Deep sea bottom target detection device

Abstract

The application provides a deep-sea bottom target detection device, which comprises an ROV platform, a manipulator, an underwater crawler walking mechanism and a self-adaptive lifting probe arm; the ROV platform is provided with underwater hydraulic propellers, vertical propellers and horizontal propellers; the underwater crawler walking mechanism is installed on the bottom chassis frame of the ROV platform; the manipulator is installed on the central bottom frame at the tail of the ROV platform and is used for underwater cable grabbing; the self-adaptive lifting probe arm is installed on the bottom frame of the ROV platform and is centrally installed, and the hinge point of the self-adaptive lifting probe arm is located at the front position of the bottom frame of the ROV; the application is based on the ROV platform, is modularly designed, improves the system reliability and the operation and maintenance, adopts a mechanical detection mode, the probe arm can perceive the tension change of the arm body, generates a tension change curve, and improves the recognition ability of the underwater bottom target.

Description

Technical Field

[0001] The present invention relates to the technical field of deep sea detection, and in particular to a deep sea bottom target detection device. Background Art

[0002] In recent years, my country has achieved significant success in deep-sea technology, driven by deepening exploration, research, and understanding of the ocean. This has led to increasing demand for specialized underwater equipment. Currently, detection of submerged targets in my country's offshore and deep-sea environments primarily relies on ROV platforms, employing physical methods supplemented by optical imaging or acoustics. However, magnetic, acoustic, and optical detection techniques are limited in their ability to detect submerged targets, particularly in sewage environments, where optical camera systems are less effective.

[0003] Therefore, it is necessary to propose a new technical solution to improve the above technical problems. Summary of the Invention

[0004] In view of the defects in the prior art, the purpose of the present invention is to provide a deep-sea bottom target detection device.

[0005] According to the present invention, a deep-sea bottom target detection device is provided, comprising: an ROV platform, a manipulator, an underwater crawler walking mechanism and an adaptive lifting probe arm;

[0006] The ROV platform is equipped with underwater hydraulic thrusters, vertical thrusters and horizontal thrusters for adjusting the longitudinal and vertical thrust of the deep-sea bottom target detection device;

[0007] The underwater crawler walking mechanism is installed on the chassis frame of the ROV platform, the underwater crawler walking mechanism includes a crawler, the crawler driving method includes a hydraulic motor and a servo motor, and the crawler walking mechanism (3) performs speed closed-loop feedback through an underwater angle feedback sensor;

[0008] The manipulator is installed on the center bottom frame of the tail of the ROV platform and is used for underwater cable grabbing;

[0009] The self-adaptive lifting probe arm is installed on the bottom frame of the ROV platform, and is centrally installed. The hinge point of the self-adaptive lifting probe arm is located at the front position of the bottom frame of the ROV.

[0010] Preferably, the top of the ROV platform is provided with buoyancy material, and when the device encounters gullies, hills, or when the track wheels sink into the muddy seabed while walking underwater, the device is lifted up by vertical thrusters and horizontal thrusters.

[0011] Preferably, the underwater crawler walking mechanism adopts a plate-warping track shoe, and the track shoe is made of non-metallic material.

[0012] Preferably, a cable cutting device is integrated on the forearm of the manipulator, and the manipulator includes a hand grip and a telescopic mechanism. The cable cutting device is telescopically extended forward and backward along the forearm direction by the telescopic mechanism, and is telescoped to the hand grip position to cut the target object. The telescopic mechanism includes but is not limited to a hydraulic cylinder or an electric cylinder; the cutting head of the cable cutting device adopts an open scissors mechanism;

[0013] The hand gripper is used for gripping a target object and is driven by a hydraulic cylinder. The hand gripper is provided with a position feedback sensor for measuring the opening angle of the hand gripper. The position feedback sensor includes but is not limited to an angle feedback sensor or a displacement feedback sensor.

[0014] Preferably, the manipulator arm is integrated with a low-light camera and an underwater light and camera for observation in sewage environment;

[0015] The low-light camera includes a low-light probe and a bell-shaped nozzle. When the low-light camera works in a sewage environment, a micro water pump sprays clean water jets from a clean water compensator to the bell-shaped nozzle to disperse the sewage around the low-light probe.

[0016] Preferably, the adaptive lifting probe arm is provided with a probe rod and a hydraulic cylinder, and the probe rod moves up and down through the forward and backward movement of the hydraulic cylinder;

[0017] The probe rod is integrated with a set of nozzles that spray downward obliquely for spraying and ditching the soil at the bottom of the adaptive lifting probe arm, and the probe rod is integrated with a set of nozzles that spray upward obliquely for spraying the soil that flows back from the upper part after the adaptive lifting probe arm probes downward;

[0018] A group of downward-spraying nozzles installed on the probe rod are integrated with an adaptive lifting probe arm nozzle protection cover, and the nozzles are installed inside the adaptive lifting probe arm nozzle protection cover.

[0019] Preferably, the adaptive lifting probe arm is further provided with a force feedback sensor, which is installed at the hinge point between the hydraulic cylinder and the probe rod.

[0020] Preferably, the force feedback sensor feeds back the magnitude of the adaptive lifting probe arm force in real time and generates a feedback curve of the adaptive lifting probe arm force.

[0021] Preferably, the adaptive lifting probe arm is further provided with an inclination sensor, which is installed in the middle of the probe rod and is used to measure the angle of the adaptive lifting probe arm during its downward swing.

[0022] Preferably, the adaptive lifting probe arm is controlled by a hydraulic system; the hydraulic system includes an accumulator, a relief valve, a hydraulic lock, a proportional reversing valve, a pressure reducing valve and a pressure sensor;

[0023] The up-and-down movement of the adaptive lifting probe arm is controlled by a proportional reversing valve, the adaptive lifting probe arm is provided with a hydraulic lock, and the oil cylinder control port of the adaptive lifting probe arm is provided with an overflow valve for hydraulic cylinder loop protection.

[0024] An accumulator is arranged on the rodless loop of the oil cylinder in the adaptive lifting probe arm hydraulic system, which is used for force setting of the adaptive lifting probe arm; when the force of the adaptive lifting probe arm exceeds the set value of the accumulator, the accumulator stores energy, and the adaptive lifting probe arm is raised upward; when the force of the adaptive lifting probe arm is less than the set value of the accumulator, the adaptive lifting probe arm returns to the initial set position.

[0025] A pressure sensor is arranged on the rodless loop of the oil cylinder in the adaptive lifting probe arm hydraulic system, which is used for real-time monitoring of the pressure of the rodless cavity of the adaptive lifting probe arm.

[0026] Compared with the prior art, the present application has the following beneficial effects:

[0027] 1. The present application is based on an ROV platform, and is modularly designed to improve system reliability and operation and maintenance; the mechanical detection mode can sense the tension change of the arm body and generate a tension change curve, thereby improving the recognition ability of underwater bottom targets.

[0028] 2. The underwater walking of the present application adopts a tracked walking mechanism, and the ROV platform is provided with high-power vertical and longitudinal propellers to improve the vertical and longitudinal adjustment ability of the device and greatly improve the obstacle crossing ability of the device in underwater walking.

[0029] 3. The probe arm of the present application has a force maintaining adaptive function; when the detection force is greater than the set value of the probe arm, the probe arm can be automatically lifted, thereby improving the reliability of the probe arm operation.

[0030] 4. The present application is provided with a five-function manipulator for a large range of operation, which has the functions of underwater grabbing, diameter measurement of grabbed objects and telescopic underwater cable cutting.

[0031] 5. The mechanical arm body of the present application is integrated with a micro lamp and a camera system, and is further provided with a pinhole camera system, which has a water jet function around the system, thereby improving the observation ability of the manipulator in sewage. BRIEF DESCRIPTION OF DRAWINGS

[0032] Other features, objects and advantages of the present application will become more apparent through reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0033] Figure 1 FIG. 1 is a schematic diagram of a deep-sea bottom target detection device;

[0034] Figure 2 FIG. 3 is a schematic diagram of an ROV platform structure;

[0035] Figure 3 This is a schematic diagram of the adaptive lifting probe arm;

[0036] Figure 4 Schematic diagram of a five-function manipulator;

[0037] Figure 5 This is a schematic diagram of a low-light camera;

[0038] Figure 6 This is the hydraulic principle diagram of the adaptive lifting probe arm.

[0039] in:

[0040] ROV platform 1 nozzle 17

[0041] Robot 2 Force feedback sensor 18

[0042] Underwater crawler walking mechanism 3 hydraulic cylinder 19

[0043] Adaptive lifting probe arm 4 Tilt sensor 20

[0044] Buoyancy material 5 Cable cutting device 21

[0045] Vertical thruster 6 Hand grip 22

[0046] Horizontal thruster 7 Low-light camera 23

[0047] Main structure 8 Underwater lights and cameras 24

[0048] Underwater main control system 9 Low light probe 25

[0049] Lighting and camera system 10 Bell-mouth nozzle 26

[0050] Pengchong System 11 Accumulator 27

[0051] Underwater motor 12 Overflow valve 28

[0052] Compensation system 13 Hydraulic lock 29

[0053] Lifting device 14 Proportional reversing valve 30

[0054] Probe 15 Pressure reducing valve 31

[0055] Probe arm nozzle protection cover 16 Pressure sensor 32 DETAILED DESCRIPTION

[0056] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0057] Example 1:

[0058] Reference Figure 1 and Figure 2 According to the present invention, a deep-sea bottom target detection device comprises: an ROV platform 1, a manipulator 2, an underwater crawler walking mechanism 3 and an adaptive lifting arm 4; the ROV platform 1 is equipped with an underwater hydraulic thruster, a vertical thruster 6 and a horizontal thruster 7 for adjusting the longitudinal and vertical thrust of the deep-sea bottom target detection device; the underwater crawler walking mechanism 3 is installed on the chassis frame of the ROV platform 1, the underwater crawler walking mechanism 3 comprises a crawler, the crawler driving mode comprises a hydraulic motor and a servo motor, and the crawler walking mechanism (3) performs speed closed-loop feedback through an underwater angle feedback sensor; the manipulator 2 is installed on the center bottom frame of the tail of the ROV platform 1 and is used for underwater cable grabbing; the adaptive lifting arm 4 is installed on the bottom frame of the ROV platform 1, centered, and the hinge point of the adaptive lifting arm 4 is located at the front position of the ROV bottom frame.

[0059] The top of the ROV platform 1 is provided with buoyancy material 5. When the device encounters gullies, hills or its track wheels sink into the muddy seabed while traveling underwater, the device is lifted up by vertical thrusters 6 and horizontal thrusters 7.

[0060] The underwater crawler walking mechanism 3 adopts a plate-warping track shoe, and the track shoe is made of non-metallic material; the cable cutting device 21 is integrated on the forearm of the manipulator 2, and the manipulator 2 includes a hand grip 22 and a telescopic mechanism. The cable cutting device 21 is telescopically extended and retracted forward and backward along the forearm direction through the telescopic mechanism, and retracted to the position of the hand grip 22 to cut the target object. The telescopic mechanism includes but is not limited to a hydraulic cylinder or an electric cylinder; the cutting head of the cable cutting device 21 adopts an open scissors mechanism; the hand grip 22 is used to clamp the target object, and the hand grip 22 is driven by a hydraulic cylinder. The hand grip 22 is provided with a position feedback sensor for measuring the opening angle of the hand grip 22. The position feedback sensor is but is not limited to an angle feedback sensor or a displacement feedback sensor.

[0061] Reference Figure 4 and Figure 5 The forearm of the manipulator 2 is integrated with a low-light camera 23, an underwater light and a camera 24 for observation in a sewage environment; the low-light camera 23 includes a low-light probe 25 and a bell-shaped nozzle 26. When the low-light camera 23 works in a sewage environment, the micro water pump sprays clean water jets from the clean water compensator to the bell-shaped nozzle 26 around to disperse the sewage around the low-light probe 25.

[0062] Reference Figure 3The adaptive lifting probe arm 4 is provided with a probe rod 15 and a hydraulic cylinder 19, and the probe rod 15 moves up and down through the forward and backward movement of the hydraulic cylinder 19; a group of nozzles 17 for spraying obliquely downward are integrated on the probe rod 15 for spraying and ditching the soil at the bottom of the adaptive lifting probe arm 4, and a group of nozzles 17 for spraying obliquely upward are integrated on the probe rod 15 for spraying the soil refluxed from the upper part after the adaptive lifting probe arm 4 is probed downward; a group of downward spraying nozzles 17 installed on the probe rod 15 are integrated with the adaptive lifting probe arm nozzle protective cover 16, and the nozzle 17 is installed inside the adaptive lifting probe arm nozzle protective cover 16.

[0063] The adaptive lifting probe arm 4 is further provided with a force feedback sensor 18 , which is installed at the hinge point between the hydraulic cylinder 19 and the probe rod 15 .

[0064] The force feedback sensor 18 feeds back the magnitude of the force of the adaptive lifting probe arm 4 in real time and generates a feedback curve of the adaptive lifting probe arm force.

[0065] The adaptive lifting probe arm 4 is further provided with an inclination sensor 20 , which is installed in the middle of the probe rod 15 and is used to measure the angle of the adaptive lifting probe arm 4 during its downward swing.

[0066] Reference Figure 6 , the adaptive lifting probe arm 4 is controlled by a hydraulic system; the hydraulic system includes an accumulator 27, a relief valve 28, a hydraulic lock 29, a proportional reversing valve 30, a reducing valve 31 and a pressure sensor 32; the up and down movement of the adaptive lifting probe arm 4 is controlled by the proportional reversing valve 30, the adaptive lifting probe arm 4 is provided with a hydraulic lock 29, and the oil cylinder control port of the adaptive lifting probe arm 4 is provided with a relief valve 28 for circuit protection of the hydraulic cylinder 19; an accumulator 27 is installed on the rodless cavity circuit of the cylinder in the hydraulic system of the adaptive lifting probe arm 4 for force setting of the adaptive lifting probe arm 4. When the force of the adaptive lifting probe arm 4 exceeds the set value of the accumulator 27, the accumulator 27 stores energy and the adaptive lifting probe arm 4 swings up. When the force of the adaptive lifting probe arm 4 is less than the set value of the accumulator 27, the adaptive lifting probe arm 4 returns to the initial set position; a pressure sensor 32 is installed on the rodless cavity circuit of the cylinder in the hydraulic system of the adaptive lifting probe arm 4 to monitor the pressure of the rodless cavity of the adaptive lifting probe arm 4 in real time.

[0067] Example 2:

[0068] A deep-sea sunken target detection device is an underwater device specially designed for underwater detection of deep-sea sunken or buried targets and has a certain disposal capability. The device can rely on the mother ship for power supply and conduct long-term detection of my country's offshore and deep-sea sunken targets, thereby obtaining information on sunken targets in relevant sea areas of my country, which is of great significance to the research on information security of relevant sea areas of my country.

[0069] A novel deep-sea submerged target detection device primarily utilizes an ROV as its platform, employing an ROV chassis equipped with a crawler mechanism and an adaptive lifting jet detection arm. The ROV platform is primarily powered by hydraulic drive, and its thrusters are configured with vertical and horizontal thrusters, giving the device significant vertical and longitudinal motion power underwater. This allows it to easily navigate obstacles (such as trenches, slopes, and irregularly shaped underwater obstacles) while traveling underwater, enhancing its flexibility, maneuverability, and adaptability during underwater operations. The ROV platform incorporates the power system, optical system, and positioning and navigation systems commonly used in such devices. A manipulator is integrated into the rear of the ROV, offering wide-range handling capabilities and capabilities such as cable diameter measurement and cable cutting. The ROV chassis incorporates a lightweight underwater crawler mechanism driven by a hydraulic motor and equipped with an underwater speed feedback sensor that provides real-time feedback on the rotational speed of each crawler track, enabling the crawler track to move forward, backward, turn, and even turn in place. The ROV platform chassis also integrates an underwater adaptive lifting jet detection arm, which adopts a mechanical feedback detection method and has the function of maintaining adaptive detection arm force, which can improve the accuracy of underwater target detection.

[0070] A new deep-sea submerged target detection device, based on an ROV platform, features a crawler track mechanism and an adaptive elevating jet detection arm. The system utilizes a hydraulic drive system and hydraulic thrusters, giving the device extensive vertical and longitudinal adjustability, enhancing its adaptability to complex submerged terrain. The ROV chassis is equipped with a crawler track mechanism featuring warp-type track shoes, enabling navigation on soft underwater terrain. Each track is equipped with an underwater speed sensor, which operates in a closed-loop speed loop with the track drive motor to ensure stable tracking along a planned path underwater. The adaptive elevating jet detection arm is also integrated into the lower portion of the ROV chassis. This arm features high-flow underwater jetting capabilities; hydraulic cylinders for vertical and horizontal movement; adaptive force maintenance; sensing of minute force changes; and the ability to automatically generate tension curves. This approach uses pattern learning and machine learning methods to improve the robustness of the robotic cable recognition system software, enhance recognition capabilities, and reduce missed alarms.

[0071] Figure 1The present invention is a schematic diagram of a deep-sea bottom target detection device, which mainly includes an ROV body 1, a five-function manipulator 2, an underwater crawler walking mechanism 3, and an adaptive lifting arm 4. The ROV body 1 mainly includes a buoyancy material 5, a vertical thruster 6, a horizontal thruster 7, a main structure 8, an underwater control system 9, a lighting and camera system 10, a jet system 11, an underwater motor 12, a compensation system 13, and a lifting device 14. The adaptive lifting arm 4 mainly includes a probe rod 15, a probe arm nozzle protective cover 16, a nozzle 17, a force feedback sensor 18, a hydraulic cylinder (19), and an inclination sensor 20. The five-function manipulator 2 mainly includes a cable cutting device 21, a hand grip 22, a low-light camera 23, and an underwater light and camera 24. The low-light camera 23 mainly includes a low-light probe 25 and a nozzle 26. The five-function manipulator 2 is installed on the bottom frame at the center of the tail of the ROV body 1 and is used for underwater cable grabbing. The underwater crawler mechanism 3 and the adaptive lifting arm 4 are primarily mounted on the bottom frame of the ROV body, while the probe 15 can be moved up and down by a hydraulic cylinder 19. The five-function manipulator 2 integrates a cable cutting device 21 that can move back and forth to perform cable cutting. A sensor integrated into the gripper 22 can be used to measure the gripper opening angle.

[0072] A deep-sea bottom target detection device mainly includes an ROV platform 1, a five-function manipulator 2, an underwater crawler walking mechanism 3 and an adaptive lifting probe arm 1. The ROV platform 1 is equipped with a high-power underwater hydraulic thruster, a vertical thruster 6 and a horizontal thruster 7, which are used to adjust the longitudinal and vertical thrust of the deep-sea bottom target detection device, so that the device has better underwater obstacle crossing ability and underwater risk avoidance function. The top of the ROV platform 1 is equipped with a buoyancy material 5, so that the device is configured into a negative buoyancy state underwater, which facilitates the underwater crawler walking mechanism 3 to move smoothly on the soft mud bed. When the device encounters gullies, hills and crawler wheels sinking into the muddy seabed while walking underwater, the vertical thruster 6 and the horizontal thruster 7 can be used to lift the device up and overcome the obstacles. The underwater crawler walking mechanism 3 is installed on the chassis frame of the ROV platform 1. The underwater crawler walking mechanism 3 includes two sets of crawlers. The crawler driving method includes but is not limited to hydraulic motors or servo motors. The crawler walking mechanism 3 can perform closed-loop speed feedback through underwater angle feedback sensors to achieve synchronous operation of the crawlers. The underwater crawler walking mechanism 3 adopts a plate-warping crawler plate. The crawler plate is made of non-metallic material and has the ability to walk in soft terrain underwater. The manipulator 2 is installed on the center bottom frame of the tail of the ROV platform 1 and is used for underwater cable grabbing. The cable cutting device 21 is integrated on the arm of the manipulator 2. The cable cutting device 21 can be extended and retracted forward and backward along the direction of the arm. It can be extended and retracted to the hand grip 22 position to cut the target object. The extension mechanism includes but is not limited to hydraulic cylinders or electric cylinders. The cutting head of the cable cutting device 21 adopts an open scissors mechanism to achieve target cutting by squeezing. The gripper 22 is used to grip the target object. The gripper 22 is driven by a hydraulic cylinder and is equipped with a position feedback sensor for measuring the opening angle of the gripper 22. The position feedback sensor includes but is not limited to an angle feedback sensor or a displacement feedback sensor. A low-light camera 23 and an underwater light and camera 24 are integrated on the forearm of the manipulator 2 for observation in sewage environments to improve the operating efficiency of the manipulator. The low-light camera 23 includes a low-light probe 25 and a bell-shaped nozzle 26. When the low-light camera 23 is working in a sewage environment, a micro water pump sprays a jet of clean water from the clean water compensator to the bell-shaped nozzle 26 around the nozzle to disperse the sewage around the low-light probe 25, thereby improving the clarity of the low-light camera 23 in observing the target object in the sewage.

[0073] The adaptive lifting probe arm 4 is installed on the bottom frame of the ROV platform 1, centrally installed, and the hinge point of the probe arm 4 is located at the front position of the bottom frame of the ROV. The probe rod 15 moves forward and backward to realize the up-down movement of the probe rod 15. A group of obliquely downward spraying nozzles 17 are integrated on the probe rod 15 for spraying and ditching the soil at the bottom of the probe arm. A group of obliquely upward spraying nozzles 17 are integrated on the probe rod 15 for spraying the soil flowing back from the upper part of the probe arm after the probe arm is lowered. The force feedback sensor 18 is installed at the hinge point position of the hydraulic cylinder 19 and the probe rod 15, and the force feedback sensor 18 has the function of pulling and pressing force data feedback. The force feedback sensor 18 can feedback the force of the probe arm 4 in real time, and generate a probe arm force feedback curve. In the later stage, through regular learning, machine learning and other methods, the robustness of the robot cable recognition system software can be improved, the ability of the software to recognize underwater target objects can be enhanced, and the false alarm rate can be reduced. The group of downward spraying nozzles 17 installed on the probe rod 15 integrate the probe arm nozzle protection sleeve 16, and the nozzles 17 are installed inside the probe arm nozzle protection sleeve 16, so as to prevent the nozzles 17 from knocking and damaging the target object during the lifting process of the probe arm 4 detecting the target object. The inclination sensor 20 is installed on the middle piece of the probe rod 15, and is used for measuring the angle during the lowering process of the probe arm 4. The adaptive lifting probe arm 4 is controlled by a hydraulic system to realize the probe arm force maintaining function. The adaptive lifting probe arm hydraulic principle diagram mainly includes an accumulator 27, an overflow valve 28, a hydraulic lock 29, a proportional reversing valve 30, a pressure reducing valve 31 and a pressure sensor 32. The up-down movement of the probe arm 4 is controlled by the proportional reversing valve 30, the probe arm 4 has the function of the hydraulic lock 29, the probe arm oil cylinder control port has the overflow valve 28, which is used for hydraulic cylinder 19 loop protection. In the probe arm 4 hydraulic principle, the accumulator 27 is installed on the rodless cavity loop of the oil cylinder, which is used for setting the force of the probe arm 4. When the force of the probe arm 4 exceeds the set value of the accumulator 27, the accumulator 27 is energized, and the probe arm is raised. When the force of the probe arm 4 is less than the set value of the accumulator 27, the probe arm 4 returns to the initial set position. In the probe arm 4 hydraulic principle, the pressure sensor 32 is installed on the rodless cavity loop of the oil cylinder, which is used for real-time monitoring of the pressure of the rodless cavity of the probe arm 4.

[0074] Those skilled in the art can understand the present embodiment as a more specific description of embodiment 1.

[0075] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0076] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A deep-sea bottom target detection device, characterized in that: include: ROV platform (1), manipulator (2), underwater crawler walking mechanism (3) and adaptive lifting probe arm (4); The ROV platform (1) is equipped with an underwater hydraulic thruster, a vertical thruster (6) and a horizontal thruster (7) for adjusting the longitudinal and vertical thrust of the deep-sea bottom target detection device; The underwater crawler walking mechanism (3) is installed on the chassis frame of the ROV platform (1), the underwater crawler walking mechanism (3) includes a crawler, and the crawler driving method includes a hydraulic motor and a servo motor. The crawler walking mechanism (3) performs speed closed-loop feedback through an underwater angle feedback sensor; The manipulator (2) is mounted on the center bottom frame at the tail of the ROV platform (1) and is used for grabbing underwater cables; The adaptive lifting probe arm (4) is installed on the bottom frame of the ROV platform (1) and is centrally installed. The adaptive lifting probe arm (4) is provided with a probe rod (15) and a hydraulic cylinder (19). The probe rod (15) moves up and down through the forward and backward movement of the hydraulic cylinder (19); The probe rod (15) is integrated with a set of nozzles (17) for spraying downwardly obliquely for ditching the soil at the bottom of the adaptive lifting probe arm (4). The probe rod (15) is integrated with a set of nozzles (17) for spraying soil that flows back from the upper part after the adaptive lifting probe arm (4) probes downwardly. A set of downward spraying nozzles (17) installed on the probe rod (15) is integrated with an adaptive lifting probe arm nozzle protection cover (16), and the nozzles (17) are installed inside the adaptive lifting probe arm nozzle protection cover (16); The adaptive lifting probe arm (4) is further provided with a force feedback sensor (18), and the force feedback sensor (18) is installed at the hinge point of the hydraulic cylinder (19) and the probe rod (15).

2. The deep-sea bottom target detection device according to claim 1, characterized in that: The top of the ROV platform (1) is provided with a buoyancy material (5). When the device encounters gullies, hills, or when the track wheels sink into the muddy seabed while traveling underwater, the device is lifted up by means of a vertical propeller (6) and a horizontal propeller (7).

3. The deep-sea bottom target detection device according to claim 1, characterized in that: The underwater crawler walking mechanism (3) adopts a plate-warping crawler plate, and the crawler plate is made of non-metallic material.

4. The deep-sea bottom target detection device according to claim 1, characterized in that: The manipulator (2) has a cable cutting device (21) integrated on its forearm. The manipulator (2) includes a hand grip (22) and a telescopic mechanism. The cable cutting device (21) is telescopically moved forward and backward along the forearm direction to the hand grip (22) position through the telescopic mechanism to cut the target object. The telescopic mechanism includes but is not limited to a hydraulic cylinder or an electric cylinder. The cutting head of the cable cutting device (21) adopts an open scissors mechanism. The hand grip (22) is used for gripping a target object. The hand grip (22) is driven by a hydraulic cylinder. The hand grip (22) is provided with a position feedback sensor for measuring the opening angle of the hand grip (22). The position feedback sensor includes but is not limited to an angle feedback sensor or a displacement feedback sensor.

5. The deep-sea bottom target detection device according to claim 1, characterized in that: The manipulator (2) is integrated with a low-light camera (23) and an underwater light and camera (24) on its forearm for observation in sewage environments; The low-light camera (23) includes a low-light probe (25) and a bell-shaped nozzle (26). When the low-light camera (23) works in a sewage environment, a micro water pump sprays clean water jets from a clean water compensator to the bell-shaped nozzle (26) around the low-light probe (25) to disperse the sewage around the low-light probe (25).

6. The deep-sea bottom target detection device according to claim 1, characterized in that: The force feedback sensor (18) provides real-time feedback on the magnitude of the force of the adaptive lifting probe arm (4) and generates a feedback curve of the adaptive lifting probe arm force.

7. The deep-sea bottom target detection device according to claim 1, characterized in that: The adaptive lifting probe arm (4) is further provided with an inclination sensor (20), which is installed at the middle position of the probe rod (15) and is used for measuring the angle of the adaptive lifting probe arm (4) during the downward swing process.

8. The deep-sea bottom target detection device according to claim 1, characterized in that: The adaptive lifting probe arm (4) is controlled by a hydraulic system; the hydraulic system includes an accumulator (27), a relief valve (28), a hydraulic lock (29), a proportional reversing valve (30), a pressure reducing valve (31) and a pressure sensor (32); The up and down movement of the adaptive lifting probe arm (4) is controlled by a proportional reversing valve (30). The adaptive lifting probe arm (4) is provided with a hydraulic lock (29). The oil cylinder control port of the adaptive lifting probe arm (4) is provided with a relief valve (28) for protecting the circuit of the hydraulic cylinder (19). An accumulator (27) is installed on the rodless cavity circuit of the oil cylinder in the hydraulic system of the adaptive lifting probe arm (4) for setting the force of the adaptive lifting probe arm (4). When the force of the adaptive lifting probe arm (4) exceeds the set value of the accumulator (27), the accumulator (27) stores energy and the adaptive lifting probe arm (4) swings upward. When the force of the adaptive lifting probe arm (4) is less than the set value of the accumulator (27), the adaptive lifting probe arm (4) returns to the initial set position. A pressure sensor (32) is installed on the rodless cavity circuit of the oil cylinder in the hydraulic system of the adaptive lifting probe arm (4) to monitor the pressure of the rodless cavity of the adaptive lifting probe arm (4) in real time.

Images