A hyperspectral imager push-broom device based on ROV platform

Abstract

The present invention belongs to the technical field of underwater spectral imaging, and specifically discloses a high-spectral imaging device based on an ROV platform, including a motion platform, a front-view camera fixedly connected to the inner top of the motion platform, the front-view camera is used to observe the front of the robot, a downward-view camera fixedly connected to one side of the outside of the motion platform, the downward-view camera is used to assist the high-spectrometer to observe the bottom of the robot, an underwater camera fixedly connected to the other side of the outside of the motion platform, the underwater camera is used to assist the operating system to observe the travel of the high-spectrometer push sweep, and a plurality of underwater light sources are fixedly connected to the outside of the motion platform. Through the cooperation of the pressure supply mechanism, the flushing and cleaning mechanism and the heating mechanism, the automatic cleaning of the device is realized, and it can be dried after the cleaning is completed, thereby reducing the participation of human labor, saving time and labor, improving the cleaning efficiency, and also reducing the workload of the staff.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater spectral imaging, and specifically discloses a hyperspectral imaging push-sweep device based on an ROV platform. Background Art

[0002] The ROV-based hyperspectral imager push-broom device is a system specifically designed for hyperspectral imaging in underwater environments. This system combines the operational capabilities of the ROV platform with the precise imaging capabilities of the hyperspectral imager to perform detailed spectral analysis of underwater targets. The hyperspectral imager can obtain image information over a wide range of wavelengths, and each pixel contains multi-dimensional spectral data. Compared with ordinary image imaging, it can provide more material and substance characteristics and has a wide range of applications, especially in underwater exploration, environmental monitoring, ecological research and other fields.

[0003] The push-broom device of the hyperspectral imager in the prior art usually operates underwater, and the underwater conditions are complicated. Therefore, in order to increase the service life of the device, it is generally necessary to clean it after underwater operation. However, the push-broom device of the hyperspectral imager generally does not have an automatic cleaning function, and manual cleaning is time-consuming and labor-intensive, which reduces the cleaning efficiency and also increases the workload of the staff. Summary of the invention

[0004] In view of this, the purpose of the present invention is to propose a hyperspectral imager push-broom device based on an ROV platform to solve the problem that the hyperspectral imager push-broom device in the prior art does not have an automatic cleaning function and requires manual participation in cleaning, which is time-consuming and labor-intensive, reduces the cleaning efficiency, and also increases the workload of the staff.

[0005] To achieve the above objectives, the present invention provides a hyperspectral imager push-sweep device based on an ROV platform, comprising a motion platform, a front-view camera is fixedly connected to the inner top of the motion platform, the front-view camera is used to observe the front of the robot, a downward-view camera is fixedly connected to one side of the outer side of the motion platform, the downward-view camera is used to assist the hyperspectrometer to observe the bottom of the robot, an underwater camera is fixedly connected to the other side of the outer side of the motion platform, the underwater camera is used to assist the operating system to observe the push-sweep stroke of the hyperspectrometer, a plurality of underwater light sources are fixedly connected to the outer side of the motion platform, a plurality of electromagnets are fixedly connected to the bottom of the motion platform, a metal frame is arranged between the plurality of electromagnets, a diffuse reflector is fixedly connected to the inner side of the metal frame, a pressure supply mechanism is arranged at the outer bottom end of the motion platform, a flushing and cleaning mechanism is arranged on the outer side of the motion platform, an air intake conversion mechanism is arranged on the top of the pressure supply mechanism, a sample collection mechanism is arranged on the side of the pressure supply mechanism away from the motion platform, and a heating mechanism is arranged on the top of the pressure supply mechanism.

[0006] In the above technical scheme, preferably, the pressure supply mechanism includes an installation bent rod, two ends of the installation bent rod are respectively fixedly connected to the two ends of the bottom of the moving platform, the outside of the installation bent rod is slidably connected to a moving shell, the outside of the installation bent rod is fixedly connected to a fixed plug, a one-way valve 1 is fixedly connected to the upper side of one end of the moving shell, a one-way valve 2 is fixedly connected to the lower side of one end of the moving shell, an electric push rod is fixedly connected to the bottom of the moving platform, the output end of the electric push rod is fixedly connected to the outside of the moving shell, the one-way valve 1 is fixedly connected to an air outlet ventilation pipe at one end away from the moving shell, the one-way valve 2 is fixedly connected to an exhaust ventilation pipe at one end away from the moving shell, the one-way valve 1 is fixedly connected to an air storage box at one end of the air outlet ventilation pipe at one end away from the one-way valve 1, and the exhaust ventilation pipe is fixedly connected to an air pressure box at one end away from the one-way valve 2.

[0007] The top of the water pipe is fixedly connected to the bottom of the movable rod, and the bottom of the water pipe is fixedly connected to the bottom of the movable rod.

[0008] In the above technical solution, preferably, the air intake conversion mechanism includes a main pipe, the bottom of the main pipe is fixedly connected to the top of the air pressure box, the inside of the main pipe is fixedly connected with a fixing ring, the bottom of the fixing ring is fixedly connected with a pressure spring, the bottom of the pressure spring is fixedly connected with a movable plate, a plurality of air holes are provided at the outer edge of the movable plate, the outside of the main pipe is fixedly connected with a conversion pipe, both ends of the conversion pipe are fixedly connected with mounting frames, a limiting rod is fixedly connected between the two mounting frames, two sliding bars are fixedly connected to the outside of the limiting rod, the inside of the conversion pipe is slidably connected with a sliding plate, a plurality of through holes are provided at the outer edge of the sliding plate, a high-power spring is arranged inside the conversion pipe, a plurality of plugs are fixedly connected to the side of the conversion pipe away from the main pipe, and the plugs are slidably connected to the inside of the through holes.

[0009] In the above technical scheme, preferably, the sample collection mechanism includes a collection tube, the interior of the collection tube is fixedly connected to a fixed tube, the interior of the fixed tube is provided with a pushing spring, the interior of the fixed tube is slidably connected to a limited sliding block, the bottom of the pushing spring is fixedly connected to a sliding column, the bottom of the sliding column is fixedly connected to a plug plate, the external bottom end of the collection tube is threadedly connected to a threaded cover, the external top end of the collection tube is fixedly connected to a connecting tube, the end of the connecting tube away from the collection tube is fixedly connected to the top of the air pressure box, and the outside of the connecting tube is fixedly connected to a ventilation valve.

[0010] In the above technical scheme, preferably, the heating mechanism includes a mounting seat, the bottom of the mounting seat is fixedly connected to the top of the air pressure box, two card slots are provided inside the mounting seat, and two card holes are provided on the top of the mounting seat, a mounting ring is provided in the middle of the mounting seat, the bottom of the mounting ring is fixedly connected to a heating rod, the outside of the mounting ring is fixedly connected to two ears, a return spring is provided inside the ear, the inner sliding connection of the ear is a limiting plate, the top of the limiting plate is fixedly connected to an anti-slip head, the anti-slip head is engaged with the card hole, one end of the return spring is fixedly connected to the inner bottom end of the ear, and the other end of the return spring is fixedly connected to the inside of the anti-slip head.

[0011] In the above technical solution, preferably, the outer side of the air pressure box is fixedly connected to the outside of the moving platform, the outer side of the air storage box is fixedly connected to the side of the outer side of the moving platform away from the air pressure box, and the fixed plug is slidably connected to the inside of the mobile shell.

[0012] In the above technical solution, preferably, one end of the high-force spring is fixedly connected to a side of the sliding plate close to the main pipe, and the other end of the high-force spring is fixedly connected to the outside of one of the mounting frames.

[0013] In the above technical solution, preferably, the movable plate is slidably connected to the inside of the main pipe, and the limiting rod and the sliding bar are both slidably connected to the middle part of the sliding plate.

[0014] In the above technical solution, preferably, one end of the push spring is fixedly connected to the inner top end of the fixed tube, and the other end of the push spring is fixedly connected to the top of the limiting sliding block.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The present invention realizes automatic cleaning of the device through the cooperation of the pressure supply mechanism, the flushing and cleaning mechanism and the heating mechanism, and can dry it after cleaning, thereby reducing manual participation, saving time and effort, improving cleaning efficiency, and also reducing the workload of staff.

[0017] The present invention provides power to the sample collection mechanism through the pressure supply mechanism, so that mud or some small objects can be collected underwater, thereby increasing the function of the device and further improving the practicability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The three-dimensional Figure 1 ;

[0019] Figure 2 The three-dimensional Figure 2 ;

[0020] Figure 3 It is a structural schematic diagram of the flushing and cleaning mechanism in the present invention;

[0021] Figure 4 It is a structural schematic diagram of the mobile housing in the present invention;

[0022] Figure 5 It is a structural schematic diagram of the movable rod in the present invention;

[0023] Figure 6 It is a structural schematic diagram of the collection tube in the present invention;

[0024] Figure 7 It is a structural schematic diagram of the main tube in the present invention;

[0025] Figure 8 It is a schematic diagram of the structure of the conversion tube in the present invention;

[0026] Fig. 9 It is a schematic diagram of the structure of the fixed cylinder in the present invention;

[0027] Fig.10 It is a structural schematic diagram of the mounting seat in the present invention;

[0028] Fig.11 It is a structural schematic diagram of the installation ring in the present invention;

[0029] Fig.12 for Fig.11 A magnified image of point A;

[0030] Fig.13 It is a structural schematic diagram of the motion platform in the present invention.

[0031] In the figure: 1. motion platform; 2. front camera; 3. downward camera; 4. underwater camera; 5. underwater light source; 6. metal frame; 7. diffuse reflector; 8. electromagnet; 9. pressure supply mechanism; 91. installation crank rod; 92. moving shell; 93. fixing plug; 94. one-way valve 1; 95. one-way valve 2; 96. electric push rod; 97. air outlet vent pipe; 98. air extraction vent pipe; 99. air pressure box; 910. air storage box; 10. flushing and cleaning mechanism; 101. water storage tank; 102. air connection pipe; 103. slide rail; 104. slide block; 105. installation cylinder; 106. limit block; 107. movable rod; 108. water pipe; 109. nozzle; 110. liquid pipe; 111. water inlet pipe; 11. air intake conversion mechanism; 1101. main pipe; 1102. fixing ring; 1 103, pressing spring; 1104, movable plate; 1105, air hole; 1106, conversion tube; 1107, mounting frame; 1108, limit rod; 1109, slide bar; 1110, sliding plate; 1111, through hole; 1112, strong spring; 1113, plug; 12, sample collection mechanism; 1201, collection tube; 1202, fixed tube; 1203, push spring; 1204 , limit sliding block; 1205, sliding column; 1206, plug plate; 1207, threaded cover; 1208, connecting pipe; 1209, ventilation valve; 13, heating mechanism; 1301, mounting seat; 1302, slot; 1303, hole; 1304, mounting ring; 1305, heating rod; 1306, ear; 1307, reset spring; 1308, limit plate; 1309, anti-head removal. DETAILED DESCRIPTION

[0032] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0034] like Figure 1-Figure 13A hyperspectral imager push-sweep device based on an ROV platform is shown, comprising a motion platform 1, a front-view camera 2 is fixedly connected to the inner top of the motion platform 1, the front-view camera 2 is used to observe the front of the robot, a downward-view camera 3 is fixedly connected to one side of the outside of the motion platform 1, the downward-view camera 3 is used to assist the hyperspectrometer to observe the bottom of the robot, an underwater camera 4 is fixedly connected to the other side of the outside of the motion platform 1, the underwater camera 4 is used to assist the operating system to observe the push-sweep stroke of the hyperspectrometer, a plurality of underwater light sources 5 are fixedly connected to the outside of the motion platform 1, a plurality of electromagnets 8 are fixedly connected to the bottom of the motion platform 1, a metal frame 6 is arranged between the plurality of electromagnets 8, a diffuse reflector 7 is fixedly connected to the inner side of the metal frame 6, a pressure supply mechanism 9 is arranged at the outer bottom end of the motion platform 1, a flushing and cleaning mechanism 10 is arranged on the outside of the motion platform 1, an air intake conversion mechanism 11 is arranged on the top of the pressure supply mechanism 9, a sample collection mechanism 12 is arranged on the side of the pressure supply mechanism 9 away from the motion platform 1, and a heating mechanism 13 is arranged on the top of the pressure supply mechanism 9.

[0035] The pressure supply mechanism 9 includes an installation bent rod 91, which provides an installation position. The two ends of the installation bent rod 91 are respectively fixedly connected to the two ends of the bottom of the motion platform 1. The outside of the installation bent rod 91 is slidably connected to a mobile shell 92, and the outside of the installation bent rod 91 is fixedly connected to a fixed plug 93. The mobile shell 92 moves back and forth to cooperate with the fixed plug 93 to perform inflation and suction. A one-way valve 1 94 is fixedly connected to the upper side of one end of the mobile shell 92, and a one-way valve 2 95 is fixedly connected to the lower side of one end of the mobile shell 92. Both the one-way valve 2 95 and the one-way valve 1 94 can only be ventilated in one direction. The bottom of the motion platform 1 is fixedly connected to an electric push rod 96, which provides power for the movement of the mobile shell 92. The output end of the electric push rod 96 is fixedly connected to It is connected to the outside of the mobile shell 92, and the end of the one-way valve 1 94 away from the mobile shell 92 is fixedly connected to an air outlet vent pipe 97, and the end of the one-way valve 2 95 away from the mobile shell 92 is fixedly connected to an air extraction vent pipe 98, both of which serve to connect ventilation. The end of the air outlet vent pipe 97 away from the one-way valve 1 94 is fixedly connected to an air storage box 910, and the air storage box 910 can store gas. The end of the air extraction vent pipe 98 away from the one-way valve 2 95 is fixedly connected to an air pressure box 99, and the outer side of the air pressure box 99 is fixedly connected to the outside of the moving platform 1, and the outer side of the air storage box 910 is fixedly connected to the side of the outer side of the moving platform 1 away from the air pressure box 99. The fixed plug 93 is slidably connected to the inside of the mobile shell 92.

[0036] The flushing and cleaning mechanism 10 includes a water tank 101, which can store water or gas. The outside of the water tank 101 is fixedly connected to the outside bottom end of the motion platform 1, and one end of the water tank 101 is fixedly connected to a connecting air pipe 102, and the side of the connecting air pipe 102 away from the water tank 101 is fixedly connected to the outside of the gas storage box 910. Both sides of the motion platform 1 are fixedly connected with two slide rails 103, and the slide rails 103 provide sliding tracks. The outside of the slide rails 103 is slidably connected to a slider 104, and the bottom of the slider 104 is fixedly connected to a movable rod 107, and the outside of the movable rod 107 is slidably connected to a mounting cylinder 105, and the inside of the mounting cylinder 105 is slidably connected to a limiting block 106. After the gas enters the mounting cylinder 105, the limiting block 106 can be pushed to move upward, and then the movable rod 107 can be driven to move upward. The limiting block 106 The top is fixedly connected to the bottom of the movable rod 107, and the bottoms of the mounting tubes 105 are connected together by a gas pipe, and the gas pipe is passed into the interior of the gas storage box 910, and an automatic valve is fixedly connected between the gas storage box 910 and the gas pipe to control the on-off of the gas circuit. A water pipe 108 is fixedly connected between the four sliders 104, and the water pipe 108 plays the role of water and ventilation. The outside of the water pipe 108 is fixedly connected with a plurality of nozzles 109, and the bottom of the water pipe 108 is fixedly connected with a liquid pipe 110, and the bottom of the liquid pipe 110 is fixedly connected to one end of the water storage tank 101, and the top of the water storage tank 101 is fixedly connected with a water inlet pipe 111, which is convenient for injecting cleaning liquid. The four mounting tubes 105 are respectively fixedly connected to both sides of the motion platform 1, and the outsides of the air pipe 102 and the liquid pipe 110 are fixedly connected with automatic valves.

[0037] The air intake conversion mechanism 11 includes a main pipe 1101, which provides an installation position. The bottom of the main pipe 1101 is fixedly connected to the top of the air pressure box 99. The inside of the main pipe 1101 is fixedly connected to a fixing ring 1102. The bottom of the fixing ring 1102 is fixedly connected to a pressure spring 1103. The fixing ring 1102 can be installed with the pressure spring 1103. The bottom of the pressure spring 1103 is fixedly connected to a movable plate 1104. The outer edge of the movable plate 1104 is provided with a plurality of air holes 1104. 05, the air hole 1105 can be ventilated after a distance from the bottom of the main pipe 1101, the outside of the main pipe 1101 is fixedly connected with a conversion pipe 1106, both ends of the conversion pipe 1106 are fixedly connected with mounting brackets 1107, the mounting brackets 1107 provide installation positions, and a limit rod 1108 is fixedly connected between the two mounting brackets 1107. The outside of the limit rod 1108 is fixedly connected with two sliding bars 1109, and the inside of the conversion pipe 1106 is slidably connected with a sliding plate 1110, which limits The positioning rod 1108 can prevent the sliding plate 1110 from shaking during movement, and the sliding bar 1109 can prevent the sliding plate 1110 from rotating during movement. A plurality of through holes 1111 are provided at the outer edge of the sliding plate 1110. A strong spring 1112 is provided inside the conversion tube 1106. The elastic coefficient of the strong spring 1112 is greater than the elastic coefficient of the pressure spring 1103. Therefore, the pressure spring 1103 is compressed first during inhalation, and the interior of the conversion tube 1106 is away from A plurality of plugs 1113 are fixedly connected to one side of the main pipe 1101, and the plugs 1113 are slidably connected to the inside of the through hole 1111. One end of a strong spring 1112 is fixedly connected to the side of the sliding plate 1110 close to the main pipe 1101, and the other end of the strong spring 1112 is fixedly connected to the outside of one of the mounting frames 1107. The movable plate 1104 is slidably connected to the inside of the main pipe 1101, and the limit rod 1108 and the slide bar 1109 are both slidably connected to the middle of the sliding plate 1110.

[0038] The sample collection mechanism 12 includes a collection tube 1201, which can provide a space for installation and collection. The interior of the collection tube 1201 is fixedly connected to a fixed tube 1202, which provides an installation position. The interior of the fixed tube 1202 is provided with a push spring 1203, and the interior of the fixed tube 1202 is slidably connected to a limited sliding block 1204. The bottom of the push spring 1203 is fixedly connected to a sliding column 1205, and the push spring 1203 can push the limited sliding block 1204 and the sliding column 1205 to reset. The bottom of the sliding column 1205 is fixedly connected to a plug plate 1206, and the plug plate 1206 can block the threaded cover 1207, so as to keep the collection tube 1 201 has internal sealing, and the external bottom end of the collecting tube 1201 is threadedly connected with a threaded cover 1207, which can seal the collecting tube 1201 and maintain the sealing of the inside of the collecting tube 1201. The external top end of the collecting tube 1201 is fixedly connected with a connecting pipe 1208, and the connecting pipe 1208 plays a connecting role. One end of the connecting pipe 1208 away from the collecting tube 1201 is fixedly connected to the top of the air pressure box 99, and the outside of the connecting pipe 1208 is fixedly connected with a ventilation valve 1209, one end of the push spring 1203 is fixedly connected to the internal top of the fixed tube 1202, and the other end of the push spring 1203 is fixedly connected to the top of the limiting sliding block 1204.

[0039] The heating mechanism 13 includes a mounting seat 1301, which provides a mounting position. The bottom of the mounting seat 1301 is fixedly connected to the top of the air pressure box 99. Two card slots 1302 are provided inside the mounting seat 1301. Two card holes 1303 are provided on the top of the mounting seat 1301. A mounting ring 1304 is provided in the middle of the mounting seat 1301. The mounting ring 1304 provides a mounting position. A heating rod 1305 is fixedly connected to the bottom of the mounting ring 1304. The heating rod 1305 can generate heat to heat the gas inside the air pressure box 99. The outside of the mounting ring 1304 is fixedly connected to two card ears 1306, which can be engaged with the card slots 1302. , so that the mounting ring 1304 can be installed inside the mounting seat 1301, a return spring 1307 is arranged inside the ear 1306, and the internal sliding connection of the ear 1306 is connected to the limiting plate 1308, the limiting plate 1308 plays a limiting role, and the top of the limiting plate 1308 is fixedly connected with an anti-slip head 1309, the anti-slip head 1309 can be engaged with the card hole 1303, and can prevent the ear 1306 from escaping from the inside of the card slot 1302, the anti-slip head 1309 is engaged with the card hole 1303, one end of the return spring 1307 is fixedly connected to the internal bottom end of the ear 1306, and the other end of the return spring 1307 is fixedly connected to the inside of the anti-slip head 1309.

[0040] Working principle: When cleaning the device, it is first necessary to charge the pressure. During the charging process, the electric push rod 96 is started, and the output end of the electric push rod 96 is retracted, driving the movable housing 92 to move toward the direction of the air storage box 910. At this time, the one-way valve 1 94 is opened, and the one-way valve 2 95 is closed. The gas in the movable housing 92 will enter the interior of the air storage box 910 through the one-way valve 1 94 and the air outlet vent pipe 97. When the electric push rod 96 is extended, the one-way valve 1 94 is closed, and the one-way valve 2 95 is opened. At this time, the air inside the air pressure box 99 is extracted through the air extraction vent pipe 98 and the one-way valve 2 95, thereby achieving the inflation of the air storage box 910 and increasing the air pressure inside the air storage box 910.

[0041] When cleaning, the automatic valve on the air communication pipe 102 is opened, and the gas inside the air storage box 910 will enter the water storage tank 101 through the air communication pipe 102, so that the pressure inside the water storage tank 101 increases, and the automatic valve on the liquid communication pipe 110 is opened, and the high-pressure water flow will enter the water communication pipe 108 through the liquid communication pipe 110, and be sprayed out through the nozzle 109 to clean the device, and the automatic valve between the gas pipe and the air storage box 910 is opened, so that the gas inside the air storage box 910 can enter the installation tube 105, thereby pushing the limit block 106 to move upward, and then the movable rod 107 can be driven to move upward, so that the slider 104 can be driven to move upward, and at this time, the water communication pipe 108 and the nozzle 109 can be driven to move upward, so that the external adjustment of the nozzle 109 can be realized, and different directions of the device can be cleaned;

[0042] When the air pressure box 99 is evacuated, since the elastic coefficient of the strong spring 1112 is greater than the elastic coefficient of the pressure spring 1103, the movable plate 1104 is first sucked upward. When the air hole 1105 is no longer blocked by the bottom of the main pipe 1101, the gas will enter the inside of the main pipe 1101 through the air hole 1105, and then enter the inside of the movable housing 92 through the air extraction vent pipe 98. When the air pressure inside the air pressure box 99 is too low, the air hole 1105 is opened under the dual action of the air pressure and the pressure spring 1103. 05 will not move upward any more, at this time the sliding plate 1110 will be sucked to move in the direction of the main pipe 1101, and then the strong spring 1112 will be compressed, and when the through hole 1111 at the edge of the sliding plate 1110 moves out of the range of the plug 1113, the gas will enter the interior of the conversion tube 1106 through the through hole 1111, and then enter the interior of the main pipe 1101 through the conversion tube 1106, and enter the interior of the mobile housing 92 through the main pipe 1101 and the exhaust vent pipe 98, thereby realizing the conversion of the intake pipe;

[0043] When it is necessary to collect samples, the ventilation valve 1209 is opened. At this time, due to the low air pressure inside the air pressure box 99, suction will be generated inside the collection tube 1201 through the connecting pipe 1208, and the plug plate 1206 will be sucked and moved upward, thereby driving the sliding column 1205 and the limit sliding block 1204 to move upward and compressing the pushing spring 1203. At this time, since there is still suction inside the collection tube 1201, relatively small samples can be sucked into the collection tube 1201. At this time, the ventilation valve 1209 is closed, and the limit sliding block 1204 is pushed downward under the reaction force of the pushing spring 1203, which can drive the sliding column 1205 and the plug plate 1206 to move downward, so that the threaded cover 1207 can be blocked, so that the sample is stored in the collection tube 1201. When sampling, the threaded cover 1207 can be unscrewed to take out the sample inside the collection tube 1201;

[0044] When drying, it is only necessary to turn on the heating rod 1305 so that the heating rod 1305 generates heat to heat the gas inside the pressure box 99, and no cleaning liquid is injected into the water tank 101, so that the heated gas can enter the water tank 101 and spray hot air through the nozzle 109. If the air pressure inside the pressure box 99 is too low, the ventilation valve 1209 can be opened to allow the gas to enter the pressure box 99 through the collection tube 1201 for heating, thereby avoiding the air intake conversion mechanism 11 from converting the ventilation path. When installing the heating rod 1305, it is only necessary to align the ear 1306 on the installation ring 1304 with the notch of the card slot 1302, and slide the ear 1306 into the card slot. When the plug plate 1206 slides into the interior of the card slot 1302, the top of the anti-slip head 1309 is a curved surface, so the anti-slip head 1309 will enter the interior of the card ear 1306 after being squeezed and compress the reset spring 1307. When the anti-slip head 1309 moves to the card hole 1303, the anti-slip head 1309 can be driven to move upward under the action of the reset spring 1307, so that the anti-slip head 1309 is engaged in the interior of the card hole 1303. When disassembling, you only need to rotate the mounting ring 1304 in the opposite direction.

[0045] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. A hyperspectral imager push-broom device based on an ROV platform, comprising a motion platform, characterized in that: A forward-looking camera is fixedly connected to the top inner side of the motion platform, and the forward-looking camera is used to observe the front of the robot. A downward-looking camera is fixedly connected to one side of the outer side of the motion platform, and the downward-looking camera is used to assist the hyperspectrometer to observe the bottom of the robot. An underwater camera is fixedly connected to the other side of the outer side of the motion platform, and the underwater camera is used to assist the operating system to observe the push-sweep stroke of the hyperspectrometer. A plurality of underwater light sources are fixedly connected to the outer side of the motion platform, a plurality of electromagnets are fixedly connected to the bottom of the motion platform, and metal frames are arranged between the plurality of electromagnets. A diffuse reflector is fixedly connected to the inner side of the metal frame. A pressure supply mechanism is arranged at the outer bottom end of the motion platform, a flushing and cleaning mechanism is arranged on the outer side of the motion platform, and an air intake conversion mechanism is arranged on the top of the pressure supply mechanism. A sample collecting mechanism is arranged on the side of the pressure supply mechanism away from the moving platform, a heating mechanism is arranged on the top of the pressure supply mechanism, the pressure supply mechanism comprises a mounting bent rod, two ends of the mounting bent rod are respectively fixedly connected to the two ends of the bottom of the moving platform, a moving shell is slidably connected to the outside of the mounting bent rod, a fixing plug is fixedly connected to the outside of the mounting bent rod, a one-way valve 1 is fixedly connected to the upper side of one end of the moving shell, a one-way valve 2 is fixedly connected to the lower side of one end of the moving shell, an electric push rod is fixedly connected to the bottom of the moving platform, an output end of the electric push rod is fixedly connected to the outside of the moving shell, an end of the one-way valve 1 away from the moving shell is fixedly connected to an air outlet ventilation pipe, an end of the one-way valve 2 away from the moving shell is fixedly connected to an exhaust ventilation pipe, and the air outlet ventilation pipe is far away from the moving shell. One end away from the one-way valve is fixedly connected to an air storage box, and one end of the air extraction ventilation pipe away from the one-way valve two is fixedly connected to an air pressure box. The flushing and cleaning mechanism includes a water storage tank, the outside of the water storage tank is fixedly connected to the outer bottom end of the motion platform, one end of the water storage tank is fixedly connected to a connecting air pipe, and the side of the connecting air pipe away from the water storage tank is fixedly connected to the outside of the air storage box, two slide rails are fixedly connected to both sides of the motion platform, the outside of the slide rails is slidably connected to a slider, the bottom of the slider is fixedly connected to a movable rod, the outside of the movable rod is slidably connected to a mounting cylinder, the inside of the mounting cylinder is slidably connected to a limited block, the top of the limited block is fixedly connected to the bottom of the movable rod, a water pipe is fixedly connected between the four sliders, the outside of the water pipe is fixedly connected to a plurality of nozzles, and the bottom of the water pipe is fixedly connected to A liquid pipe is connected, the bottom of the liquid pipe is fixedly connected to one end of the water tank, the top of the water tank is fixedly connected to a water inlet pipe, four mounting tubes are fixedly connected to the two sides of the motion platform respectively, the outsides of the air pipe and the liquid pipe are fixedly connected to automatic valves, the air intake conversion mechanism includes a main pipe, the bottom of the main pipe is fixedly connected to the top of the air pressure box, the inside of the main pipe is fixedly connected to a fixing ring, the bottom of the fixing ring is fixedly connected to a pressure spring, the bottom of the pressure spring is fixedly connected to a movable plate, a plurality of air holes are opened at the outer edge of the movable plate, the outside of the main pipe is fixedly connected to a conversion pipe, both ends of the conversion pipe are fixedly connected to mounting frames, a limit rod is fixedly connected between the two mounting frames, the outside of the limit rod is fixedly connected to two sliding bars, the inside of the conversion pipe is slidably connected to a sliding plate,A plurality of through holes are provided at the outer edge of the sliding plate, a strong spring is provided inside the conversion tube, and a plurality of plugs are fixedly connected to the side of the conversion tube away from the main tube, and the plugs are slidably connected to the inside of the through holes.

2. The hyperspectral imager push-broom device based on the ROV platform according to claim 1, characterized in that: The sample collection mechanism includes a collection tube, the interior of the collection tube is fixedly connected to a fixed tube, a pushing spring is arranged inside the fixed tube, the interior of the fixed tube is slidably connected to a limited sliding block, the bottom of the pushing spring is fixedly connected to a sliding column, the bottom of the sliding column is fixedly connected to a plug plate, the outer bottom end of the collection tube is threadedly connected to a threaded cover, the outer top end of the collection tube is fixedly connected to a connecting tube, one end of the connecting tube away from the collection tube is fixedly connected to the top of the air pressure box, and the outside of the connecting tube is fixedly connected to a ventilation valve.

3. The hyperspectral imager push-broom device based on the ROV platform according to claim 1, characterized in that: The heating mechanism includes a mounting seat, the bottom of which is fixedly connected to the top of the air pressure box, two slots are provided inside the mounting seat, two holes are provided on the top of the mounting seat, a mounting ring is provided in the middle of the mounting seat, a heating rod is fixedly connected to the bottom of the mounting ring, two ears are fixedly connected to the outside of the mounting ring, a reset spring is provided inside the ear, a limit plate is slidably connected inside the ear, an anti-slip head is fixedly connected to the top of the limit plate, the anti-slip head is engaged with the hole, one end of the reset spring is fixedly connected to the inner bottom end of the ear, and the other end of the reset spring is fixedly connected to the inside of the anti-slip head.

4. The hyperspectral imager push-broom device based on the ROV platform according to claim 1, characterized in that: The outer side of the air pressure box is fixedly connected to the outside of the moving platform, the outer side of the air storage box is fixedly connected to the outer side of the moving platform away from the air pressure box, and the fixed plug is slidably connected to the inside of the moving shell.

5. The hyperspectral imager push-broom device based on the ROV platform according to claim 1, characterized in that: One end of the strong spring is fixedly connected to one side of the sliding plate close to the main pipe, and the other end of the strong spring is fixedly connected to the outside of one of the mounting frames.

6. The hyperspectral imager push-broom device based on the ROV platform according to claim 1, characterized in that: The movable plate is slidably connected to the inside of the main pipe, and the limit rod and the slide bar are both slidably connected to the middle part of the sliding plate.

7. The hyperspectral imager push-broom device based on the ROV platform according to claim 2, characterized in that: One end of the push spring is fixedly connected to the inner top end of the fixed cylinder, and the other end of the push spring is fixedly connected to the top of the limiting sliding block.

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