermore, underwater rock subgrades exhibit significant variations in elevation due to the size of the rocks, causing the water mound to tilt when it hits a high or low point, thus affecting measurement accuracy. Existing acoustic monitoring technologies are the mainstream technology system for underwater boulder foundation elevation monitoring. Their core relies on acoustic ranging and positioning principles, enabling non-contact, high-precision underwater measurements. The technology is mature and widely applicable. However, due to the influence of the construction vessel's attitude and underwater current velocity, measurement accuracy cannot be guaranteed in abnormal weather conditions. Furthermore, it requires a certain level of expertise from operators and places certain demands on the construction vessels equipped with fixed equipment. Specialized vessels, to prevent instrument damage, are only used for elevation scanning, which also affects the coordinated operation of various vessels on site.

[0004] Therefore, it is necessary to develop a new type of underwater rock bed elevation measurement device to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide an underwater boulders bed elevation measurement device.

[0006] To achieve the above objectives, the specific technical solution of the underwater boulders bed elevation measuring device of the present invention is as follows: An underwater boulders bed elevation measuring device, installed on a monitoring vessel, includes: Base unit; The sleeve unit includes a riser and multiple test tube sections disposed inside the riser. The riser is longitudinally installed on the base unit, and the multiple test tube sections are sequentially sleeved together. Furthermore, the test tube sections connected to the riser can slide linearly relative to the inner wall of the riser along the extension direction of the riser. The first measurement unit includes an acoustic wave sensing component and a connecting rope. The connecting rope is connected to the innermost test section of the riser, and the acoustic wave sensing component is located in the innermost test section. The second measurement unit is mounted on the base unit and is coaxially arranged with the acoustic wave sensing component. The real-time elevation of the underwater bed is measured by the relative distance between the acoustic sensing component and the second measurement unit.

[0007] Furthermore, the base unit includes: A rotating mount is rotatably mounted on the monitoring vessel. Support arm, which is mounted on a rotating base for connecting the riser, and is equipped with a rope winding assembly for releasing and storing the connecting rope.

[0008] Furthermore, the base unit also includes a bracket that abuts against the connecting rope to keep the connecting rope away from the support arm, and a second measuring unit is provided at the end of the bracket away from the support arm.

[0009] Furthermore, the casing unit also includes cleaning components, with at least one cleaning component provided at both ends of each test tube section. When multiple test tube sections move relative to each other, or when a test tube section connected to the riser moves relative to the riser, the cleaning components can clean the inner walls of the riser and the test tube sections.

[0010] Furthermore, both the riser and the test section are square, and the cleaning components are located at the corners or on the sidewalls of the square test section.

[0011] Furthermore, the cleaning components include: The mounting module includes a mounting block and a locking element. The mounting block is mounted on the test pipe section via the locking element. A brush is installed at the end of the mounting block to clean the inner walls of the riser and the test tube section as the mounting block moves with the test tube section.

[0012] Furthermore, each test pipe section is provided with a limit clamp on both the inner and outer sides of its end. The limit clamp is used to overlap with each other when different test pipe sections move to their limit positions relative to each other, so as to restrict the different test pipe sections from moving away from each other.

[0013] Furthermore, each test tube section is provided with a limiting piece at its end. The limiting piece is used to restrict the different test tube sections from moving towards each other when they are housed in the riser.

[0014] Furthermore, the second measuring unit includes a GPS sensor, which is positioned at the center of the sleeve unit. The acoustic sensing component includes: The acoustic depth sounder is coaxially set with a GPS sensor and measures the real-time elevation of the underwater bed by measuring the relative distance between the acoustic depth sounder and the GPS sensor. A planing sound velocity meter is placed around the periphery of the acoustic depth sounder to correct the results of the acoustic depth sounder.

[0015] Furthermore, a triaxial inclinometer is also installed on the base unit. The triaxial inclinometer can convert the measured tilt data into the real-time coordinates of the measured point through trigonometric functions and spatial matrices.

[0016] The underwater rock bed elevation measurement device of the present invention has the following advantages: The device is installed on a monitoring vessel, adaptable to various vessel operation scenarios, requires no specialized vessel, lowers the barrier to entry for equipment use and engineering coordination difficulties, and improves on-site operational flexibility. The casing unit adopts a telescopic structure of a riser and multiple interconnected test pipe sections. The test pipe section can slide linearly along the riser, and its lowering length can be freely adjusted according to the underwater water depth, adapting to different operating environments such as nearshore shallow water areas and offshore deep water areas, thus having a wide range of applications. The acoustic wave sensing component is coaxially arranged with the second measurement unit, and the relative distance between the two measures the real-time elevation of the bed bed, ensuring the consistency of the measurement benchmark structurally, reducing measurement errors caused by equipment misalignment, and improving the basic accuracy of elevation measurement. The connecting rope pulls the innermost test pipe section to lower the acoustic wave sensing component, achieving stable deployment and retrieval of the sensing component, avoiding its displacement in water flow and surges, and ensuring the accuracy of the measurement point. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the underwater rock bed elevation measuring device of the present invention in the retracted state of the casing unit.

[0018] Figure 2 This is a schematic diagram of the underwater rock bed elevation measuring device of the present invention in the deployed state of the casing unit.

[0019] Figure 3 This is a schematic diagram of the sleeve unit of the present invention.

[0020] Figure 4 This is a partially enlarged view of the sleeve unit of the present invention.

[0021] Figure 5 This is a schematic diagram of the cleaning component of the present invention.

[0022] Figure 6 This is a schematic diagram of the structure of the first measuring unit of the present invention. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions.

[0025] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. Furthermore, the technical features involved in the different embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0026] Those skilled in the art will understand that although some embodiments herein include certain features included in other embodiments but not others, combinations of features from different embodiments are meant to be within the scope of the invention and form different embodiments.

[0027] The following is a reference to the appendix. Figure 1 To be continued Figure 6 This invention describes an underwater boulders bed elevation measuring device.

[0028] This embodiment provides an underwater boulders bed elevation measurement device, installed on a monitoring vessel, such as... Figure 1 and Figure 2 As shown, the underwater rockbed elevation measuring device includes a base unit 1; a sleeve unit 2 includes a riser 21 and multiple test tube sections 22 disposed within the riser 21. The riser 21 is longitudinally installed on the base unit 1, and the multiple test tube sections 22 are sequentially sleeved together. Furthermore, the test tube sections 22 connected to the riser 21 can slide linearly relative to the inner wall of the riser 21 along the extension direction of the riser 21; a first measuring unit 3 includes an acoustic wave sensing component 31 and a connecting rope 32. The connecting rope 32 is connected to the innermost test tube section 22 of the riser 21, and the acoustic wave sensing component 31 is disposed on the innermost test tube section 22; a second measuring unit 4 is installed on the base unit 1 and is coaxially arranged with the acoustic wave sensing component 31; the real-time elevation of the underwater bed is measured by the relative distance between the acoustic wave sensing component 31 and the second measuring unit 4.

[0029] Understandably, this device is installed on monitoring vessels, adaptable to various vessel operation scenarios, eliminating the need for specialized vessels, lowering the barrier to entry for equipment use and reducing engineering coordination difficulties, thus improving on-site operational flexibility. The casing unit 2 employs a telescopic structure of a riser 21 and multiple interconnected test sections 22. The test sections 22 can slide linearly along the riser 21, and their lowering length can be freely adjusted according to underwater depth, adapting to different operating environments such as nearshore shallow water areas and offshore deep water areas, making it widely applicable. The acoustic wave sensing component 31 is coaxially arranged with the second measurement unit 4, using their relative distance to measure the real-time elevation of the bedbed. This structurally ensures the consistency of the measurement benchmark, reduces measurement errors caused by equipment misalignment, and improves the basic accuracy of elevation measurements. The connecting rope 32 pulls the innermost test section 22, driving the acoustic wave sensing component 31 down, achieving stable deployment and retrieval of the sensing component, preventing it from shifting in water flow or surges, and ensuring the accuracy of the measurement point.

[0030] Furthermore, such as Figure 1 and Figure 2 As shown, the base unit 1 includes a rotating base 11 and a support arm 12. The rotating base 11 is rotatably mounted on the monitoring vessel. The support arm 12 is mounted on the rotating base 11 and is used to connect the riser 21. The support arm 12 is provided with a rope winding assembly 13 for releasing and storing the connecting rope 32.

[0031] Understandably, the base unit 1 is equipped with a rotating seat 11, which can drive the support arm 12 and the sleeve unit 2 to rotate as a whole, so as to realize the elevation measurement of the foundation bed at different orientations and points underwater, without the need to move the monitoring vessel, reducing the measurement error caused by the vessel's movement, and improving the efficiency of operation.

[0032] Specifically, a rope winding assembly 13 is installed on the support arm 12, which can automatically and systematically release and store the connecting rope 32, replacing manual operation. This avoids the problems of uneven force and unstable speed when manually pulling the connecting rope 32, ensuring the smooth extension and retraction of the test pipe section 22, and thus ensuring the accuracy of the lowering position of the acoustic wave sensing component 31. At the same time, the rope winding assembly 13 can store and organize the connecting rope 32 to prevent it from tangling and wearing, extending the service life of the equipment. As the installation carrier of the riser 21, the support arm 12 provides stable support for the casing unit 2, offsetting the impact of water flow and surge on the casing unit 2, reducing the swaying of the casing unit 2, and ensuring the stability of the measuring equipment.

[0033] Furthermore, such as Figure 1 and Figure 2 As shown, the base unit 1 also includes a bracket 14, which abuts against the connecting rope 32 to keep the connecting rope 32 away from the support arm 12. A second measuring unit 4 is provided at the end of the bracket 14 away from the support arm 12.

[0034] Understandably, the bracket 14 holds the connecting rope 32 away from the support arm 12 to prevent friction and entanglement between the connecting rope 32 and the support arm 12 and the sleeve unit 2, thus preventing wear and breakage of the connecting rope 32. Simultaneously, it ensures the straight traction of the connecting rope 32, ensuring the test tube section 22 slides straight along the riser 21, avoiding extension / retraction jamming and measurement point offset caused by bending of the connecting rope 32. The second measuring unit 4 is located at the end of the bracket 14 away from the support arm 12, further optimizing its coaxiality with the acoustic sensing component 31. It also keeps the second measuring unit 4 away from interference from the ship's hull and other equipment, ensuring the accuracy of its detection data. The bracket 14 provides an independent and stable mounting foundation for the second measuring unit 4, reducing the impact of ship vibration and equipment operation on the measuring unit.

[0035] Furthermore, such as Figure 3 As shown, the sleeve unit 2 also includes a cleaning component 23. Each test tube section 22 is provided with at least one cleaning component 23 at both ends. When multiple test tube sections 22 move relative to each other, or when a test tube section 22 connected to the riser 21 moves relative to the riser 21, the cleaning component 23 can clean the inner walls of the riser 21 and the test tube section 22.

[0036] Understandably, the addition of a cleaning component 23 to the sleeve unit 2, with cleaning components installed at both ends of the test tube section 22, allows for automatic cleaning of the inner walls of the riser 21 and test tube sections 22 during the movement of the test tube section 22 relative to the riser 21 and between the test tube sections 22 themselves. This eliminates the need for manual disassembly and cleaning, reducing equipment maintenance difficulty and workload. Removing impurities from the tube walls prevents them from obstructing or interfering with sound wave propagation and equipment signals, ensuring the normal operation of the sound wave sensing component 31 in the first measurement unit 3 and maintaining the accuracy of the measurement data.

[0037] It should be noted that the cleaning component 23 can clean and remove impurities such as mud, sand and marine organisms attached to the tube wall in real time, so as to avoid the accumulation of impurities affecting the smoothness of the expansion and contraction of the test tube section 22, prevent the test tube section 22 from moving poorly or the lowering length from being stuck due to impurities, and ensure the stability of the mechanical performance of the sleeve unit 2.

[0038] Furthermore, such as Figure 3 and Figure 4 As shown, both the riser 21 and the test section 22 are square, and the cleaning component 23 is located at the corner or on the side wall of the square test section 22.

[0039] Understandably, the riser 21 and test tube section 22 are set in a square shape. Compared with a round tube, this can effectively prevent relative rotation between tube sections, ensure that the test tube section 22 slides in a pure straight line along the extension direction of the riser 21, avoid problems such as misalignment of the cleaning component 23, entanglement of the connecting rope 32, and coaxiality deviation of the measuring unit caused by the rotation of the tube, and improve the overall structural stability of the equipment.

[0040] Specifically, the cleaning component 23 is set at the corner or side wall of the square tube. The structural characteristics of the square tube are used to achieve precise and stable installation of the cleaning component 23. At the same time, the contact area between the cleaning component 23 and the tube wall is more reasonable, and the inner side of the tube wall can be fully covered during cleaning, thus improving the cleaning effect. The installation position at the corner can reduce the mutual interference between the cleaning component 23 and the tube body during expansion and contraction, ensuring the smoothness of the cleaning action.

[0041] Furthermore, such as Figure 3 and Figure 5 As shown, the cleaning component 23 includes an installation module 231 and a brush 232. The installation module 231 includes an installation block 2311 and a locking member 2312. The installation block 2311 is mounted on the test tube section 22 via the locking member 2312. The brush 232 is located at the end of the installation block 2311 and is used to clean the riser 21 and the inner wall of the test tube section 22 as the installation block 2311 moves with the test tube section 22.

[0042] Understandably, the installation module 231 is fixed to the test pipe section 22 by the locking member 2312, making disassembly and assembly convenient. When the brush 232 is worn or damaged, the brush 232 can be replaced separately without replacing the entire cleaning component 23, reducing equipment maintenance costs. The locking member 2312 ensures the connection strength between the installation module 231 and the test pipe section 22, preventing the cleaning component 23 from falling off due to pipe movement or water flow impact, ensuring the continuous effectiveness of the cleaning function. The brush 232 moves with the test pipe section 22 to clean the pipe wall, using the equipment's own mechanical movement to complete the cleaning, eliminating the need for an additional power unit, simplifying the equipment structure, and reducing equipment energy consumption and the probability of failure. The brush 232 provides flexible contact cleaning, effectively removing impurities without scratching the inner walls of the riser 21 and the test pipe section 22, protecting the pipe structure.

[0043] Furthermore, such as Figure 3 As shown, each test tube section 22 is provided with a limit clamp 24 on the inner and outer sides of its end. The limit clamp 24 is used to overlap with each other when different test tube sections 22 move to their limit positions, so as to restrict the different test tube sections 22 from moving away from each other.

[0044] Understandably, the limiting function of the limiting clamp 24 allows the extension and retraction of the test pipe section 22 to proceed within a set range, ensuring the extension and retraction accuracy of the sleeve unit 2, thereby ensuring the accuracy of the lowering length of the acoustic wave sensing component 31 and improving the accuracy of elevation measurement. The contact and fit of the limiting clamp 24 when they overlap can provide a certain supporting force when the pipe section is stretched to its limit, counteracting the tension of the water flow on the pipe section, reducing the swaying of the pipe section, and improving the structural stability of the sleeve unit 2.

[0045] It should be noted that limiting clamps 24 are provided on both the inner and outer sides of the test tube section 22. When each test tube section 22 moves to its limit position relative to the others, the limiting clamps 24 overlap to form a limit, which can accurately restrict the test tube section 22 from moving away from each other, preventing the test tube section 22 from falling off due to excessive stretching or lowering, avoiding the acoustic wave sensing component 31 from falling into the water with the fallen tube section, causing equipment loss or damage, and at the same time preventing measurement interruption caused by tube section falling off, ensuring the continuity of operation.

[0046] Furthermore, such as Figure 3 As shown, each test tube section 22 is provided with a limiting piece 25 at its end. The limiting piece 25 is used to restrict the different test tube sections 22 from moving towards each other when they are housed in the riser 21.

[0047] It is understandable that the test tube section 22 is provided with a limiting piece 25 at its end. When each test tube section 22 is stored in the riser 21, it can restrict its movement in the direction of moving closer to each other, prevent the test tube section 22 from deforming due to excessive compression and stacking, ensure the structural integrity of the tube section, and thus ensure the smoothness of its subsequent expansion and contraction.

[0048] It should be noted that the limiting plate 25 ensures that the test pipe sections 22 remain in an orderly arrangement after being stored, preventing misalignment or tilting of the pipe sections within the riser 21, thus preventing them from blocking the riser 21 channel and ensuring the storage effect of the sleeve unit 2 and the convenience of subsequent use. Preventing the pipe sections from getting too close together avoids collisions and wear between the cleaning components 23, limiting clamps 24, and other accessories on the test pipe sections 22, extending the service life of the accessories and reducing the probability of equipment failure.

[0049] Furthermore, such as Figure 1 , Figure 2 and Figure 6 As shown, the second measurement unit 4 includes a GPS sensor, which is located at the center of the casing unit 2. The acoustic sensing component 31 includes an acoustic depth sounder 311 and a surface velocity meter 312. The acoustic depth sounder 311 is coaxially arranged with the GPS sensor, and the real-time elevation of the underwater bed is measured by the relative distance between the acoustic depth sounder 311 and the GPS sensor. The surface velocity meter 312 is arranged around the acoustic depth sounder 311 and is used to correct the results of the acoustic depth sounder 311.

[0050] Understandably, the second measuring unit 4 uses a GPS sensor and is positioned at the center of the casing unit 2. This allows for precise acquisition of the device's three-dimensional spatial position, providing accurate reference coordinates for elevation measurement. Combined with the coaxially mounted acoustic depth sounder 311, the real-time elevation of the bed is calculated based on the relative distance between the two. This more scientific measurement principle significantly improves the accuracy of elevation measurement. The acoustic sensing component 31 adds a surface sound velocity meter 312 and positions it around the acoustic depth sounder 311. This allows for real-time detection of the sound velocity distribution at different underwater depths. It also corrects the measurement results of the acoustic depth sounder 311 in real time to address sound velocity deviations caused by changes in water temperature, salinity, and water pressure during underwater propagation. This eliminates measurement errors caused by environmental factors from a data perspective, further improving measurement accuracy.

[0051] In addition, the GPS sensor and the acoustic depth sounder 311 are set coaxially to ensure that their measurement references are on the same straight line, avoiding calculation errors caused by reference offset, and making the measurement and calculation of relative distance more accurate.

[0052] Furthermore, a triaxial inclinometer 5 is also provided on the base unit 1. The triaxial inclinometer 5 can convert the measured inclination data into real-time coordinates of the measured point through trigonometric functions and spatial matrices.

[0053] It is foreseeable that when the sea level is stable, the monitoring vessel will not be disturbed by surface waves. Therefore, in actual operation, the triaxial inclinometer 5 can be temporarily not used, and the underwater rock bed measurement can be achieved solely using the acoustic depth sounder, the surface velocity meter 312, and the GPS sensor. However, when the sea level is undulating, the monitoring vessel will experience irregular swaying due to the waves. In this case, if the measurement mode using the acoustic depth sounder, the surface velocity meter 312, and the GPS sensor is still used, the measurement results will be biased, thus affecting the accuracy of the measurement results. Therefore, it is necessary to use the triaxial inclinometer 5 to measure the three-axis tilt angle to correct the measurement results and achieve the goal of improving measurement accuracy.

[0054] Specifically, the influence of underwater current velocity on the acoustic sensor is corrected based on the data measured by the surface acoustic velocity meter 312. The acoustic depth sounder 311 is concentric with the top GPS sensor, and the difference between its elevation and the GPS sensor elevation remains constant. The real-time attitude of the pile frame is measured using the triaxial inclinometer 5, and the real-time coordinates of the measured point are obtained by calculating using trigonometric functions and a spatial rotation matrix.

[0055] When the construction monitoring vessel is in a horizontal position, the GPS reads the phase center coordinates (x, y, z). The telescopic sleeve is fully lowered to the bottom, and the distance from the acoustic depth sounder 311 probe to the GPS phase center is h. Given that the acoustic depth sounder 311 probe and the GPS disc antenna are concentrically installed, the coordinates of the depth sounder probe are (x, y, z + h), i.e., (x, y, z'). Due to the influence of the underwater current velocity, the acoustic sensor output data, after correction by the surface velocity meter 312, yields a value of a. Therefore, the construction coordinates of the measured point are (x, y, z' + a), i.e., (x, y, z").

[0056] The direction of the rotating arm sleeve is set as the positive x-axis of the spatial coordinate system. A 90° counter-clockwise rotation (the bow direction) is set as the positive z-axis, and the direction directly above (the GPS disk antenna direction) is set as the positive y-axis. A right-handed coordinate system is used. Angles are positively rotated counter-clockwise. Rotation around the x-axis corresponds to the pitch angle, rotation around the y-axis corresponds to the yaw (head) angle, and rotation around the z-axis corresponds to the roll angle.

[0057] The reversal order is set as: around the x-axis → around the y-axis → around the z-axis.

[0058] The rotation matrix of the point about the three axes is obtained as follows: ; In the formula, A = ; ; ; After sorting, we get: ; In the formula, ; ; ; ; ; ; ; ; .

[0059] Based on the above deductions, the corresponding relationship can be derived as follows: ; The coordinates of the underwater monitoring point are (X, Y, Z).

[0060] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An underwater boulders bed elevation measuring device, installed on a monitoring vessel, characterized in that, include: Base unit; The sleeve unit includes a riser and multiple test tube sections disposed inside the riser. The riser is longitudinally installed on the base unit, and the multiple test tube sections are sequentially sleeved together. Furthermore, the test tube sections connected to the riser can slide linearly relative to the inner wall of the riser along the extension direction of the riser. The first measurement unit includes an acoustic wave sensing component and a connecting rope. The connecting rope is connected to the innermost test section of the riser, and the acoustic wave sensing component is located in the innermost test section. The second measurement unit is mounted on the base unit and is coaxially arranged with the acoustic wave sensing component. The real-time elevation of the underwater bed is measured by the relative distance between the acoustic sensing component and the second measurement unit.

2. The underwater boulders bed elevation measuring device according to claim 1, characterized in that, The base unit includes: A rotating mount is rotatably mounted on the monitoring vessel. The support arm is mounted on the swivel base and is used for connecting the riser. The support arm is equipped with a rope winding assembly for releasing and storing the connecting rope.

3. The underwater boulders bed elevation measuring device according to claim 2, characterized in that, The base unit also includes a bracket that rests against the connecting rope to keep the connecting rope away from the support arm, and a second measuring unit is provided at the end of the bracket away from the support arm.

4. The underwater boulders bed elevation measuring device according to claim 1, characterized in that, The casing unit also includes cleaning components. Each test tube section has at least one cleaning component at both ends. When multiple test tube sections move relative to each other, or when a test tube section connected to the riser moves relative to the riser, the cleaning components can clean the inner walls of the riser and the test tube sections.

5. The underwater boulders bed elevation measuring device according to claim 4, characterized in that, Both the riser and the test section are square, and the cleaning components are located at the corners or on the side walls of the square test section.

6. The underwater boulders bed elevation measuring device according to claim 4, characterized in that, The cleaning components include: The mounting module includes a mounting block and a locking element. The mounting block is mounted on the test pipe section via the locking element. A brush is installed at the end of the mounting block to clean the inner walls of the riser and the test tube section as the mounting block moves with the test tube section.

7. The underwater boulders bed elevation measuring device according to any one of claims 1, 4, or 6, characterized in that, Each test pipe section is equipped with a limit clamp on both the inner and outer sides of its end. The limit clamp is used to overlap with each other when different test pipe sections move to their limit positions relative to each other, so as to restrict the different test pipe sections from moving away from each other.

8. The underwater boulders bed elevation measuring device according to any one of claims 1, 4, or 6, characterized in that, Each test tube section is equipped with a limiting piece at its end. The limiting piece is used to restrict the different test tube sections from moving closer to each other when they are housed in the riser.

9. The underwater boulders bed elevation measuring device according to claim 1, characterized in that, The second measuring unit includes a GPS sensor, which is positioned at the center of the sleeve unit. The acoustic sensing component includes: The acoustic depth sounder is coaxially set with a GPS sensor and measures the real-time elevation of the underwater bed by measuring the relative distance between the acoustic depth sounder and the GPS sensor. A planing sound velocity meter is placed around the periphery of the acoustic depth sounder to correct the results of the acoustic depth sounder.

10. The underwater boulders bed elevation measuring device according to any one of claims 1 or 9, characterized in that, The base unit is also equipped with a triaxial inclinometer, which can convert the measured inclination data into the real-time coordinates of the measured point through trigonometric functions and spatial matrices.

Images