Acoustic-optical-electric multi-dimensional sensing integrated underwater disaster-causing object monitoring system

Abstract

The invention discloses an acoustic-optical-electric multi-dimensional sensing integrated underwater disaster-causing object monitoring system which is suitable for water areas with strict stability requirements such as nuclear power plants. The system comprises a floating body, a control integrated cabin, a solar power supply module and a liftable regulation and control cabin. The regulation and control cabin is driven by a rack-gear mechanism and can drive the acoustic, optical and electrical monitoring modules installed on the outer wall of the regulation and control cabin to dive as a whole, and flexible adjustment of the monitoring depth is achieved. When stormy waves are large, the gravity center of the system can be lowered through the descending regulation and control cabin, and the anti-overturning stability is further enhanced by combining the active water injection function of a water storage cavity in the descending regulation and control cabin. In addition, by coordinating multidirectional drainage of the water storage cavity, active impact resistance and low-speed position fine adjustment can be achieved. Through collaborative design of the structure and control, the stability of the floating body is improved, meanwhile, continuous, stable and collaborative work of acoustic, optical and electric sensors under complex hydrological conditions is guaranteed, and reliable, multi-dimensional and in-situ monitoring of underwater disaster-causing objects is achieved.

Description

Technical Field

[0001] This invention relates to the field of underwater hazard monitoring technology in nuclear power plants, and more specifically to an underwater hazard monitoring system integrating acoustic, optical, and electrical multi-dimensional sensing. Background Technology

[0002] Monitoring the aquatic environment of nuclear power plants is a crucial step in ensuring their operational safety, assessing ecological impacts, and fulfilling environmental responsibilities. Continuous, multi-dimensional monitoring of the underwater environment is necessary in sensitive areas such as cooling water intakes and discharge points, adjacent sea areas, and liquid effluent discharge points. This includes real-time detection and early warning of foreign objects that may clog intakes (such as large aquatic organisms, suspended solids, and engineering debris), localized water quality anomalies caused by heat discharge or leakage (such as temperature rise, turbidity changes, and chemical leaks), and specific biological activities. To achieve these objectives, monitoring buoys integrating acoustic, optical, and electrical sensors have become an efficient technological means. Acoustic equipment (such as imaging sonar) can be used for underwater obstacle scanning and biological activity monitoring; optical equipment (such as underwater cameras or laser-induced fluorescence sensors) can be used for visual confirmation, leaked substance identification, and water surface property analysis; and electrical equipment (such as multi-parameter water quality analyzers) is used to acquire key parameters such as temperature, salinity, pH, conductivity, and specific ion concentrations in real time.

[0003] However, applying buoy platforms to the unique scenario of waters surrounding nuclear power plants presents a series of severe challenges. While the environment differs from the open ocean, it typically features a complex flow field formed by cooling water circulation, tides, and local winds, with variable flow direction and velocity, and potentially strong local turbulence and eddies. Furthermore, due to plant layout constraints, buoy deployment may be close to breakwaters, docks, or underwater structures, further complicating the hydrodynamic environment. Crucially, nuclear power plants have extremely high safety and reliability requirements; interruptions or distortions in monitoring data can pose significant risks. Therefore, monitoring buoys must possess excellent attitude stability and position-holding capabilities. Platform tilting, swaying, or unexpected drift not only directly affect the pointing accuracy of acoustic detection, the clarity of optical imaging, and the deployment depth of electrical sensor probes, but may also lead to monitoring blind spots or unrepresentative sampling, thus hindering early detection and accurate location of potential risks (such as precursors to intake blockage or abnormal leakage).

[0004] Existing monitoring buoys used in nearshore or port areas are often designed for relatively mild or unidirectional hydrodynamic conditions, and their stability is often insufficient when dealing with complex flow fields around nuclear power plants that are multidirectional, time-varying, and subject to local disturbances. Traditional single-point moored buoys, while simple in structure, are prone to periodic oscillations around the anchor point, leading to unstable monitoring positions. While multi-anchor mooring can constrain the position, poor buoy stability design can still result in significant tilting or continuous swaying under complex external forces. Currently, most designs treat the buoy structure and sensor integration as two relatively independent modules, failing to consider the system coupling perspective and address the varying sensitivities of different acoustic, optical, and electronic sensors to platform stability, as well as the stringent requirements for data continuity and spatial directionality in nuclear power plant monitoring tasks, through integrated stability optimization design.

[0005] In summary, under the unique and demanding application conditions of nuclear power plant waters, existing monitoring buoy technology has significant shortcomings: it lacks a comprehensive solution that can effectively withstand the impact of complex multi-directional water currents, suppress various swaying movements, achieve precise positioning, and provide a stable and reliable working platform for multi-dimensional acoustic, optical, and electronic monitoring sensors. Therefore, there is an urgent need for an innovative buoy structural design, the core of which lies in achieving deep synergistic optimization from hydrodynamic performance and mooring restoring force to sensor layout, in order to overcome the challenges of platform stability and data reliability faced in underwater safety monitoring of nuclear power plants. Summary of the Invention

[0006] In view of this, the present invention provides an underwater disaster monitoring system integrating acoustic, optical, and electrical multi-dimensional sensing, aiming to solve the above-mentioned technical problems.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] An underwater disaster monitoring system integrating acoustic, optical, and electrical multi-dimensional sensing includes: A floating body, the bottom surface of which is fixed with a control integration compartment; A solar panel integration module is installed on the top surface of the floating body; Battery module; the battery module is installed in the control integration compartment and is used to store the electrical energy charged by the solar panel integration module for system use; The control cabin is located below the control integration cabin. The control cabin is connected to the control integration cabin through a control component, and the control cabin can move closer to and further away from the control integration cabin under the control of the control component. An acoustic monitoring module, an optical monitoring module, and an electrical monitoring module are installed on the outer wall of the control chamber. The acoustic monitoring module detects underwater targets, measures flow velocity, and performs imaging by emitting sound waves into the water and receiving their echoes. The optical monitoring module uses underwater light to illuminate and receive reflected light or images for visual observation, substance identification, and water quality analysis. The electrical monitoring module directly measures the electrochemical properties and electromagnetic field changes of the water body through electrodes or sensors to obtain water quality parameters and detect metallic foreign objects.

[0009] Through the above technical solution, this invention achieves dynamic adjustment of the system's center of gravity and flexible adjustment of the monitoring depth by utilizing the liftable design of the control cabin, thereby significantly improving the anti-capsulation stability and attitude maintenance capability of the floating body in complex sea conditions. Simultaneously, the acoustic, optical, and electrical multi-dimensional sensors integrated into the control cabin can descend to the optimal monitoring depth, effectively ensuring the accuracy and comprehensiveness of data acquisition. Combined with the coordinated operation of solar power supply and energy storage units, the system possesses a long-term, in-situ, adaptive, and stable integrated monitoring capability for underwater disaster-causing substances.

[0010] Preferably, in the above-mentioned underwater disaster monitoring system integrating sound, light, and electricity multidimensional sensing, the solar panel integration module includes a bracket fixed to the top surface of the float and multiple solar panels fixed on the bracket.

[0011] Preferably, in the above-mentioned underwater disaster monitoring system integrating sound, light, and electricity multi-dimensional sensing, a lightning rod assembly and a navigation light assembly are fixedly installed on the bracket.

[0012] Preferably, in the above-mentioned underwater disaster monitoring system integrating acoustic, optical, and electrical multi-dimensional sensing, the control component includes multiple racks. The bottom ends of the multiple racks are fixedly connected to the top edge of the control chamber, and the top ends of the multiple racks pass through the control integration chamber and the float in sequence. The racks are slidably connected to a slide rail fixed inside the control integration chamber. The control integration chamber is equipped with a number of drive motors equal to the number of racks, and a gear that meshes with the racks is fixed on the power output shaft of the drive motor.

[0013] Preferably, in the above-mentioned underwater disaster monitoring system integrating acoustic, optical, and electrical multi-dimensional sensing, the control integration compartment is equipped with cylinders of the same number as the rack. The telescopic rod end of the cylinder is fixed with a toothed plate, which corresponds to the rack. When the rack is adjusted, the cylinder controls the toothed plate to mesh with the rack.

[0014] Preferably, in the above-mentioned underwater disaster monitoring system integrating acoustic, optical, and electrical multi-dimensional sensing, the control integration compartment is equipped with a reel, on which cables for connecting the battery module, the acoustic monitoring module, the optical monitoring module, and the electrical monitoring module are wound.

[0015] Preferably, in the above-mentioned underwater disaster monitoring system integrating acoustic, optical, and electrical multi-dimensional sensing, the control chamber has a water storage cavity, a water pump is installed in the water storage cavity, the water pump's inlet is connected to the water storage cavity, the control chamber has water outlets around its side walls, and the water outlets are respectively connected to the water pump's inlet through pump pipes, each of which is equipped with a first electromagnetic control valve.

[0016] Preferably, in the above-mentioned underwater disaster monitoring system integrating acoustic, optical, and electrical multi-dimensional sensing, the top surface of the control chamber has a water inlet communicating with the water storage cavity, and a second electromagnetic control valve is installed at the water inlet.

[0017] Preferably, in the above-mentioned underwater disaster monitoring system integrating acoustic, optical, and electrical multi-dimensional sensing, the bottom surface of the control cabin is connected to an anchor via a chain.

[0018] Preferably, in the above-mentioned underwater disaster monitoring system integrating acoustic, optical, and electrical multi-dimensional sensing, the top surface of the float has lifting rings on both sides for hoisting.

[0019] As can be seen from the above technical solution, compared with the prior art, the present invention discloses an underwater disaster monitoring system integrating acoustic, optical, and electrical multi-dimensional sensing, which has the following beneficial effects: 1. Significantly improves anti-capsulation stability under complex sea conditions: By controlling the active lifting and lowering of the control cabin and the adjustment of the internal water center of gravity, the dynamic downward shift of the buoyancy center of gravity is achieved, which greatly enhances the restoring torque and attitude maintenance ability under the action of wind, waves and water currents.

[0020] 2. Enables flexible and precise adjustment of monitoring depth and location: The control cabin can drive the acoustic, optical and electrical sensors to the optimal water depth, improving the targeting and data effectiveness of underwater targets at different depths, and can also make small-range position adjustments.

[0021] 3. Provides multi-dimensional and integrated collaborative monitoring capabilities: integrates acoustic imaging, optical observation and electrochemical sensing on the same adjustable platform to achieve comprehensive and synchronous perception and data fusion of underwater obstacles, water quality anomalies and metallic foreign objects.

[0022] 4. Ensure long-term, in-situ, and self-powered continuous operation: The energy system, which combines solar power generation and battery energy storage, provides continuous power to the floating platform and all monitoring and control units, adapting to the needs of long-term unattended monitoring in the field and offshore.

[0023] 5. Enhance overall system reliability and environmental adaptability: Through multiple designs such as mechanical locking, automatic cable retraction and extension, lightning protection and collision protection, and anchor fixing, the system ensures stable and reliable operation in harsh environments such as nuclear power plant water areas, reducing maintenance needs and safety risks. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0025] Figure 1 The attached figure is a structural schematic diagram of the underwater disaster monitoring system with integrated acoustic, optical, and electrical multi-dimensional sensing provided by the present invention in normal use. Figure 2 The attached figure is a cross-sectional view of the underwater disaster monitoring system integrating acoustic, optical, and electrical multi-dimensional sensing provided by the present invention. Figure 3 The attached figure is a structural schematic diagram of the solar panel integrated module provided by the present invention; Figure 4 The attached figure is a schematic diagram of the internal structure of the control integration cabin provided by the present invention; Figure 5 The attached figure is a schematic diagram of the internal structure of the control chamber provided by the present invention; Figure 6 The attached figure is a structural schematic diagram of the underwater disaster monitoring system with integrated acoustic, optical, and electrical multi-dimensional sensing provided by the present invention, showing the state of the lowering control cabin.

[0026] in: 1-Float; 11-Hanging ring; 2-Solar panel integrated module; 21-Bracket; 22-Solar panel; 23-Lightning rod assembly; 24-Navigation light assembly; 3-Battery module; 4-Control chamber; 41-Water storage chamber; 42-Water pump; 421-Water intake port; 422-Pump port; 43-Water outlet; 44-Pump pipe; 45-Water inlet; 46-Second electromagnetic control valve; 47-Chain; 48-Anchor; 5-Acoustic monitoring module; 6-Optical monitoring module; 7-Electrical monitoring module; 8-Control integration compartment; 81-Cable reel; 82-Cable; 9-Control component; 91-Rack; 92-Slide rail; 93-Drive motor; 94-Gear; 95-Cylinder; 96-Gear plate. Detailed Implementation

[0027] 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, and 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.

[0028] See appendix Figure 1 and attached Figure 2 This invention discloses an underwater hazard monitoring system integrating acoustic, optical, and electrical multi-dimensional sensing, comprising: Float 1, with a control integration compartment 8 fixed to its bottom surface; Solar panel integration module 2 is installed on the top surface of the float 1; Battery module 3 is installed inside the control integration compartment 8. Battery module 3 is used to store the electrical energy charged by the solar panel integration module 2 for system use. The control compartment 4 is located below the control integration compartment 8. The control compartment 4 is connected to the control integration compartment 8 through the control component 9, and the control compartment 4 can move closer to and further away from the control integration compartment 8 under the control of the control component 9. The acoustic monitoring module 5, optical monitoring module 6, and electrical monitoring module 7 are installed on the outer wall of the control chamber. The acoustic monitoring module 5 detects underwater targets, measures flow velocity, and performs imaging by emitting sound waves into the water and receiving their echoes. The optical monitoring module 6 uses underwater light to illuminate and receive reflected light or images for visual observation, substance identification, and water quality analysis. The electrical monitoring module 7 directly measures the electrochemical properties and electromagnetic field changes of the water body through electrodes or sensors to obtain water quality parameters and detect metallic foreign objects.

[0029] See appendix Figure 2 and attached Figure 3 The solar panel integration module 2 includes a bracket 21 fixed to the top surface of the float 1, and multiple solar panels 22 fixed on the bracket 21. By centrally arranging multiple solar panels 22 on the bracket 21, the light-receiving area is increased, the photoelectric conversion efficiency is improved, and a more sufficient power supply is provided for the system.

[0030] To further optimize the above technical solution, a lightning rod assembly 23 and a navigation light assembly 24 are fixedly installed on the bracket 21. The lightning rod assembly 23 can effectively guide lightning into the sea and protect the safety of electronic equipment; the navigation light assembly 24 can emit warning light at night or in low visibility, significantly improving the navigation safety and nighttime visibility of the buoy.

[0031] See appendix Figure 2 and attached Figure 4 The control component 9 includes multiple racks 91. The bottom ends of the racks 91 are fixedly connected to the top edge of the control cabin 4, and the top ends of the racks 91 pass through the control integration cabin 8 and the float 1 sequentially. The racks 91 are slidably connected to a slide rail 92 fixed inside the control integration cabin 8. The control integration cabin 8 is equipped with the same number of drive motors 93 as the racks 91. Gears 94 that mesh with the racks 91 are fixed on the power output shaft of the drive motors 93. Through the motor-driven gear and rack mechanism, high-precision, stable and controllable lifting and lowering of the control cabin 4 is achieved, providing a reliable actuator for sensor depth adjustment and center of gravity adjustment.

[0032] To further optimize the above technical solution, the control integration compartment 8 is equipped with the same number of cylinders 95 as racks 91. A toothed plate 96 is fixed to the end of the telescopic rod of each cylinder 95, corresponding to the rack 91. When the rack 91 is adjusted, the cylinder 95 controls the toothed plate 96 to engage with it. Once the rack 91 is properly adjusted, the cylinder 95 can push the toothed plate 96 to engage with the rack, forming a mechanical hard lock to prevent the control compartment 4 from accidentally sliding under the impact of wind and waves, thus ensuring long-term stability of its operation.

[0033] To further optimize the above technical solution, the control integration compartment 8 is equipped with a cable reel 81, on which cables 82 for connecting the battery module 3, acoustic monitoring module 5, optical monitoring module 6, and electrical monitoring module 7 are wound. The cable reel 81 can automatically wind up and unwind the cables 82 as the control compartment 4 rises and falls, avoiding cable tangling, stretching, or wear, and ensuring the continuous reliability of power and signal transmission.

[0034] See appendix Figure 2 and attached Figure 5 The control chamber 4 contains a water storage cavity 41, within which a water pump 42 is installed. The water pump 42's intake port 421 is connected to the water storage cavity 41. The control chamber 4 has water outlets 43 around its side walls, which are connected to the water pump 42's intake ports 422 via pump pipes 44. Each pump pipe 44 is equipped with a first electromagnetic control valve. By actively injecting water into the water storage cavity 41 and directionally draining water, the system's weight distribution and center of gravity can be dynamically adjusted, and the drainage reaction force can be used to counteract wave impacts, achieving active anti-overturning and attitude compensation.

[0035] To further optimize the above technical solution, the top surface of the control chamber 4 has a water inlet 45 that communicates with the water storage chamber 41, and a second electromagnetic control valve 46 is installed at the water inlet 45. This enables controllable automatic water intake into the water storage chamber 41, simplifies the water injection operation, and works in conjunction with the drainage function to form a complete water quality center regulation and hydraulic drive system.

[0036] To further optimize the above technical solution, the bottom surface of the control cabin 4 is connected to an anchor 48 via a chain 47. The anchor 48 is flexibly connected to the floating system via the chain 47, providing reliable bottom grip and fixation, suppressing overall drift, and ensuring the long-term positional stability of the monitoring station.

[0037] To further optimize the above technical solution, the top surface of the float 1 has lifting rings 11 on both sides for hoisting. The lifting rings 11 provide convenient and reliable force points for the hoisting, deployment, recovery and transportation of the float, greatly improving the convenience and safety of on-site operations.

[0038] In this embodiment, the control compartment 4 is connected to the control integration compartment 8 via the control component 9, enabling it to move closer to or further away from the control integration compartment 8, specifically: Monitoring position adjustment: In calm waters or when detailed monitoring of specific water layers is required, the drive motor 93 drives the gear 94 to rotate, causing the rack 91 to slide downwards along the slide rail 92. This allows the control chamber 4 to lower the acoustic, optical, and electrical monitoring modules to a suitable water depth, improving the targeting of monitoring and data quality. Figure 6 As shown.

[0039] Stability Enhancement Adjustment: When increased wind and waves are detected and the swaying of float 1 intensifies, the attitude sensor (not shown in the attached diagram) inside the control integration compartment 8, which can be installed in float 1 or control integration compartment 8, monitors the roll and pitch angles in real time. The system controls the drive motor 93 to lower the control compartment 4, causing the overall center of gravity of the system to shift downward, thereby significantly improving the restoring torque and stability of the float in wind and waves.

[0040] Position locking: When the rack 91 is adjusted to the correct position, the cylinder 95 pushes the toothed plate 96 to engage with the rack 91, achieving mechanical locking and preventing the control compartment 4 from accidentally shifting under dynamic sea conditions.

[0041] The water inlet / outlet and dynamic stabilization strategy of the water storage chamber 41 in this embodiment is as follows: The control chamber 4 is equipped with a water storage chamber 41, and its water inlet / outlet function is realized through a water pump 42, a water inlet 45, and multiple circumferentially distributed water outlets 43. The specific working method includes: Fine-tuning of the center of gravity: With the control chamber 4 lowered, the second electromagnetic control valve 46 is opened, allowing seawater to enter the water storage chamber 41 through the inlet 45. By increasing the mass of the control chamber 4, the system's center of gravity can be further lowered, enhancing its anti-capsulation capability in harsh sea conditions.

[0042] Shock resistance and attitude compensation: When the system is impacted by large waves, attitude sensors and acceleration sensors monitor the impact direction and intensity in real time. The control system can quickly start the water pump 42 and selectively open the first electromagnetic control valve of the outlet 43 on the opposite side of the impact direction for directional drainage. The reaction force generated by the drainage can partially offset the wave impact torque, achieving active attitude compensation.

[0043] Low-speed displacement drive: By coordinating the opening and closing of the water outlets 43 in different directions and the power of the water pump 42, the control chamber 4 and even the entire system can be moved horizontally in a small range at low speed, which can be used to fine-tune the monitoring station position or avoid local obstacles.

[0044] The main contents of the monitoring module's workflow and data fusion in this embodiment are as follows: Collaborative monitoring: Acoustic monitoring module 5, optical monitoring module 6 and electrical monitoring module 7 are activated after the control chamber 4 descends to the target water depth.

[0045] Data Acquisition and Transmission: Data collected by each module is transmitted to the data acquisition and processing unit inside the control integration compartment 8 via cable 82. Cable 82 is managed by a reel 81 and can be raised and lowered synchronously with the control compartment 4 to avoid tangling.

[0046] Energy security: The entire process is continuously powered by battery module 3, and solar panel integrated module 2 charges battery module 3 under sunlight conditions, achieving energy self-sufficiency.

[0047] In this embodiment, the main sensor of the acoustic monitoring module 5 is a sonar, used to detect underwater objects, terrain, and organisms. The auxiliary sensor can be an acoustic Doppler current profiler, used to measure the velocity and direction of the water flow. This is used to detect underwater obstacles, monitor biological activity, and measure water flow.

[0048] The main sensor of the optical monitoring module 6 is an underwater camera, used to directly capture video and images. The auxiliary sensor can be a turbidity sensor, used to measure water turbidity. It is used for visually identifying targets, recognizing chemical components, and monitoring water transparency.

[0049] Electrical monitoring module 7 mainly includes: Basic water quality sensor: Temperature, salinity, depth (CTD) sensor, which measures basic parameters such as temperature, salinity, and depth.

[0050] Chemical parameter sensors: pH, dissolved oxygen, conductivity sensors, etc., are used to monitor the chemical state of water.

[0051] Specialty sensors: Electric / magnetic field sensors, used to detect underwater metallic objects or abnormal electromagnetic signals.

[0052] Used for monitoring basic water quality, detecting metallic foreign objects, and analyzing water chemical indicators.

[0053] This invention achieves dynamic and proactive adjustment of the monitoring system's center of gravity, buoyancy, and shock resistance through two core mechanisms: the raising and lowering of the control chamber 4 and the active water intake and drainage of the water storage chamber 41, combined with real-time attitude sensing. This ensures that the acoustic, optical, and electrical monitoring modules can operate stably at optimal depths, and significantly improves the survivability and data reliability of the entire floating system in complex flow fields and harsh sea conditions around nuclear power plants, thus achieving deep synergistic optimization of structural stability and monitoring functionality.

[0054] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0055] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multi-dimensional integrated acoustic-optical-electrical sensing underwater hazard monitoring system, characterized in that, include: A floating body (1) with a control integration compartment (8) fixed to its bottom surface. A solar panel integration module (2) is installed on the top surface of the floating body (1); Battery module (3), which is installed in the control integration compartment (8), is used to store the electrical energy charged by the solar panel integration module (2) for system use; The control compartment (4) is located below the control integration compartment (8). The control compartment (4) is connected to the control integration compartment (8) through the control component (9). The control compartment (4) can move closer to and further away from the control integration compartment (8) under the control of the control component (9). An acoustic monitoring module (5), an optical monitoring module (6), and an electrical monitoring module (7) are installed on the outer wall of the control chamber. The acoustic monitoring module (5) detects underwater targets, measures flow velocity, and performs imaging by emitting sound waves into the water and receiving their echoes. The optical monitoring module (6) uses underwater light to illuminate and receive reflected light or images for visual observation, substance identification, and water quality analysis. The electrical monitoring module (7) directly measures the electrochemical characteristics and electromagnetic field changes of the water body through electrodes or sensors to obtain water quality parameters and detect metallic foreign objects.

2. The underwater disaster-causing monitoring system integrating acoustic, optical, and electrical multi-dimensional sensing according to claim 1, characterized in that, The solar panel integration module (2) includes a bracket (21) fixed on the top surface of the float (1) and multiple solar panels (22) fixed on the bracket (21).

3. The underwater disaster-causing monitoring system integrating acoustic, optical, and electrical multi-dimensional sensing according to claim 2, characterized in that, The bracket (21) is fixedly installed with a lightning rod assembly (23) and a navigation light assembly (24).

4. The underwater disaster-causing monitoring system integrating acoustic, optical, and electrical multi-dimensional sensing according to claim 1, characterized in that, The control component (9) includes multiple racks (91), the bottom ends of which are fixedly connected to the top edge of the control chamber (4), and the top ends of which pass through the control integration chamber (8) and the float (1) in sequence. The racks (91) are slidably connected to the slide rails (92) fixed inside the control integration chamber (8). The control integration chamber (8) is equipped with the same number of drive motors (93) as the racks (91), and the drive motors (93) have gears (94) that mesh with the racks (91) fixed on their power output shafts.

5. The underwater disaster-causing monitoring system integrating acoustic, optical, and electrical multi-dimensional sensing according to claim 4, characterized in that, The control integration compartment (8) is equipped with the same number of cylinders (95) as the rack (91). The telescopic rod end of the cylinder (95) is fixed with a toothed plate (96). The toothed plate (96) corresponds to the rack (91). When the rack (91) is adjusted, the cylinder (95) controls the toothed plate (96) to mesh with the rack (91).

6. The underwater disaster-causing monitoring system integrating acoustic, optical, and electrical multi-dimensional sensing according to claim 1, characterized in that, The control integration compartment (8) is equipped with a reel (81) on which cables (82) for connecting the battery module (3), the acoustic monitoring module (5), the optical monitoring module (6), and the electrical monitoring module (7) are wound.

7. The underwater disaster-causing monitoring system integrating acoustic, optical, and electrical multi-dimensional sensing according to claim 1, characterized in that, The control chamber (4) has a water storage chamber (41), and a water pump (42) is installed in the water storage chamber (41). The water pump (42) has a water inlet (421) connected to the water storage chamber (41). The control chamber (4) has water outlets (43) around its side walls. The water outlets (43) are connected to the water pump (42) through pump pipes (44). Each pump pipe (44) is equipped with a first electromagnetic control valve.

8. The underwater disaster-causing monitoring system integrating acoustic, optical, and electrical multi-dimensional sensing according to claim 7, characterized in that, The top surface of the control chamber (4) has a water inlet (45) that communicates with the water storage chamber (41), and a second electromagnetic control valve (46) is installed at the water inlet (45).

9. The underwater disaster-causing monitoring system integrating acoustic, optical, and electrical multi-dimensional sensing according to claim 1, characterized in that, The bottom surface of the control chamber (4) is connected to an anchor (48) by a chain (47).

10. The underwater disaster-causing monitoring system integrating acoustic, optical, and electrical multi-dimensional sensing according to claim 1, characterized in that, The top surface of the float (1) has lifting rings (11) on both sides for hoisting.

Images