A portable environmental monitoring device and method suitable for ultra-soft seabed soil.

Abstract

This invention pertains to environmental monitoring of ultra-soft soil seabeds, specifically relating to a mobile environmental monitoring device and method suitable for ultra-soft soil seabeds. The device includes a mobile platform and a multi-parameter monitoring platform. The mobile platform comprises a skid-type platform body with a winch fixed inside. The winch is connected to the multi-parameter monitoring platform via cables. Thrusters are rotatably connected to both ends of the winch, negative pressure adsorption devices are longitudinally slidably connected to its four sides, and multiple anti-adsorption devices are rotatably connected to its bottom. Each anti-adsorption device has multiple water injection channels, which are connected to a multi-channel water pump located within the skid-type platform body via pipelines. The anti-adsorption devices inject water and rotate to form a water curtain, generating upward thrust. This ensures that the weight of the device is compatible with the bearing capacity of the ultra-soft soil while enabling the mobile platform to move stably on the ultra-soft soil seabed and providing the multi-parameter monitoring platform with three-dimensional profile observation capabilities. This provides reliable technical support for the dynamic tracking and monitoring of sediment plumes in deep-sea mining areas and for environmental impact assessment.

Description

Technical Field

[0001] This invention relates to environmental monitoring of ultra-soft soil seabeds, and particularly to a mobile environmental monitoring device and method suitable for ultra-soft soil seabeds. Background Technology

[0002] Deep-sea rare earth elements and manganese nodules, among other seabed mineral resources, are often concentrated in areas with extremely soft soil. During mining operations, the disturbance of the seabed by mining equipment and the discharge of tailings generate large amounts of sediment particles, forming sediment plumes. These mining plumes, driven by ocean currents, can extend horizontally for kilometers or even hundreds of kilometers and vertically across multiple water layers, exhibiting significant spatiotemporal dynamics. The fine particulate matter suspended in these plumes and the heavy metals and other pollutants they carry can potentially impact the water quality and marine ecosystem of the surrounding waters. Therefore, real-time, dynamic, three-dimensional profiling of marine environmental parameters within the mining area and its affected region is a crucial step in assessing the environmental impact of mining and guiding mining operation decisions.

[0003] However, existing marine environmental monitoring devices are insufficient to meet these needs. On the one hand, traditional monitoring methods mainly rely on fixed-point mooring or seabed bases, which can only acquire time-series data from fixed stations, resulting in limited spatial coverage and making it difficult to capture the full picture of the plume's dynamic horizontal migration. On the other hand, while relying on remotely operated underwater robots for mobile observation can expand the monitoring range, such equipment is expensive, complex to operate, and usually requires full-time support from a mother ship, making it difficult to achieve long-term, continuous autonomous monitoring, thus significantly limiting its flexibility and economy.

[0004] Furthermore, the extremely low bearing capacity of ultra-soft seabeds presents unique challenges to the design of mobile monitoring equipment. Traditional tracked or wheeled locomotives, due to their limited contact area with the seabed and high ground pressure, are prone to sinking into ultra-soft soil, resulting in significant travel resistance and severely restricting the precise movement and long-term stable operation of the equipment. Simultaneously, to effectively observe the vertical diffusion characteristics of sediment plumes, the monitoring device must also possess the capability to acquire three-dimensional profile observations of environmental parameters from different water layers; existing monitoring devices also face technical bottlenecks in this regard. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention proposes a mobile environmental monitoring device and method suitable for ultra-soft seabeds. A skid-type low-disturbance mobile platform is designed, integrating a negative pressure adsorption device, an anti-adsorption hydrofoil, and a propulsion system. While ensuring the device's weight is compatible with the bearing capacity of ultra-soft soil, it achieves stable movement on ultra-soft seabeds and enables three-dimensional profile observation of multiple parameters. This provides reliable technical support for the dynamic tracking and monitoring of sediment plumes in deep-sea mining areas and for environmental impact assessment. The scheme is as follows:

[0006] On one hand, this invention proposes a mobile environmental monitoring device suitable for ultra-soft seabeds, characterized by comprising a mobile platform and a multi-parameter monitoring platform located on the mobile platform. The mobile platform includes a skid-type platform body, with a winch fixed inside the skid-type platform body. The winch is connected to the multi-parameter monitoring platform via a cable. Thrusters are rotatably connected to both ends of the skid-type platform body, and the thrusters are used to move the mobile platform. Negative pressure adsorption devices are longitudinally slidably connected around the skid-type platform body, and the negative pressure adsorption devices are used to anchor the mobile platform. Multiple anti-adsorption devices are rotatably connected to the bottom of the skid-type platform body. The anti-adsorption devices have multiple water injection channels, and the multiple water injection channels are connected to a multi-channel water pump fixed inside the skid-type platform body via pipelines. The multiple anti-adsorption devices inject water and rotate to form a water curtain and generate an upward thrust.

[0007] The anti-adsorption device comprises, from top to bottom, a hollow connector and an anti-adsorption water vane. The lower part of the anti-adsorption water vane has a convex streamline shape. The upper end of the connector is rotatably connected to the bottom of the skid-type platform body through a sealed bearing. The lower end of the connector is fixed to the upper part of the anti-adsorption water vane. The lower part of the anti-adsorption water vane has multiple water injection channels, which are sequentially connected to the connector and the corresponding pipeline.

[0008] Furthermore, the water injection channel is set at an angle downwards.

[0009] Furthermore, a sliding lifting mechanism is provided on the main body of the skid-type platform. The sliding lifting mechanism is connected to a negative pressure adsorption device. The negative pressure adsorption device includes a support frame, a suction tank, and a centrifugal pump. One end of the support frame is connected to the sliding lifting mechanism, and the other end of the support frame is fixedly connected to the suction tank. A centrifugal pump is provided on the suction tank.

[0010] The suction tank has a double-layer structure with upper and lower sections. The interior of the suction tank is divided into a suction chamber and a sediment chamber by a high-strength tensile membrane set inside the suction tank. The suction chamber is connected to a centrifugal pump and is filled with seawater, while the sediment chamber is used to insert into seabed sediments.

[0011] Furthermore, the high-strength tensile membrane is a polymeric filter membrane material with a porous structure, used to allow fluid to pass through and block deposit particles under pressure differential.

[0012] Furthermore, the main body of the skid-type platform includes a skid-type base, which includes a skid-type top plate and an anti-adsorption bottom plate. Multiple anti-adsorption devices are rotatably connected to the lower part of the anti-adsorption bottom plate. The main body of the skid-type platform also includes a pedestal-type protective cover fixed to the skid-type base. A storage cavity is opened on the pedestal-type protective cover for placing the multi-parameter monitoring platform.

[0013] Furthermore, the multi-parameter monitoring platform includes a monitoring frame and monitoring equipment mounted on the monitoring frame. The monitoring equipment is used to monitor the environmental parameters of the water layer. Multiple high-strength floating materials are fixed around the monitoring frame, and an anti-collision top frame is also fixed to the upper part of the monitoring frame.

[0014] Furthermore, the monitoring equipment includes two sets of velocity profilers, a multi-channel turbidimeter, a monitoring platform camera, a satellite beacon, and an underwater acoustic communication system. A set of velocity profilers and a monitoring platform camera are installed at the bottom of the monitoring frame, and multiple glass buoys are fixed on the upper part of the monitoring frame. Satellite beacons and underwater acoustic communication systems are installed on the top of two different glass buoys, and a multi-channel turbidimeter and another set of velocity profilers are installed on the top of the monitoring frame.

[0015] Furthermore, a set of support arms is fixed to each end of the skid-type platform body. Each set of support arms is composed of three stainless steel frames welded together. A steering shaft is rotatably connected between the three stainless steel frames. Several pushers are fixed to the steering shaft. A travel monitoring camera and a drive motor are installed on the support arm. The drive motor is connected to the steering shaft through a transmission mechanism to drive the steering shaft to rotate.

[0016] On the other hand, the present invention also proposes a mobile environmental monitoring method suitable for ultra-soft seabeds, applied to the aforementioned mobile environmental monitoring device, comprising the following steps:

[0017] S1. During the preparation stage of shipboard operations, the parameter monitoring platform is in the storage state, i.e., it is located on the mobile platform, and the bottom of the suction barrel of each negative pressure adsorption device is higher than the anti-adsorption base plate.

[0018] S2. The entire device is hoisted and lowered to the seabed of the target sea area, so that the mobile platform is placed on the surface of the ultra-soft seabed. The multi-parameter monitoring platform is kept in a retracted state throughout the hoisting process.

[0019] S3. After the device touches the bottom, activate the thrusters on both sides of the mobile platform to drive the mobile platform to travel along the seabed surface, and use the traveling monitoring cameras located near the thrusters to monitor the seabed conditions and the device's travel status, so that the device can move to the predetermined monitoring point.

[0020] S4. When the mobile platform reaches the target monitoring point, each negative pressure adsorption device moves downward and inserts into the soft soil of the seabed; then the centrifugal pump of the negative pressure adsorption device is started, and a negative pressure is formed in the suction barrel of the negative pressure adsorption device relative to the surrounding seawater. Under the action of seawater pressure, the mobile platform is stably adsorbed to the seabed.

[0021] S5. After the mobile platform stabilizes, the winch releases the cable, and the multi-parameter monitoring platform moves away from the storage position and rises under the action of positive buoyancy. During the ascent of the multi-parameter monitoring platform, the monitoring equipment on the multi-parameter monitoring platform is activated to continuously measure the environmental parameters of the water layer between the mobile platform and the multi-parameter monitoring platform, thereby obtaining the vertical environmental parameter profile.

[0022] S6. During the ascent of the multi-parameter monitoring platform, the high-precision pressure gauge built into the multi-channel turbidity meter is used to measure the pressure information in real time and feed the information back to the control cabin set in the mobile platform. The control cabin calculates the vertical distance between the multi-parameter monitoring platform and the mobile platform based on the pressure change, and determines whether the multi-parameter monitoring platform has reached the target water layer. When it reaches the target water layer, the winch is controlled to stop releasing or make fine adjustments to ensure that the multi-parameter monitoring platform is stably suspended in the target water layer and continues to carry out environmental parameter monitoring.

[0023] S7. After completing the target water layer monitoring, start the winch to retrieve the cable, pull the multi-parameter monitoring platform back to the mobile platform, and put it back into the storage state.

[0024] After the S8 multi-parameter monitoring platform is recovered, a centrifugal pump is used to release the negative pressure in the suction tank to eliminate the negative pressure adsorption between the suction tank and the surrounding seabed; then each negative pressure adsorption device moves upward until the suction tank is higher than the anti-adsorption bottom plate.

[0025] S9. After the negative pressure adsorption is released, the propulsion is first started to drive the mobile platform forward to determine whether the mobile platform can detach from the current seabed position normally. If the mobile platform can move normally, it continues to the next target monitoring point. If the mobile platform is still adsorbed by the soft soil and has difficulty moving, the multi-channel water pump is started to inject water into the water injection channel on the anti-adsorption wing through the pipeline, so that a water curtain is formed under the anti-adsorption wing and an upward thrust is generated, thereby reducing the adsorption force of the soft soil on the skid-type base of the mobile platform, reducing the moving resistance, allowing the mobile platform to detach and continue to move forward.

[0026] S10. After the mobile platform reaches the next target monitoring point, repeat steps S4 to S9 to achieve continuous mobile monitoring and multi-parameter vertical profile observation in different areas.

[0027] Compared with the prior art, the advantages of the present invention are as follows:

[0028] 1. This device overcomes the technical bottleneck of previous environmental monitoring equipment in achieving three-dimensional observation. By controlling the winch and combining it with the buoyancy of the multi-parameter monitoring platform, it can obtain vertical profile information of seawater environmental parameters. At the same time, this device can achieve precise movement on the ultra-soft seabed through the thruster, and can obtain environmental parameters in the horizontal direction and above the device. Thus, it can achieve long-term single-point observation and meet the mobile monitoring needs of different areas.

[0029] 2. Addressing the issues of easy siltation and difficulty in movement of observation equipment in ultra-soft soil environments, this device employs a skid-type structural design. By increasing the contact area between the device and the seabed and reducing underwater weight, the overall weight of the device is kept within the bearing capacity of the ultra-soft soil, while minimizing movement resistance. Furthermore, an anti-adsorption hydrofoil is installed at the bottom, using high-pressure water injection to form a water curtain, effectively preventing the device from being adsorbed by the ultra-soft soil and ensuring smooth movement and retrieval.

[0030] 3. To address the issue of the device's light weight underwater, which makes it difficult to achieve long-term stable observation, this device is designed with a negative pressure adsorption device. A centrifugal pump generates negative pressure in the suction tank, and the seawater pressure is used to firmly adsorb the mobile platform to the seabed. This effectively prevents the mobile platform from overturning due to being dragged by ocean currents when the multi-parameter monitoring platform is rising or suspended for a long time, thus ensuring the stability of the mobile platform and the reliability of the observation data. Attached Figure Description

[0031] Figure 1 This is a front view of the monitoring device in its stowed state according to an embodiment of the present invention;

[0032] Figure 2 This is a top view of the monitoring device according to an embodiment of the present invention;

[0033] Figure 3 This is a left view of the monitoring device according to an embodiment of the present invention;

[0034] Figure 4 This is a front view of the monitoring device in the state of the multi-parameter monitoring platform in an embodiment of the present invention;

[0035] Figure 5 This is a perspective view of the monitoring device according to an embodiment of the present invention;

[0036] Figure 6 This is a cross-sectional view of the monitoring device according to an embodiment of the present invention;

[0037] Figure 7 This is a perspective view of the anti-adsorption hydrofoil according to an embodiment of the present invention;

[0038] Figure 8 This is a side view of the suction bucket according to an embodiment of the present invention;

[0039] Figure 9 This is a schematic diagram of the suction bucket adsorption process according to an embodiment of the present invention;

[0040] Figure 10 This is a flowchart illustrating the operation of the monitoring device according to an embodiment of the present invention.

[0041] In the above figures:

[0042] 101. Mobile platform; 102. Column-type protective cover; 103. Skid-type base; 104. Skid-type top plate; 105. Anti-adsorption base plate; 106. Anti-adsorption hydrofoil base plate; 107. Water pipe; 108. Multi-channel water pump; 109. Water injection channel; 110. Negative pressure adsorption device; 111. Slide rail; 112. Support column; 113. Servo motor; 114. Suction tank; 115. Support arm; 116. Stainless steel frame; 117. Traveling monitoring camera; 118. Steering shaft; 119. Drive motor; 120. Thruster; 121. Upper guide hole; 122. Lower guide hole; 123. Guide wheel; 124. Winch; 125. Perforated plate; 126. Inverted truncated cone 127. Thin-walled; 128. Control compartment; 129. Centrifugal pump; 130. Sealing joint; 131. Sealing O-ring; 132. External thread; 133. Internal thread joint; 134. Internal thread; 135. Sealed bearing; 136. Connector; 137. High-strength tensile membrane; 138. Suction chamber; 139. Sediment chamber; 130. Anti-adsorption hydrofoil top plate; 201. Multi-parameter monitoring platform; 202. Monitoring frame; 203. Anti-collision top frame; 204. Glass buoy; 205. High-strength buoy material; 206. Flow profiler; 207. Multi-channel turbidimeter; 208. Monitoring platform camera; 209. Satellite beacon; 210. Underwater acoustic communication system; 211. Kevlar cable. Detailed Implementation

[0043] To facilitate understanding of the present invention by those skilled in the art, specific embodiments of the present invention will be described below with reference to the accompanying drawings.

[0044] like Figures 1-9 As shown, the present invention proposes a mobile environmental monitoring device suitable for ultra-soft seabed. The mobile environmental monitoring device mainly consists of a mobile platform 101 and a multi-parameter monitoring platform 201.

[0045] The mobile platform 101 includes a skid-type platform body, which consists of two parts: a column-type protective cover 102 and a skid-type base 103, which are connected by welding.

[0046] The pedestal-type protective cover 102 has a hollow structure with a perforated plate 125 welded to the top. An inverted frustum thin-walled plate 126 is welded to the center of the perforated plate 125 and is embedded in the pedestal-type protective cover 102. An upper guide hole 121 is opened in the center of the bottom of the inverted frustum thin-walled plate 126 and a chamfered design is adopted to prevent wear on the Kevlar cable 211 used to connect the mobile platform 101 and the multi-parameter monitoring platform 201.

[0047] A set of support arms 115 is welded to each of the left and right ends inside the pedestal-type protective cover 102; each set of support arms 115 consists of three stainless steel frames 116; a steering shaft 118 is connected between the three stainless steel frames 116 to control the thruster 120 to rotate around the steering shaft 118, thereby adjusting the thrust direction of the thruster; the thruster 120 is fixed on the steering shaft 118; two sets of thrusters 120 are set on each of the left and right sides of the moving platform 101, for a total of four sets of thrusters 120, wherein the thrusters arranged oppositely have opposite thrust directions to realize the forward or backward movement of the moving platform 101; among the three stainless steel frames 116 that make up the support arm 115, a travel monitoring camera 117 is fixed on the upper part of the middle stainless steel frame 116, and one is symmetrically arranged on each of the left and right sides of the moving platform 101; the drive motor 119 used to drive the steering shaft 118 is fixed to the lower part of the middle stainless steel frame 116, and its drive end is connected to the steering shaft 118.

[0048] like Figure 6 As shown, a control cabin 127 is also fixed on the inner bottom plate of the pedestal-type protective cover 102. The control cabin is electrically connected to a drive motor 119, a thruster 120, a winch 124, a traveling monitoring camera 117, a multi-channel water pump 108, a servo motor 113, and monitoring equipment. It is used to control the movement of the mobile platform 101, the vertical movement of the multi-parameter monitoring platform 201, the operation of the negative pressure adsorption device 110, and the water injection of the anti-adsorption hydrofoil bottom plate 106. It should be noted that the control methods and principles used in the control cabin 127 are clear to those skilled in the art and will not be described in detail here.

[0049] The four sides of the pedestal-type protective cover 102 are equipped with negative pressure adsorption devices 110. Each negative pressure adsorption device 110 is slidably connected to the pedestal-type protective cover 102 via a slide rail 111 that is vertically set and welded to the pedestal-type protective cover 102. The negative pressure adsorption device 110 includes a support column 112, a servo motor 113, a suction barrel 114, and a centrifugal pump 128. The servo motor 113 is used to drive the negative pressure adsorption device 110 to move up and down along the slide rail 111. The suction barrel 114 is welded to the bottom of the support column 112. A small centrifugal pump 128 is installed on the upper surface of each suction barrel 114. When the servo motor 113 drives the suction barrel 114 to insert into the soft soil, the centrifugal pump 128 can generate negative pressure relative to the surrounding seawater in the cavity inside the suction barrel 114. Under the action of the surrounding seawater pressure, the mobile platform 101 is anchored to the soft soil seabed.

[0050] like Figure 8 , 9As shown, the suction tank 114 has a double-layered structure with upper and lower sections. Its interior is separated by a high-strength tensile membrane 136, which isolates soft soil sediments from the centrifugal pump 128, preventing sediment particles from entering the centrifugal pump 128, thus avoiding wear on the impeller and preventing blockage of the inlet and outlet pipes. The suction tank 114, separated by the high-strength tensile membrane 135, forms a suction chamber 137 and a sediment chamber 138. The suction chamber 137 is connected to the centrifugal pump 128 and is filled with seawater; the sediment chamber 138 is used to insert into seabed sediments. The high-strength tensile membrane 136 is made of existing porous polymer filter membrane material with a certain porosity and pore size distribution. It allows fluid to pass through and blocks sediment particles under pressure differential. When the suction tank 114 is not in an adsorption state, it is essentially in a naturally unfolded state. When the suction barrel 114 is inserted into the soft soil sediment, the barrel wall forms a lateral sealing boundary with the surrounding sediment, and the bottom of the barrel forms a low-permeability boundary. After the centrifugal pump 128 is started, the seawater in the suction chamber 136 is drawn, reducing the pressure inside the suction chamber 136. Under the action of pressure difference, the high-strength tensile membrane 135 undergoes elastic deformation to one side of the suction chamber 136. At the same time, under the low permeability of the ultra-soft sediment, pore water in the sediment cavity 137 seeps into the suction chamber 136 through the high-strength tensile membrane 135 and is continuously drawn out, thereby gradually reducing the pore water pressure in the sediment cavity 137 and forming a negative pressure zone inside the suction barrel 114, achieving stable attachment of the suction barrel to the seabed.

[0051] like Figure 6 , 7 As shown, the skid-type base 103 welded to the lower part of the pedestal-type protective cover 102 includes a skid-type top plate 104 and an anti-adsorption bottom plate 105. The skid-type top plate 104 has a circular lower guide hole 122 in the center and adopts a chamfered design. The anti-adsorption bottom plate 105 adopts a skid design with arc-shaped left and right ends and multiple sealing joints 129 welded to the bottom end. The unthreaded end of the sealing joint 129 is welded to the bottom of the anti-adsorption bottom plate 105, and the other end is provided with an external thread 131 for connecting the anti-adsorption hydrofoil. The anti-adsorption hydrofoil includes an anti-adsorption hydrofoil top plate 139 and an anti-adsorption hydrofoil bottom plate 106 (see...). Figure 7The upper end of the external thread 131 is equipped with a sealing O-ring 130 to achieve a seal between the anti-adsorption device and the anti-adsorption base plate 105. The bottom of the sealing joint 129 is connected to the internal thread joint 132, which mates with the sealing joint 129 through threads. The upper part has a machined internal thread 133, and the bottom is welded with a sealing bearing 134. The outer ring of the sealing bearing 134 is fixed on the internal thread joint 132, and the inner ring is welded with a connector 135 for connecting the lower anti-adsorption hydrofoil to achieve rotational support for the anti-adsorption hydrofoil. The anti-adsorption hydrofoil base plate 106 has a streamlined design to reduce the resistance of the moving platform 101 during movement. Multiple sets of downward-sloping water injection channels 109 are opened on the side of the anti-adsorption hydrofoil, which are connected to the multi-channel water pump 108 fixed inside the skid-type base 103 through water pipes 107. The downward-sloping water injection channels 109 can reduce the blockage of the orifice by the ultra-soft soil, and at the same time provide a horizontal rotation torque for the anti-adsorption hydrofoil during water injection and generate an upward thrust. When the skid-type base 103 generates negative pore water pressure due to the large-area smooth base plate squeezing out the water at the soil-water interface, and subsequently becomes difficult to move due to strong adsorption by the ultra-soft soil (i.e., the "suction cup effect"), the multi-channel water pump 108 injects water into the lower end of the anti-adsorption hydrofoil through the water injection channel 109, forming a water curtain and generating an upward thrust, thereby reducing the adsorption force between the base plate and the ultra-soft soil. In addition, the anti-adsorption hydrofoil can split the mud layer in front. Compared with a completely smooth base plate, a smooth base plate is prone to forming a large-area local suction when moving on ultra-soft soil, and its overall resistance is higher than that of a raised structure; while the anti-adsorption hydrofoil base plate 106 bulges downward, which can effectively disperse the contact pressure and guide the relative flow of ultra-soft soil, significantly reducing the resistance to movement. At the same time, the anti-adsorption hydrofoil is connected to the anti-adsorption base plate 105 through bearings. During the water injection process, it is subjected to the reaction force of ultra-soft soil, can rotate, and applies a continuous high-frequency mechanical shear force to the surrounding ultra-soft soil, further reducing the adhesion force, and has a better anti-adsorption effect than a fixed structure. The guide wheel 123 is welded to the lower surface of the skid-type top plate 104 and is located to the right of the lower guide hole 122; the winch 124 is fixed to the lower surface of the skid-type top plate 104 and is located to the right of the guide wheel 123; the Kevlar cable 211 on the winch 124 passes through the guide wheel 123, passes through the lower guide hole 122 and the upper guide hole 121 in sequence, and is connected to the multi-parameter monitoring platform 201 above it.

[0052] The multi-parameter monitoring platform 201 includes a monitoring frame 202, a crash-resistant top frame 203, a glass float 204, a high-strength buoy material 205, a flow profiler 206, a multi-channel turbidimeter 207, a monitoring platform camera 208, a satellite beacon 209, and an underwater acoustic communication system 210. In this embodiment, a Kevlar cable 211 is fixedly connected to the monitoring frame 202. When the multi-parameter monitoring platform 201 is in its retracted state, it is flexibly connected to its lower moving platform 101 via the Kevlar cable 211 and housed within the inverted frustum thin-walled structure 126, which provides support for it. The monitoring frame 202 and the anti-collision top frame 203 constitute the overall frame of the multi-parameter monitoring platform 201. The monitoring frame 202 is welded from a hexagonal frame, and six sets of high-strength floating materials 205 are fixed around it. A current profiler 206 and a monitoring platform camera 208 are installed at the bottom of the monitoring frame 202. The current profiler 206 is used to measure the current velocity from the bottom of the multi-parameter monitoring platform 201 to the seabed after the multi-parameter monitoring platform 201 is suspended in the target water layer. The monitoring platform camera 208 is used to monitor the multi-parameter monitoring platform 201 during its ascent and descent. Status; The upper part of the monitoring frame 202 is welded with a collision-proof top frame 203, which is composed of hexagonal hollow steel pipes; Six glass buoys 204 are also fixed on the upper part of the monitoring frame 202 to provide buoyancy for the rise of the entire multi-parameter monitoring platform 201. In addition, with six sets of high-strength floating materials 205, the multi-parameter monitoring platform 201 is a positive buoyancy structure as a whole; Among them, the tops of the two glass buoys 204 located on the left and right sides of the monitoring frame 202 are respectively fixed with a satellite beacon 209 and an underwater acoustic communication system 210, which are used to determine the underwater position of the device and transmit the device's working status information. The top of the monitoring frame 202 is also equipped with another flow profiler 206 and a multi-channel turbidity meter 207. The flow profiler 206 is used to measure the three-dimensional flow velocity of the water layer above the multi-parameter monitoring platform 201 within the instrument's measurement range. The multi-channel turbidity meter 207 is used to measure environmental parameters such as turbidity, dissolved oxygen, and chlorophyll between the moving platform 101 and the multi-parameter monitoring platform 201 during the ascent of the multi-parameter monitoring platform 201. At the same time, the high-precision pressure gauge built into the multi-channel turbidity meter 207 is used to determine the suspension position of the multi-parameter monitoring platform 201 and feed it back to the control cabin 127. The control cabin 127 adjusts the raising and lowering of the winch 124 to keep the multi-parameter monitoring platform 201 in the target water layer. That is, by measuring the pressure of the multi-parameter monitoring platform 201 in its retracted state and the pressure after it is suspended in the target water layer, the vertical distance between the multi-parameter monitoring platform 201 and the moving platform 101 is calculated.

[0053] like Figure 10 As shown, the present invention also proposes a mobile environmental monitoring method suitable for ultra-soft seabeds, applied to the aforementioned mobile environmental monitoring device, comprising the following steps:

[0054] Step 1: During the preparation stage of the operation on the ship, the Kevlar cable 211 is tightened by the winch 124 on the mobile platform 101, so that the multi-parameter monitoring platform 201 is retrieved into the mobile platform 101 and stored in the inverted frustum thin wall 126, and is in the stored state; at the same time, the servo motor 113 in each negative pressure adsorption device 110 is driven to work, so that the suction barrel 114 moves upward along the slide rail 111 to a position higher than the anti-adsorption bottom plate 105, so as to avoid the suction barrel 114 from contacting the seabed during the hoisting and movement of the device.

[0055] Step 2: Using shipborne hoisting equipment, the entire device in its stored state is hoisted to the seabed of the target sea area, so that the mobile platform 101 sits on the surface of the ultra-soft seabed. The multi-parameter monitoring platform 201 remains in its stored state throughout the hoisting process.

[0056] Step 3: After the device touches the bottom, activate the thrusters 120 on both sides of the mobile platform 101 to drive the mobile platform 101 along the seabed surface. Combined with the traveling monitoring camera 117, monitor the seabed conditions and the device's movement status to move the device to the predetermined monitoring point (see...). Figure 10 (a) in the middle.

[0057] Step 4: After the mobile platform 101 reaches the target monitoring point, the servo motors 113 of each negative pressure adsorption device 110 are driven to work, causing the suction tank 114 to move downwards along the slide rail 111 and insert into the soft soil of the seabed; then the centrifugal pump 128 on the suction tank 114 is started, forming a negative pressure relative to the surrounding seawater inside the suction tank 114. Under the action of seawater pressure, the mobile platform 101 is stably adsorbed to the seabed, thereby improving the stability of the device during the monitoring process (see...). Figure 10 (b) in the middle.

[0058] Step 5: After the mobile platform 101 stabilizes, release the Kevlar cable 211 via winch 124. Utilize the positive buoyancy of the multi-parameter monitoring platform 201 to detach it from its storage position and allow it to rise into the overlying water. During the ascent of the multi-parameter monitoring platform 201, activate the flow profiler 206, multi-channel turbidity meter 207, monitoring platform camera 208, and other monitoring equipment to continuously measure environmental parameters such as turbidity, dissolved oxygen, chlorophyll, and flow velocity in the water layer between the mobile platform 101 and the multi-parameter monitoring platform 201, thereby obtaining a vertical environmental parameter profile (see...). Figure 10 (c in the text)

[0059] Step 6: During the ascent of the multi-parameter monitoring platform 201, the high-precision pressure gauge built into the multi-channel turbidity meter 207 is used to measure its pressure information in real time and feed this information back to the control cabin 127. The control cabin 127 calculates the vertical distance between the multi-parameter monitoring platform 201 and the moving platform 101 based on the pressure change, and determines whether the multi-parameter monitoring platform 201 has reached the target water layer. When it reaches the target water layer, the control winch 124 stops releasing or makes fine adjustments to ensure that the multi-parameter monitoring platform 201 is stably suspended in the target water layer and continues to monitor environmental parameters.

[0060] Step 7: After completing the target water layer monitoring, start the winch 124 to retrieve the Kevlar cable 211, pull the multi-parameter monitoring platform 201 back above the mobile platform 101, and relocate it to the inverted frustum thin-walled section 126 (see...). Figure 10 (d in the text)

[0061] Step 8: After the multi-parameter monitoring platform 201 completes the recovery, the centrifugal pump 128 on the negative pressure adsorption device 110 is reversed or stopped to release the negative pressure in the suction tank 114, thereby eliminating the negative pressure adsorption between the suction tank 114 and the surrounding seabed; then the servo motor 113 is driven to work, causing each negative pressure adsorption device 110 to be lifted upward along the slide rail 111 until the suction tank 114 is higher than the anti-adsorption base plate 105 (see...). Figure 10 (e in the text).

[0062] Step 9: After the negative pressure adsorption is released, the propeller 120 is first started to drive the mobile platform 101 forward to determine whether the mobile platform 101 can detach from the current seabed position normally. If the mobile platform 101 can move normally, it continues to the next target monitoring point. If the mobile platform 101 is still adsorbed by the soft soil and has difficulty moving, the multi-channel water pump 108 is started to inject water into the water injection channel 109 on the anti-adsorption hydrofoil through the water pipe 107, so that a water curtain is formed under the anti-adsorption hydrofoil base plate 106 and an upward thrust is generated, thereby reducing the adsorption force of the soft soil on the skid base 103, reducing the moving resistance, and allowing the mobile platform 101 to detach and continue to move forward.

[0063] Step 10: After the mobile platform 101 reaches the next target monitoring point, repeat steps 4 to 9 to achieve continuous mobile monitoring and multi-parameter vertical profile observation in different areas.

[0064] The embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. 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. A mobile environmental monitoring device suitable for ultra-soft seabed, characterized in that, The system includes a mobile platform (101) and a multi-parameter monitoring platform (201) located on the mobile platform (101). The mobile platform (101) includes a skid-type platform body, and a winch (124) is fixed inside the skid-type platform body. The winch (124) is connected to the multi-parameter monitoring platform (201) via a cable. A thruster (120) is rotatably connected to both ends of the skid-type platform body. The thruster (120) is used to push the mobile platform (101) to move. A negative pressure adsorption device (110) is longitudinally slidably connected around the skid-type platform body. The negative pressure adsorption device (110) is used to anchor the mobile platform (101). Multiple anti-adsorption devices are rotatably connected to the bottom of the skid-type platform body. The anti-adsorption devices have multiple water injection channels (109). The multiple water injection channels (109) are connected to a multi-channel water pump (108) fixed inside the skid-type platform body via pipelines. The multiple anti-adsorption devices inject water and rotate to form a water curtain and generate an upward thrust. The anti-adsorption device includes, from top to bottom, a hollow connector (135) and an anti-adsorption water vane. The lower part of the anti-adsorption water vane has a convex streamline shape. The upper end of the connector (135) is rotatably connected to the bottom of the skid-type platform body through a sealed bearing (134). The lower end of the connector (135) is fixed to the upper part of the anti-adsorption water vane. The lower part of the anti-adsorption water vane has multiple water injection channels (109). The multiple water injection channels (109) are connected to the connector (135) and the corresponding pipeline in sequence. A sliding lifting mechanism is provided on the main body of the skid-type platform. The sliding lifting mechanism is connected to a negative pressure adsorption device (110). The negative pressure adsorption device (110) includes a support bracket, a suction tank (114) and a centrifugal pump (128). One end of the support bracket is connected to the sliding lifting mechanism, and the other end of the support bracket is fixedly connected to the suction tank (114). The centrifugal pump (128) is provided on the suction tank (114). The suction tank (114) is a double-layer structure with upper and lower separation. The interior of the suction tank is divided into a suction chamber (137) and a sediment chamber (138) by a high-strength tensile membrane (136) set inside the suction tank. The suction chamber (137) is connected to the centrifugal pump (128) and is filled with seawater. The sediment chamber (138) is used to insert into the seabed sediment. The main body of the skid-type platform includes a skid-type base (103), the skid-type base (103) includes a skid-type top plate (104) and an anti-adsorption bottom plate (105), and the lower part of the anti-adsorption bottom plate (105) is rotatably connected to multiple anti-adsorption devices; the main body of the skid-type platform also includes a pedestal-type protective cover (102) fixed to the skid-type base (103), and a storage cavity is opened on the pedestal-type protective cover (102) for placing a multi-parameter monitoring platform (201). A set of support arms (115) is fixedly connected to each end of the skid-type platform body. The set of support arms (115) is composed of three stainless steel frames (116) welded together. A steering shaft (118) is rotatably connected between the three stainless steel frames (116). Several pushers (120) are fixedly connected to the steering shaft (118). A travel monitoring camera (117) and a drive motor (119) are installed on the support arm (115). The drive motor (119) is connected to the steering shaft (118) through a transmission mechanism to drive the steering shaft (118) to rotate.

2. The portable environmental monitoring device according to claim 1, characterized in that, The water injection channel (109) is set at an angle downwards.

3. The portable environmental monitoring device according to claim 1, characterized in that, High-strength tensile film (136) is a polymer filter membrane material with a porous structure, used to allow fluid to pass through and block deposit particles under pressure difference.

4. The portable environmental monitoring device according to claim 1, characterized in that, The multi-parameter monitoring platform (201) includes a monitoring frame (202) and monitoring equipment set on the monitoring frame (202). The monitoring equipment is used to monitor the environmental parameters of the water layer. Multiple high-strength floating materials (205) are fixed around the monitoring frame (202). A collision-proof top frame (203) is also fixed to the upper part of the monitoring frame (202).

5. The portable environmental monitoring device according to claim 4, characterized in that, The monitoring equipment includes two sets of velocity profilers (206), a multi-channel turbidimeter (207), a monitoring platform camera (208), a satellite beacon (209), and an underwater acoustic communication system (210). A set of velocity profilers (206) and a monitoring platform camera (208) are installed at the bottom of the monitoring frame (202). Multiple glass floats (204) are also fixed on the upper part of the monitoring frame (202). A satellite beacon (209) and an underwater acoustic communication system (210) are installed on the top of two different glass floats (204). A multi-channel turbidimeter (207) and another set of velocity profilers (206) are installed on the top of the monitoring frame (202).

6. A mobile environmental monitoring method suitable for ultra-soft seabed, characterized in that, The method applied to the portable environmental monitoring device as described in any one of claims 1 to 5 includes the following steps: S1. During the preparation stage of shipboard operation, the parameter monitoring platform is in the storage state, that is, it is located on the mobile platform (101), and the bottom of the suction barrel (114) of each negative pressure adsorption device (110) is higher than the anti-adsorption base plate (105). S2. The entire device is hoisted to the seabed of the target sea area, so that the mobile platform (101) is placed on the surface of the ultra-soft soil seabed, and the multi-parameter monitoring platform (201) is kept in a stored state during the hoisting process; S3. After the device touches the bottom, the thrusters (120) on both sides of the mobile platform (101) are activated to drive the mobile platform (101) to travel along the seabed surface. The traveling monitoring camera (117) located near the thruster (120) monitors the seabed conditions and the device's travel status, so that the device can move to the predetermined monitoring point. S4. When the mobile platform (101) reaches the target monitoring point, each negative pressure adsorption device (110) moves downward and inserts into the soft soil of the seabed; then the centrifugal pump (128) of the negative pressure adsorption device (110) is started, and a negative pressure relative to the surrounding seawater is formed in the suction tank (114) of the negative pressure adsorption device (110), and the mobile platform (101) is stably adsorbed to the seabed under the action of seawater pressure. S5. After the mobile platform (101) stabilizes, the winch (124) releases the cable, and the multi-parameter monitoring platform (201) moves away from the storage position and rises under the action of positive buoyancy. During the ascent of the multi-parameter monitoring platform (201), the monitoring equipment on the multi-parameter monitoring platform (201) is turned on to continuously measure the environmental parameters of the water layer between the mobile platform (101) and the multi-parameter monitoring platform (201), thereby obtaining the vertical environmental parameter profile. S6. During the ascent of the multi-parameter monitoring platform (201), the high-precision pressure gauge built into the multi-channel turbidity meter (207) is used to measure the pressure information in real time and feed the information back to the control cabin (127) set in the mobile platform (101). The control cabin (127) calculates the vertical distance between the multi-parameter monitoring platform (201) and the mobile platform (101) based on the pressure change, and determines whether the multi-parameter monitoring platform (201) has reached the target water layer. When it reaches the target water layer, the control winch (124) stops releasing or makes fine adjustments so that the multi-parameter monitoring platform (201) is stably suspended in the target water layer and continues to carry out environmental parameter monitoring. S7. After completing the target water layer monitoring, start the winch (124) to retrieve the cable, pull the multi-parameter monitoring platform (201) back to the mobile platform (101), and put it back into storage state. S8. After the multi-parameter monitoring platform (201) is recovered, the negative pressure state in the suction tank (114) is released by the centrifugal pump (128) to eliminate the negative pressure adsorption between the suction tank (114) and the surrounding seabed; then each negative pressure adsorption device (110) moves upward until the suction tank (114) is higher than the anti-adsorption bottom plate (105). S9. After the negative pressure adsorption is released, the propeller (120) is started to drive the mobile platform (101) forward to determine whether the mobile platform (101) can be properly separated from the current seabed position. If the mobile platform (101) can move normally, it continues to the next target monitoring point. If the mobile platform (101) is still adsorbed by the super soft soil and is difficult to move, the multi-channel water pump (108) is started to inject water into the water injection channel (109) on the anti-adsorption wing through the pipeline, so that a water curtain is formed under the anti-adsorption wing and an upward thrust is generated, thereby reducing the adsorption force of the soft soil on the skid base (103) of the mobile platform (101), reducing the moving resistance, so that the mobile platform (101) can be desorbed and continue to move forward. S10. When the mobile platform (101) reaches the next target monitoring point, repeat steps S4 to S9 to achieve continuous mobile monitoring and multi-parameter vertical profile observation in different areas.

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