Underwater portable acousto-optic detection equipment

Abstract

The invention relates to underwater portable acousto-optic detection equipment which comprises an equipment mechanism main body, a sonar module, an adjustable sleeve structure and a camera fixing device, the sonar module is fixed on the equipment mechanism main body in a sleeve form and is used for loading sonar equipment; the adjustable sleeve structure is fixed to the tail end of the equipment mechanism body and used for adjusting the extension distance of the tail end camera. The equipment mechanism main body comprises a control handle, a fixed rod, a telescopic rod, a locking device and a tail end angle changing structure; the telescopic rod and the fixed rod are locked together through a locking device so as to extend or retract in a sliding manner relative to the fixed rod; the torsion angle of the tail end angle changing structure is controlled through the control handle. Compared with the prior art, the device designed by the invention is particularly suitable for hidden structure detection with special requirements on detection angles and visual fields, and provides a reliable and efficient technical means for underwater safety operation, project acceptance and emergency investigation.

Description

Technical Field

[0001] This invention relates to the field of testing equipment, and in particular to an underwater portable acoustic and optical testing device. Background Technology

[0002] With the continuous increase in underwater resource development, the deepening of water environment management, and the large-scale advancement of underwater engineering construction, the demand for precise and real-time monitoring of key underwater environmental parameters is becoming increasingly urgent across various sectors. These key parameters cover a wide range, including the structural integrity of underwater structures such as bridge foundations, submarine pipelines, and dams (e.g., the presence of defects such as cracks, corrosion, and deformation). Accurately mastering these parameters is a prerequisite for ensuring the safety of underwater resource extraction, improving the effectiveness of water environment management, and ensuring the quality and operational safety of underwater engineering projects. Therefore, underwater monitoring equipment has become one of the core pieces of equipment supporting efficient operations in related fields and driving the upgrading of management models towards refinement. Its performance directly affects operational efficiency and the scientific nature of decision-making.

[0003] However, current mainstream underwater detection equipment generally suffers from complex structural designs, large overall size, and heavy weight, which severely restricts the expansion of its application scenarios and the improvement of its emergency response capabilities. In terms of actual operation, the transportation and deployment of this type of equipment heavily relies on large ships, specialized hoisting equipment, and supporting engineering vehicles. This not only consumes significant manpower, material resources, and time, but also imposes strict requirements on the operating site. This makes it impossible to quickly respond to the detection needs of complex small waterways such as narrow, winding rivers and near-shore reef areas. In these areas, effective detection is often difficult to conduct due to the equipment's inability to enter or insufficient deployment space. More importantly, when facing temporary and sudden underwater detection tasks, such as emergency source tracing detection of sudden water pollution incidents, completion acceptance of small underwater repair projects, and emergency water quality investigations in near-shore aquaculture areas, the lengthy deployment process and inefficient recovery operations of this equipment can seriously delay detection opportunities, prevent the timely acquisition of key data to support emergency decision-making, and potentially exacerbate pollution spread, affect project acceptance progress, or delay the handling of aquaculture risks, failing to meet the needs of practical, rapid-response detection.

[0004] Currently, underwater detection equipment's sensor acquisition systems suffer from significant limitations due to their reliance on a single sensor. The vast majority of devices rely solely on either sonar or cameras for data acquisition. This single-sensor approach results in limited data dimensions and narrow information coverage, making it difficult to adapt to the complex and ever-changing underwater environment and failing to fully meet diverse underwater data acquisition needs. Specifically, while relying solely on sonar sensors can achieve target ranging and contour detection in visually limited scenarios such as turbid water and low light, it struggles to acquire detailed visual features of the target, rendering it ineffective for tasks requiring the identification of target materials, surface textures, and other details. Conversely, relying solely on cameras is highly susceptible to water transparency and lighting conditions. In deep water, turbid waters, or at night, images may become severely blurred, exhibit increased noise, or even become completely ineffective, hindering efficient detection. In addition, the underwater environment is also subject to complex factors such as water flow disturbance, obstruction by obstacles, and changes in water temperature and pressure. The anti-interference capability of a single sensor is limited, making it difficult to cope with the acquisition errors caused by these uncertain factors. This, in turn, affects the accuracy of subsequent data processing and analysis, and fails to provide comprehensive and reliable data support for underwater engineering inspection, environmental monitoring, resource exploration and other fields.

[0005] Chinese invention patent CN202410448329.8 discloses "a multifunctional surface and underwater detection and identification device and method", which uses an unmanned underwater vehicle to avoid obstacles and conduct all-round detection. However, it still has problems in terms of portability and cannot change the detection angle in real time, which has certain limitations.

[0006] Chinese utility model patent CN222259607U discloses "an underwater detection device that is easy to store". It adopts a box design and stores the detection sensor through a pull-out plate. However, the storage method is rather impractical, and there is a risk of damage when the device is closed multiple times during actual testing. There is also no mechanism to adjust the sensor angle, and the detection field of view is limited.

[0007] Chinese invention patent CN202410518464.5 discloses a "portable online monitoring device based on fish AI recognition". It adopts a detection system including a buoy, a thruster and a camera. The camera can rotate, but the overall structure is relatively complex. Moreover, it only uses the camera for recognition, and the data collected is relatively limited, making it difficult to detect the underwater environment. Summary of the Invention

[0008] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a portable underwater acoustic-optical detection device. The concept of this invention is as follows: Based on a traditional mechanism, an angle-changing module is added to the front end, allowing for angle changes of 30-45° via a control handle, ultimately changing the module's angle. Furthermore, an adjustable sleeve structure is added to the rear end, allowing the position of the camera relative to the overall device structure to be changed according to actual needs. In addition, a sonar module is added to assist in data acquisition and ultimately fuse the acoustic-optical data to perform three-dimensional reconstruction of the target object. For underwater concealed structures and targets, this portable underwater acoustic-optical detection device allows for real-time adjustment of the detection angle and field of view via the manually adjustable sleeve structure.

[0009] The objective of this invention can be achieved through the following technical solutions: A portable underwater acoustic-optical detection device includes: The equipment includes a main body, a sonar module, an adjustable sleeve structure, and a camera fixing device; the sonar module is fixed to the main body of the equipment in the form of a sleeve for mounting the sonar equipment. The adjustable sleeve structure is fixed to the end of the main body of the equipment mechanism and is used to adjust the extension distance of the end camera; the camera fixing device is fixed to the end of the adjustable sleeve structure and is used to install the camera module. The main body of the equipment includes a control handle, a fixed rod, a telescopic rod, a locking device, and an end angle changing structure; the telescopic rod is fitted inside the fixed rod and locked to the fixed rod by the locking device, so as to slide and extend or shorten relative to the fixed rod; the control handle is used to control the angle of twist of the end angle changing structure.

[0010] Furthermore, the adjustable sleeve structure includes an external clamping structure and an internal sliding device; the external clamping structure is U-shaped with openings at the bottom and on both sides for connection with the end angle changing structure and the internal sliding device; the internal sliding device is a hollow cuboid with multiple holes in the sidewalls, and is connected to the camera fixing device. The end angle changing structure includes a first rectangular plate and a second rectangular plate; the first rectangular plate and the second rectangular plate are connected to each other and form an angle greater than 90 degrees; the end of the second rectangular plate has a first hole for connecting with the adjustable sleeve structure; a second hole is formed at the connection between the first rectangular plate and the second rectangular plate; on the outside of the connection between the first rectangular plate and the second rectangular plate, the lower end of the second hole has a continuous angular protrusion.

[0011] Furthermore, the control handle is connected to a connecting structure hidden in the main body of the device mechanism, and the angle of the end angle change structure is controlled through the connecting structure.

[0012] Furthermore, the main body of the equipment mechanism is a hollow thin-walled structure, and both the fixed rod and the telescopic rod are hollow tubes.

[0013] Furthermore, by opening or closing the control handle, the angle of twist of the end angle change structure can be controlled.

[0014] Furthermore, the fixed rod and the telescopic rod have fixing pin holes at different positions for fixing the locking device.

[0015] Furthermore, the locking device includes a base, a pressing handle, and a plug rod; the base is fitted onto the front end of the fixed rod, and the pressing handle is located on the base; the plug rod is located at the front end of the pressing handle and is used to lock the fixed rod and the telescopic rod together.

[0016] Furthermore, the diameter of the telescopic rod is smaller than the diameter of the fixed rod, and it is nested inside the fixed rod.

[0017] Furthermore, by adjusting the position of the camera fixing device, the position of the camera relative to the main body of the equipment mechanism can be changed.

[0018] Furthermore, both the first and second holes are circular.

[0019] Compared with the prior art, the present invention has the following advantages: (1) This invention overcomes the limitations of single sensors in complex underwater environments by designing a portable underwater detection device that integrates sonar and optical camera. Furthermore, through an adjustable sleeve structure and an adjustable end angle mechanism, it achieves real-time, multi-angle detection of underwater concealed structures: the sonar module is fixed to the main body in the form of a sleeve, which can assist the camera in target positioning and contour recognition in low visibility environments; the end of the main body of the device mechanism has an angle adjustment capability of 30°–45°, which, together with the manually adjustable telescopic sleeve structure, allows the operator to flexibly adjust the detection distance and observation angle according to the actual underwater environment, thereby significantly improving the detection accuracy and data integrity of underwater concealed targets.

[0020] (2) This invention employs an acoustic-optical fusion detection mechanism, combining the distance detection and contour recognition capabilities of sonar with the high-definition visual information acquisition of a camera, overcoming the limitations of a single sensor in complex underwater environments. The main body of the device adopts a hollow thin-walled design with telescopic rods, making the overall structure lightweight, easy to carry and deploy quickly, especially suitable for narrow waters, near-shore areas, and emergency detection scenarios. By manually adjusting the detection angle and observation distance in real time, comprehensive detection of underwater engineering structures, pipelines, reefs, and other targets can be achieved without relying on large auxiliary equipment, greatly improving the flexibility and response speed of underwater operations.

[0021] (3) The device structure design of this invention takes into account both stability and adaptability. The adjustable sleeve structure is equipped with reinforcing ribs and multi-level positioning holes to ensure the imaging stability of the camera under the impact of water flow. The sonar module supports angle and depth adjustment, further expanding the applicable scenarios of the device. This device can be widely used in various engineering and environmental detection tasks such as underwater pile foundation detection, pipeline inspection, shipwreck exploration, and ecological monitoring. It is especially suitable for the detection of concealed structures with special requirements for detection angle and field of view, providing a reliable and efficient technical means for underwater safe operation, engineering acceptance and emergency investigation. Attached Figure Description

[0022] Figure 1 This is a structural diagram of an underwater portable acoustic-optical detection device provided in an embodiment of the present invention; Figure 2 This is a structural diagram of a sonar module of an underwater portable acoustic-optical detection device provided in an embodiment of the present invention; Figure 3 This is a structural diagram of an adjustable sleeve for an underwater portable acoustic-optical detection device provided in an embodiment of the present invention; Figure 4 This is a structural diagram of a camera placement module for an underwater portable acoustic and optical detection device provided in an embodiment 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, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0024] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0025] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0026] Definitions: 3D Reconstruction Model: A 3D reconstruction model refers to the process and result of using computer technology and algorithms to construct a digital 3D entity representation with realistic scale, complete structure, and surface details from discrete, multi-source, and multi-angle 2D observation data (such as images, point clouds, and depth information) from real-world objects or scenes. This data is processed through data fusion, feature extraction, geometric modeling, and surface generation. It is not only a precise geometric reproduction of an object's shape in virtual space, but it can also integrate color, texture, and even physical properties, achieving a full-dimensional digital mapping of the target from form to appearance. It is widely used in virtual reality, industrial inspection, medical imaging, cultural heritage protection, autonomous driving, and scientific visualization.

[0027] Example 1 like Figure 1 As shown, this embodiment provides an underwater portable acoustic-optical detection device, including: The device includes a main body 101, a sonar module 102, an adjustable sleeve structure 103, and a camera mounting device 104. The end angle of the main body 101 is adjustable, reaching a range of 30°-45°. The sonar module 102 is fixed to the main body 101 in the form of a sleeve for mounting sonar equipment. The adjustable sleeve structure 103 is fixed to the end of the main body 101 for adjusting the extension distance of the end camera. The camera mounting device 104 is fixed to the end of the adjustable sleeve structure 103 for installing the camera module.

[0028] Specifically, The sonar module 102 is fixed to the main body 101 of the equipment mechanism in the form of a sleeve for mounting sonar equipment; the adjustable sleeve structure 103 is fixed to the end of the main body 101 of the equipment mechanism for adjusting the extension distance of the end camera; the camera fixing device 104 is fixed to the end of the adjustable sleeve structure 103 for installing the camera module.

[0029] Preferred, The equipment mechanism adopts a hollow, thin-walled structure, containing an extendable fixing mechanism, including a control handle, a fixed rod, a telescopic rod, a locking device, and an end-angle changing structure. The control handle controls the end-angle changing structure of the main body 101 of the equipment mechanism. Through a connecting structure hidden within the main body, opening and closing the handle allows for angle changes of 30°-45°. Both the fixed rod and the telescopic rod are hollow tubes. The telescopic rod is fitted inside the fixed rod and locked by a locking device fixed at a certain position on the fixed rod. The telescopic rod can slide to extend or retract relative to the fixed rod. The locking device includes a base fitted at a certain position at the front end of the fixed rod. A pressing handle is provided on the base via a torsion spring and a pin. The pressing handle fixes the fixed rod and the telescopic rod through a plug at its front end. The end-angle changing structure, connected to the control handle, changes the angle of the end structure relative to the main body of the mechanism, with a maximum change range of 30°-45°.

[0030] Preferred, The adjustable sleeve structure 103 includes an external clamping structure and an internal sliding device; the external clamping structure is U-shaped with openings at the bottom and on the left and right sides for connection with the end angle changing structure and the internal sliding device; the internal sliding device is a hollow cuboid with multiple holes in the side walls and is connected to the camera fixing device 104. The end angle changing structure includes a first rectangular plate and a second rectangular plate; the first rectangular plate and the second rectangular plate are connected to each other and form an angle greater than 90 degrees; the end of the second rectangular plate has a first hole for connection with the adjustable sleeve structure 103; a second hole is formed at the connection between the first rectangular plate and the second rectangular plate; on the outside of the connection between the first rectangular plate and the second rectangular plate, the lower end of the second hole has a continuous angular protrusion.

[0031] Preferred, The fixed rod and the telescopic rod have fixing pin holes at different positions for fixing the locking device; the diameter of the telescopic rod is slightly smaller than that of the fixed rod and is nested inside the fixed rod.

[0032] Preferred, The adjustable sleeve structure 103 is characterized by: an opening in the overall mechanism, which allows the position of the camera fixing device to be changed according to the needs of the actual environment, thereby changing the position of the camera relative to the main body 101 of the equipment mechanism; and the use of a reinforcing rib structure, which increases the stability and reliability of the structure.

[0033] Preferred, The adjustable sleeve structure 103 includes an external clamping structure and an internal sliding device; the external clamping structure is U-shaped with openings at the bottom and on the left and right sides for connection with the end angle changing structure and the internal sliding device; the internal sliding device is a hollow cuboid with multiple holes in the side walls and is connected to the camera fixing device 104. The end angle changing structure consists of two rectangular plate-like structures, which are curved rectangles in shape. A circular hole is opened at the end for connecting with the adjustable sleeve structure 103. A circular hole is opened at the connection of the two rectangular plate-like structures. On the outside of the connection, there is a continuous angular protrusion at the lower end of the circular hole.

[0034] This embodiment also provides a method for the above-described underwater portable acoustic-optical detection device, including: S1: By adjusting the angle of the end of the main body 101 of the device mechanism, the structure is changed, and the camera is adjusted to the target detection angle; S2: By adjusting the adjustable sleeve structure 103, the extension distance of the camera on the camera fixing device 104 is adjusted, and the camera is adjusted to a suitable distance for underwater target detection to obtain optical data; the water depth and angle of the sonar in the sonar module 102 are adjusted. S3: Activate sonar and camera to simultaneously collect acoustic and optical data of underwater targets.

[0035] Specifically, Acoustic and optical data are fused, and a three-dimensional reconstruction model of the underwater detection target is constructed based on the fused data.

[0036] The underwater portable acoustic and optical detection device of the present invention can be widely used in target scenarios such as underwater small-scale engineering inspection and underwater target monitoring and detection. It is especially suitable for underwater concealed structures. Through real-time manual adjustment, a better detection angle and detection field of view can be obtained, thereby improving detection accuracy and effect.

[0037] Example 2 like Figure 2 As shown, this embodiment provides a preferred sleeve structure specially designed for sonar equipment, which is fixed to the main body of the equipment structure and can slide and rotate on the main body of the equipment structure as needed to change the water depth and angle to assist the camera in data acquisition.

[0038] Example 3 like Figure 3 As shown, this embodiment provides an adjustable sleeve structure 103, characterized by an opening in the overall structure, which allows the position of the camera fixing device to be changed according to the needs of the actual environment, thereby changing the position of the camera relative to the main body 101 of the equipment mechanism; and adopts a reinforcing rib structure, which increases the stability and reliability of the structure.

[0039] Example 4 like Figure 4As shown, this embodiment provides a preferred fixing device specially designed for cameras. The camera is fixed in the groove of the device, which can fully expose the high beam of the underwater camera. This allows the camera to be fixed without affecting the external supplementary lighting, so that it will not be shaken by the impact of the underwater water flow and affect the data acquisition.

[0040] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A portable underwater acoustic-optical detection device, characterized in that, include: The equipment includes a main body (101), a sonar module (102), an adjustable sleeve structure (103), and a camera fixing device (104). The sonar module (102) is fixed to the main body (101) in the form of a sleeve and is used to load the sonar equipment. The adjustable sleeve structure (103) is fixed to the end of the main body (101) of the equipment mechanism and is used to adjust the extension distance of the end camera; the camera fixing device (104) is fixed to the end of the adjustable sleeve structure (103) and is used to install the camera module. The main body (101) of the equipment mechanism includes a control handle, a fixed rod, a telescopic rod, a locking device, and an end angle changing structure; the telescopic rod is fitted inside the fixed rod and locked together with the fixed rod by the locking device, so as to slide and extend or shorten relative to the fixed rod; the control handle is used to control the angle of the twist of the end angle changing structure.

2. The underwater portable acoustic-optical detection device according to claim 1, characterized in that, The adjustable sleeve structure (103) includes an external clamping structure and an internal sliding device; the external clamping structure is U-shaped with openings at the bottom and on the left and right sides for connection with the end angle changing structure and the internal sliding device; the internal sliding device is a hollow cuboid with multiple holes in the sidewalls and is connected to the camera fixing device (104). The end angle changing structure includes a first rectangular plate and a second rectangular plate; the first rectangular plate and the second rectangular plate are connected to each other and form an angle greater than 90 degrees; the end of the second rectangular plate has a first hole for connecting with the adjustable sleeve structure (103); a second hole is formed at the connection between the first rectangular plate and the second rectangular plate; on the outside of the connection between the first rectangular plate and the second rectangular plate, the lower end of the second hole has a continuous angular protrusion.

3. The underwater portable acoustic-optical detection device according to claim 1, characterized in that, The control handle is connected to a connecting structure hidden in the main body (101) of the equipment mechanism, and controls the angle of the end angle change structure torsion through the connecting structure.

4. The underwater portable acoustic-optical detection device according to claim 1, characterized in that, The main body (101) of the equipment mechanism is a hollow thin-walled structure, and the fixed rod and the telescopic rod are both hollow tubes.

5. The underwater portable acoustic-optical detection device according to claim 1, characterized in that, The angle of twist of the end-angle change structure is controlled by opening or closing the control handle.

6. The underwater portable acoustic-optical detection device according to claim 1, characterized in that, The fixed rod and the telescopic rod have fixing pin holes at different positions for fixing the locking device.

7. The underwater portable acoustic-optical detection device according to claim 6, characterized in that, The locking device includes a base, a pressing handle, and a plug rod; the base is fitted onto the front end of the fixed rod, and the pressing handle is located on the base; the plug rod is located at the front end of the pressing handle and is used to lock the fixed rod and the telescopic rod together.

8. The underwater portable acoustic-optical detection device according to claim 6, characterized in that, The diameter of the telescopic rod is smaller than the diameter of the fixed rod, and it is nested inside the fixed rod.

9. The underwater portable acoustic-optical detection device according to claim 1, characterized in that, By adjusting the position of the camera fixing device, the position of the camera relative to the main body (101) of the equipment mechanism is changed.

10. The underwater portable acoustic-optical detection device according to claim 2, characterized in that, Both the first hole and the second hole are circular holes.

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