Near-bottom pull-type equipment suitable for complex seabed terrain

Abstract

The invention discloses near-bottom pull-type equipment suitable for complex seabed terrains, and belongs to the technical field of marine monitoring equipment.The pull-type equipment comprises a main frame, the main frame is movably connected with side wings and an empennage, a driving system for adjusting the directions of the side wings and the empennage is arranged in the main frame, and cameras are installed on the side wings and the empennage respectively; an anti-collision device is arranged on the side of the main frame and comprises guide rails which are vertically symmetrical and transversely arranged, a stress beam is connected between the tail ends of the same sides of the adjacent guide rails, the stress beam is connected with the main frame, the anti-collision device further comprises arc-shaped elastic plates matched with the guide rails, and the ends of the arc-shaped elastic plates can slide along the guide rails. And an elastic roller is rotationally connected between the arc-shaped elastic plates on the same side. The device has a wide shooting visual angle, has high adaptability to complex submarine topography, and can stably and efficiently carry out near-bottom detection.

Description

Technical Field

[0001] The present invention belongs to the technical field of marine monitoring equipment, and in particular relates to a near-bottom towing equipment suitable for complex seabed terrain. Background Art

[0002] With the deepening of human exploration and development of marine resources, the seabed landing equipment used for marine detection and monitoring has developed rapidly. Towed monitoring equipment is an underwater carrier that can carry various marine environment sensors, marine detection instruments, and deep-sea samplers to operate on the seabed. It is widely used in seabed environmental monitoring, geological surveys, and oil and gas resource detection. At present, towed monitoring equipment is basically pulled by the hull to move on the seabed, which is easy to cause shaking when pulled. When pulled, the pulling end of the equipment will be lifted, and the pitch angle will change. It is easy to shake when pulled, causing the monitoring components to shake, resulting in low monitoring efficiency. In addition, it is more laborious to drag the equipment on the seabed. When dragging, it is easy to be obstructed by mud and sand, making it difficult to drag. Moreover, it is blocked by obstacles, making it difficult to drag.

[0003] The US invention patent with application number US15145826 discloses a large underwater towing device and an underwater towing method thereof, wherein the towing device comprises an underwater towing assembly and a fixing mechanism of the underwater towing assembly, wherein the underwater towing assembly comprises a first buoy, a second buoy and a third buoy, wherein the fixing mechanism comprises a cable guide and two supporting members arranged on both sides of the cable guide, wherein the first buoy, the second buoy and the third buoy all have streamlined and bilaterally symmetrical shapes, wherein the first buoy, the second buoy and the third buoy are connected by a fixing frame, wherein the first buoy, the second buoy and the third buoy are all arranged to be hollow to accommodate experimental equipment, and wherein a buoyancy reserve tank having an elliptical horizontal cross section is arranged on the upper part of the first buoy. The invention can meet the requirements of underwater towing and realize the exploration of complex seabed terrain.

[0004] Due to the complex and changeable seabed terrain, existing towing equipment is unable to adapt to changes in the seabed terrain in real time to maintain a stable and safe distance from the seabed, affecting the observation effect; and during the towing process, the equipment often does not have time to avoid obstacles and is hit violently, causing serious deformation of the equipment and even making the equipment unusable. Summary of the invention

[0005] The object of the present invention is to provide a near-bottom towing equipment suitable for complex seabed terrain, which has high collision resistance, high deployment stability and high movement stability.

[0006] The technical solution adopted by the present invention to achieve the above-mentioned purpose is: A near-bottom towed equipment suitable for complex seabed terrain, comprising: a main frame, the main frame is movably connected with side wings and tail wings, a driving system for adjusting the direction of the side wings and tail wings is provided in the main frame, and cameras are installed on the side wings and tail wings respectively. The driving system can adjust the angle and posture of the side wings and tail wings relative to the main frame, so that the main frame can obtain different diversion effects on the water body during the seabed towing and movement, and then adjust the posture of the towed equipment, so as to achieve the adaptation of the towed equipment to the complex seabed terrain, reduce the possibility of deformation and damage of the towed equipment after collision with seabed obstacles, and thus reduce the maintenance cost of the towed equipment; While the side wings and tail wing adjust their angles and postures through the drive system, they carry the cameras installed on them and move relative to the main frame, thereby changing the adjustment of the camera's shooting field of view, which is beneficial for the towed equipment to obtain a wider and more effective field of view when shooting near the bottom, thereby increasing the amount of information observed during the towed equipment's near-bottom shooting process, and obtaining more comprehensive near-bottom ocean information without increasing the moving range of the towed equipment, which helps to reduce the energy consumption of the towed equipment. The camera can use scenes shot from multiple angles to produce AR images, which is beneficial for professionals to analyze and process data.

[0007] Preferably, the side wings are located on the side of the main frame and can swing up and down. The side wings located on the side of the main frame are controlled to swing by the driving system. When the side wings swing and unfold horizontally relative to the main frame, the water resistance encountered by the towed equipment during sinking and rising can be increased, which is conducive to maintaining the water depth stability of the main frame when towing near the bottom, so that the main frame can move relatively horizontally, so that the cameras on the side wings and the tail wing can stabilize the shooting field of view, which is conducive to obtaining a clearer picture to improve the accuracy of information collection; During the sinking and rising process of the towed equipment, the side wings are folded and fitted to the sides of the main frame through the driving system to reduce the longitudinal water resistance of the towed equipment when it is raised and lowered in the water, so as to ensure that the towed equipment can sink and rise quickly and stably. On the one hand, the accuracy of the deployment position of the towed equipment is improved, and on the other hand, the lateral pulling force on the recovery equipment is reduced by stabilizing the horizontal position of the towed equipment during recovery, thereby improving the equipment recovery efficiency and safety.

[0008] Preferably, the tail wing includes a first tail wing and a second tail wing, the first tail wing is located at the tail of the main frame and can swing up and down, and the second tail wing is symmetrically distributed on both sides of the first tail wing and can swing laterally. The first tail wing swings up and down relative to the tail of the main frame through the driving system, which can change the diversion direction of the tail water flow during the towing process, thereby realizing the rise and sinking of the main frame during the towing process, so as to improve the adaptability of the towed equipment to the seabed, so that the camera can be stably photographed and information collected at a certain height above the seabed, and improve the stability of the seabed observation operation. The second tail wing that can swing laterally through the driving system can block the lateral water flow by moving away from the first tail wing, thereby increasing the lateral water resistance of the towed equipment during the towing process, and realizing the rapid deceleration and stopping of the towed equipment, which is conducive to the accurate positioning of the equipment above the seabed hydrothermal abnormal point for information collection, reducing the possibility of the towed equipment leaving the abnormal point due to inertia, thereby reducing the energy consumption caused by retreating, and also improving the efficiency of the local observation operation by shortening the time for adjusting the positioning.

[0009] Preferably, a camera is provided on the side of the second tail away from the first tail, and the cameras on the side wing, the first tail wing and the second tail wing can be stored inside the main frame. When the seabed environment is harsh, such as when it is subject to large sediment disturbance, the side of the side wing with the camera is attached to the side of the main frame through the drive system, the second tail wing is away from the first tail wing and attached to the tail of the main frame through the drive system, and the side of the first tail wing with the camera is attached to the tail of the main frame through the drive system, so that each camera is stored inside the main frame and protected by the wing plate, that is, the active protection of the camera is achieved by the side wing and tail wing used to adjust the direction and posture of the main frame, without the need for additional protective devices, and the protection of the camera is achieved without increasing the cost, thereby reducing the use cost and maintenance cost of the towed equipment for near-bottom observation.

[0010] Preferably, the main frame is provided with an anti-collision device on the side, the anti-collision device includes a guide rail that is symmetrical and arranged horizontally, a load-bearing beam is connected between the ends of the same side of adjacent guide rails, and the load-bearing beam is connected to the main frame. The anti-collision device also includes an arc-shaped elastic plate equipped with the guide rail, the end of the arc-shaped elastic plate can slide along the guide rail, and an elastic roller is rotatably connected between the arc-shaped elastic plates on the same side. When the equipment encounters an obstacle and collides, the rotating elastic roller contacts the obstacle and transmits the positive impact force to the arc-shaped elastic plate through the rotating consumption part, and then the impact force is transmitted to the arc-shaped elastic plate to cause it to be compressed and deformed, so that the two ends of the arc-shaped elastic plate slide away from each other in the guide rail and contact the load-bearing beams on both sides, so as to achieve buffering and transfer of the impact force, realize protection of the main frame and its internal detection equipment, reduce the probability of damage to the towed equipment, and improve the safety and stability of the near-bottom monitoring of the towed equipment; When the main frame is suspended on the side of the ship by ropes, the anti-collision device can contact the side of the ship, reducing the possibility of the towed equipment colliding with the side of the hull due to shaking during the deployment and recovery process, thereby improving the safety of the towed equipment suspension. At the same time, when the anti-collision device contacts the side of the ship, the rotating elastic roller forms rolling friction with the contact surface instead of sliding friction, thereby reducing the contact wear between the elastic roller and the shore or the hull, and greatly reducing the wear on the hull during the suspension of the towed equipment.

[0011] Preferably, there are at least five elastic rollers on the same side of the main frame, and the elastic rollers are arranged at intervals along the extension direction of the arc-shaped elastic plate, and the elastic roller part is located on the outer side of the arc-shaped elastic plate away from the main frame. The elastic rollers arranged along the extension direction of the arc-shaped elastic plate strengthen the structural strength of the connection between two adjacent arc-shaped elastic plates, which is conducive to the balanced deformation of the two adjacent arc-shaped elastic plates at other positions through multiple elastic rollers when a single arc-shaped elastic plate is partially impacted, thereby reducing the possibility of excessive deformation and fracture of the arc-shaped elastic plate and improving the anti-collision effect.

[0012] Preferably, the main frame is provided with a load-bearing device, which includes a load-bearing frame fixed to the top of the main frame, and a load-bearing member is movably connected in the load-bearing frame. The main frame is provided with a feedback adjustment system, and the feedback adjustment system is used to adjust the position of the load-bearing member on the load-bearing frame, and the load-bearing member can be hoisted. When different specifications of detection equipment are arranged inside the main frame, the center of gravity of the main frame will also be different. At this time, the towed equipment will tilt when hoisted, resulting in the towed equipment being unable to stably enter the water in a predetermined posture. The position of the load-bearing member on the load-bearing frame is adjusted by the feedback adjustment system to achieve the change of the top hoisting position of the towed equipment, thereby completing the balance of the equipment to ensure that the equipment can enter the water in a predetermined horizontal posture. On the one hand, the adaptability and layout adaptability of the main frame to detection equipment of different specifications are improved, and the matching range of the towed equipment is expanded. On the other hand, it avoids the equipment from tipping over or turning over after entering the water, resulting in the equipment being unable to observe near the bottom normally or being damaged by collision, thereby improving the observation stability, reducing the time required for the posture adjustment of the equipment after entering the water, and improving the observation efficiency.

[0013] Preferably, the load-bearing member includes a load-bearing plate, which is rotatably connected to a roller that cooperates with the load-bearing frame, and a retractable lock is provided on the side of the load-bearing plate. The feedback adjustment system can drive the roller to roll and drive the lock to retract, and the load-bearing frame has a lock hole that cooperates with the lock. The feedback adjustment system can drive the load-bearing plate to slide in the load-bearing frame by driving the roller. After reaching a suitable position, the feedback adjustment system drives the lock to retract into the load-bearing frame to lock the position of the load-bearing plate on the load-bearing frame, so as to stabilize the overall lifting position of the equipment, thereby achieving the overall level and stable entry of the equipment into the water, and avoiding the shaking of the equipment lifting causing the load-bearing plate to slide relative to the load-bearing frame and causing the roller to interfere with the relative load-bearing frame.

[0014] Preferably, the feedback adjustment system includes a posture sensor and a control compartment. The posture sensor can feed back posture information of the main frame to the control compartment, and the control compartment can control the movement of the roller and the lock.

[0015] Preferably, the load-bearing member further comprises a load-bearing head connected to the load-bearing plate, and the load-bearing head can be connected to the hanging device via a rope.

[0016] Compared with the prior art, the present invention has the following beneficial effects: the present invention can adjust the angles of the wing and the tail to achieve overall posture adjustment of the equipment, thereby improving the adaptability of the equipment to complex seabed terrain; the cameras carried by the wing and the tail form multi-angle shooting, and can use multi-angle scenes to form AR images for auxiliary professionals to analyze and process; the wing can swing to assist the equipment to sink and float, and improve the water depth stability and shooting picture stability of towing when deployed, and can also be stored to speed up the efficiency of deployment and recovery operations; the first tail and the second tail assist the equipment to rise and fall and stop suddenly, which is conducive to the accurate positioning of the equipment at abnormal points for information collection, and reduces the energy consumption caused by repeated positioning adjustment due to inertia; active protection of the camera is achieved by adjusting the wing and the tail, reducing the use cost and maintenance cost of the towed equipment for near-bottom observation; the anti-collision device improves the safety and stability of the equipment's near-bottom detection, and the elastic roller can use rolling friction to reduce the damage to the ship's side during the equipment deployment process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of a near-bottom towing equipment suitable for complex seabed terrain; Figure 2 This is a schematic diagram of the tail wing viewed from above; Figure 3 It is a schematic diagram of the protective device structure; Figure 4 It is a schematic diagram of the load-bearing device; Figure 5 This is a structural diagram of Embodiment 2 of the present invention; Figure 6 This is a schematic diagram of the position of the auxiliary parts in the third embodiment of the present invention; Figure 7 It is a cross-sectional schematic diagram of an auxiliary part; Figure 8 This is a schematic diagram of the guide plate structure in Embodiment 4 of the present invention.

[0018] Figure numbers: main frame 1; side wing 2; tail wing 3; first tail wing 31; second tail wing 32; camera 4; anti-collision device 5; guide rail 51; load-bearing beam 52; arc-shaped elastic plate 53; elastic roller 54; load-bearing device 6; load-bearing frame 61; load-bearing member 62; load-bearing plate 621; roller 622; lock head 623; lock hole 624; load-bearing head 625; auxiliary part 7; rod sleeve 71; guide rod 72; elastic member 73; release hole 74; adjustment member 8; guide plate 81; flow gap 82; spiral spring 83. DETAILED DESCRIPTION

[0019] The technical solution of the present invention is further described in detail below in conjunction with specific implementations and drawings: Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] Embodiment 1: See attached Figure 1 -Attached Figure 4 A near-bottom towing equipment suitable for complex seabed terrain includes: a main frame 1, the main frame 1 is movably connected with side wings 2 and tail wings 3, a driving system for adjusting the directions of the side wings 2 and the tail wings 3 is provided in the main frame 1, and cameras 4 are respectively installed on the side wings 2 and the tail wings 3.

[0021] Electronic instruments are installed in the main frame, including but not limited to: an electronic control cabin; an attitude indicator; a camera group; an inertial navigation system; and an altimeter.

[0022] The driving system can adjust the angle and posture of the side wings 2 and the tail wing 3 relative to the main frame 1, so that the main frame 1 can obtain different diversion effects on the water body during the towing movement on the seabed, thereby adjusting the posture of the towed equipment, realizing the adaptation of the towed equipment to the complex terrain of the seabed, reducing the possibility of deformation and damage of the towed equipment after collision with seabed obstacles, thereby reducing the maintenance cost of the towed equipment; While the side wings 2 and the tail wing 3 adjust their angles and postures through the driving system, they carry the cameras 4 installed respectively and move relative to the main frame, thereby changing the adjustment of the camera's shooting field of view, which is beneficial for the towed equipment to obtain a wider and more effective field of view when shooting near the bottom, thereby increasing the amount of information observed during the near-bottom shooting of the towed equipment, and obtaining more comprehensive near-bottom ocean information without increasing the moving range of the towed equipment, which helps to reduce the energy consumption of the towed equipment. The camera 4 can use scenes shot from multiple angles to produce AR images, which is beneficial for professionals to analyze and process data.

[0023] The side wings 2 are located on the sides of the main frame 1 and can swing up and down.

[0024] The side wing 2 is hinged to the top of the side of the main frame 1.

[0025] The side wings 2 located on the side of the main frame 1 are controlled to swing by the driving system. When the side wings 2 swing and unfold horizontally relative to the main frame 1, the water resistance encountered by the towed equipment during sinking and rising can be increased, which is beneficial to maintaining the water depth stability of the main frame 1 when towing near the bottom, so that the main frame can move relatively horizontally, so that the cameras 4 on the side wings 2 and the tail wing 3 can stabilize the shooting field of view, which is beneficial to obtain a clearer picture to improve the accuracy of information collection; During the sinking and rising process of the towed equipment, the side wings 2 are folded and fitted to the sides of the main frame 1 through the driving system to reduce the longitudinal water resistance of the towed equipment when it is raised and lowered in the water, so as to ensure that the towed equipment can sink and rise quickly and stably. On the one hand, the accuracy of the deployment position of the towed equipment is improved, and on the other hand, the lateral pulling force on the recovery equipment is reduced by stabilizing the horizontal position of the towed equipment during recovery, thereby improving the equipment recovery efficiency and safety.

[0026] The tail 3 includes a first tail 31 and a second tail 32. The first tail 31 is located at the rear of the main frame 1 and can swing up and down. The second tail 32 is symmetrically distributed on both sides of the first tail 31 and can swing laterally.

[0027] The first tail wing 31 swings up and down relative to the tail of the main frame 1 through the driving system, which can change the diversion direction of the tail water flow during towing, thereby realizing the rising and sinking of the main frame 1 during towing, so as to improve the adaptability of the towed equipment to the seabed, so that the camera 4 can be stably located at a certain height above the seabed for shooting and information collection, thereby improving the stability of seabed observation operations; the second tail wing 32 that can swing laterally through the driving system can block the lateral water flow by moving away from the first tail wing 31, thereby increasing the lateral water resistance of the towed equipment during towing, and realizing rapid deceleration and stopping of the towed equipment, which is conducive to the accurate positioning of the equipment above the seabed hydrothermal anomaly for information collection, reducing the possibility of the towed equipment leaving the anomaly due to inertia, thereby reducing the energy consumption caused by retreating, and also improving the efficiency of the local observation operation by shortening the time for adjusting positioning.

[0028] A camera 4 is provided on a side of the second tail wing 32 away from the first tail wing 31 , and the cameras 4 on the side wings 2 , the first tail wing 31 and the second tail wing 32 can be stored inside the main frame.

[0029] When the seabed environment is harsh, for example, when it is subject to large sediment disturbance, the driving system is used to make the side of the wing 2 with the camera 4 fit against the side of the main frame 1, the driving system is used to make the second tail wing 32 move away from the first tail wing 31 and fit against the tail of the main frame 1, and the driving system is used to make the side of the first tail wing 31 with the camera 4 fit against the tail of the main frame 1, so that each camera 4 is stored on the inner side of the main frame 1 and protected by the wing plate, that is, the active protection of the camera 4 is achieved by the side wing 2 and the tail wing used to adjust the direction and posture of the main frame 1, without the need for additional protective devices, and the protection of the camera 4 is achieved without increasing the cost, thereby reducing the use cost and maintenance cost of the towed equipment for near-bottom observation.

[0030] The main frame 1 is provided with an anti-collision device 5 on the side, and the anti-collision device 5 includes guide rails 51 which are symmetrical in upper and lower directions and arranged laterally, and a load-bearing beam 52 is connected between the ends of adjacent guide rails 51 on the same side, and the load-bearing beam 52 is connected to the main frame 1. The anti-collision device 5 also includes an arc-shaped elastic plate 53 equipped with the guide rail 51, and the end of the arc-shaped elastic plate 53 can slide along the guide rail 51, and an elastic roller 54 is rotatably connected between the arc-shaped elastic plates 53 on the same side.

[0031] When the equipment encounters an obstacle and collides with it, the rotating elastic roller 54 contacts the obstacle and transmits the positive impact force to the arc-shaped elastic plate 53 through the rotation consumption part, and then the impact force is transmitted to the arc-shaped elastic plate 53 to cause it to be compressed and deformed, so that the two ends of the arc-shaped elastic plate 53 slide away from each other in the guide rail 51 and contact the load-bearing beams 52 on both sides, so as to achieve buffering and transfer of the impact force, realize protection of the main frame 1 and its internal detection equipment, reduce the probability of damage to the towed equipment, and improve the safety and stability of the near-bottom monitoring of the towed equipment; When the main frame 1 is suspended on the side of the ship by ropes, the anti-collision device 5 can contact the side of the ship, reducing the possibility of the towed equipment colliding with the side of the hull due to shaking during the deployment and recovery process, thereby improving the safety of the towed equipment suspension. At the same time, when the anti-collision device 5 contacts the side of the ship, the rotating elastic roller 54 forms rolling friction with the contact surface instead of sliding friction, thereby reducing the contact wear between the elastic roller 54 and the shore or the hull, and greatly reducing the wear on the hull during the towed equipment suspension process.

[0032] There are at least five elastic rollers 54 on the same side of the main frame 1 . The elastic rollers 54 are arranged at intervals along the extending direction of the arc-shaped elastic plate 53 . Part of the elastic rollers 54 is located on the outer side of the arc-shaped elastic plate 53 away from the main frame 1 .

[0033] The elastic rollers 54 arranged along the extension direction of the arc-shaped elastic plate 53 strengthen the structural strength of the connection between two adjacent arc-shaped elastic plates 53, which is beneficial for forming a balanced deformation of the two adjacent arc-shaped elastic plates 53 at other positions through multiple elastic rollers 54 when a single arc-shaped elastic plate 53 is locally impacted, thereby reducing the possibility of excessive deformation and fracture of the arc-shaped elastic plate 53 and improving the anti-collision effect.

[0034] The main frame 1 is provided with a load-bearing device 6, which includes a load-bearing frame 61 fixed to the top of the main frame 1, and a load-bearing member 62 is movably connected inside the load-bearing frame 61. The main frame 1 is provided with a feedback adjustment system, and the feedback adjustment system is used to adjust the position of the load-bearing member 62 on the load-bearing frame 61. The load-bearing member 62 can be hoisted.

[0035] When detection equipment of different specifications are installed inside the main frame 1, the center of gravity of the main frame 1 will also be different. At this time, the towed equipment will tilt when being hoisted, resulting in the towed equipment being unable to stably enter the water in a predetermined posture. The position of the load-bearing member 62 on the load-bearing frame 61 is adjusted by the feedback adjustment system to achieve the change of the top hoisting position of the towed equipment, thereby completing the balance of the equipment to ensure that the equipment can enter the water in a predetermined horizontal posture. On the one hand, the adaptability and layout adaptability of the main frame 1 to detection equipment of different specifications are improved, and the matching range of the towed equipment is expanded. On the other hand, it avoids the equipment from tipping over or flipping after entering the water, resulting in the equipment being unable to observe the bottom normally or being damaged by collision, thereby improving the observation stability, reducing the time required for the posture adjustment of the equipment after entering the water, and improving the observation efficiency.

[0036] The load-bearing member 62 includes a load-bearing plate 621, which is rotatably connected to a roller 622 that cooperates with the load-bearing frame 61. The load-bearing plate 621 is provided with a retractable lock 623 on the side. The feedback adjustment system can drive the roller 622 to roll and drive the lock 623 to retract. The load-bearing frame 61 has a lock hole 624 that cooperates with the lock 623.

[0037] The load-bearing frame 61 has two symmetrically arranged cross bars, each of which has a support rod supporting a roller 622 at the bottom. The load-bearing plate 621 fits between the two cross bars and can slide. Lock holes 624 are arranged at intervals on the cross bars. Locking heads 623 are arranged at intervals on one side of the load-bearing plate 621 close to the cross bar. There are at least two locking heads 623 . The spacing between adjacent locking heads 623 is equal to the spacing between adjacent locking holes 624 . The number of locking holes 624 on the cross bar is greater than the number of locking heads 623 .

[0038] The feedback adjustment system can drive the roller 622 to make the load-bearing plate 621 slide inside the load-bearing frame 61. After reaching the appropriate position, the feedback adjustment system drives the lock 623 to retract into the load-bearing frame 61, so as to lock the position of the load-bearing plate 621 on the load-bearing frame 61, so as to stabilize the overall lifting position of the equipment, thereby achieving the overall level and stable entry of the equipment into the water, and avoiding the shaking of the equipment lifting, which may cause the load-bearing plate 621 to slide relative to the load-bearing frame 61 and cause the roller 622 to interfere with the load-bearing frame 61.

[0039] The feedback adjustment system includes a posture sensor and a control chamber. The posture sensor can feed back the posture information of the main frame 1 to the control chamber, and the control chamber can control the movement of the roller 622 and the lock 623.

[0040] The load-bearing member 62 further includes a load-bearing head 625 connected to the load-bearing plate 621 , and the load-bearing head 625 can be connected to a hanging device via a rope.

[0041] Embodiment 2: See attached Figure 5 On the basis of the first embodiment of the present invention, the anti-collision device 5 is also arranged at the bottom of the main frame 1. Specifically, the guide rail 51 and the load-bearing beam 52 are fixed to the bottom of the main frame 1, and the curved inner side of the arc-shaped elastic plate 53 faces the upper side of the main frame 1.

[0042] The arrangement of the anti-collision device 5 at the bottom of the main frame 1 can achieve impact protection for the bottom of the main frame 1, and because the arc-shaped elastic plate 53 is arc-shaped and can deform and expand, that is, the arc-shaped elastic plate 53 recovers after being compressed, so that the equipment as a whole bounces up and quickly leaves the obstacle, reducing the possibility of the bottom of the equipment being stuck, thereby reducing the risk of the equipment being stuck and unable to be recovered. When the submarine undercurrent contacts the anti-collision device 5 at the bottom, each elastic roller 54 rolls, which can consume the undercurrent and reduce the first tail wing 31 from contacting the undercurrent due to untimely adjustment, resulting in the overall posture of the equipment being unstable. At the same time, when the camera 4 is not stored, it can also reduce the impact of mud and sand carried by the undercurrent on the camera 4 on the first tail wing 31, reduce the possibility of damage to the lens, and improve the clarity of the picture when the camera 4 on the tail wing 3 is shooting near the bottom.

[0043] The anti-collision device 5 arranged at the bottom can form a bottom support when the equipment is recovered on shore, that is, through the rolling contact between the elastic roller 54 and the ground or the ship deck, the convenience of moving the equipment on shore is realized, the convenience of equipment transfer is improved, manpower is saved, and the bottom wear during transportation is reduced.

[0044] Embodiment three: See attached Figure 6 Attached Figure 7On the basis of the first embodiment of the present invention, an auxiliary part 7 is connected between the arc-shaped elastic plate 53 and the guide rail 51, and the auxiliary part 7 includes a rod sleeve 71 and a guide rod 72. One end of the rod sleeve 71 is closed and matched with the inner side of the guide rail 51, and the other end of the rod sleeve 71 is internally slidably connected to the guide rod 72. One end of the guide rod 72 is located in the rod sleeve 71 and is connected to the elastic part 73. The other end of the guide rod 72 is fixed to the middle part of the inner side of the arc-shaped elastic plate 53. At least two release holes 74 are provided on the side of the rod sleeve 71 near the closed end, and the release holes 74 are connected to the internal space of the rod sleeve 71.

[0045] Two ends of the elastic member 73 are respectively connected to the guide rod 72 and the inner side of the closed end of the rod sleeve 71 .

[0046] When the equipment is hit by an external obstacle, the middle part of the arc-shaped elastic plate 53 is compressed and deformed, and carries the guide rod 72 to slide in the rod sleeve 71 in the direction close to the guide rail 51. At the same time, the ends of the arc-shaped elastic plate 53 slide away from each other in the guide rail 51. The elastic member 73 is compressed during the sliding process. After the impact, the elastic member 73 promotes the guide rod 72 to slide in the rod sleeve 71 in the direction away from the guide rail 51 by restoring the deformation, thereby promoting the deformation recovery of the arc-shaped elastic plate 53, reducing the possibility that the abnormal deformation of the arc-shaped elastic plate 53 cannot be reset, and improving the anti- The impact device 5 improves the stability and durability of the overall side protection of the equipment. The guide rod 72 is connected to the rod sleeve 71 through the elastic member 73, which strengthens the stability of the arc-shaped elastic plate 53 installed in the guide rail 51. The compression deformation of the elastic member 73 can buffer the frequency of the end of the arc-shaped elastic plate 53 shaking and contacting in the guide rail 51 caused by the side impact interference, avoid the end of the arc-shaped elastic plate 53 contacting and wearing with the guide rail 51, and cause the sliding to be not smooth, ensure the deformation balance of the arc-shaped elastic plate 53, reduce the possibility of the arc-shaped elastic plate 53 breaking, and reduce the maintenance cost. When the guide rod 72 squeezes the elastic member 73 in the rod sleeve 71, the guide rod 72 squeezes the space around the elastic member 73 in the rod sleeve 71. Since the arc-shaped elastic plate 53 is hit by an obstacle in an instant, that is, the space is quickly compressed to realize the release hole 74 to release rapid airflow to the outside. The airflow carries water in the middle of the guide rail 51 to flow to both ends, so as to clean the guide rail 51 and the end of the arc-shaped elastic plate 53, and prevent plants, biological objects and suspended debris generated by the impact from adhering to the guide rail 51. On the one hand, it ensures the smooth sliding degree of the end of the arc-shaped elastic plate 53, and ensures that the load-bearing beam 52 can effectively disperse the impact force, thereby improving the anti-impact effect. On the other hand, it prevents the attached organisms from increasing the equipment gravity and affecting the posture stability during recovery.

[0047] The rapid water flow released outward through the release hole 74 can also form water flow interference outside the wing 2 and the camera 4, reduce the damage of the camera 4 lens caused by the raised mud and sand, and reduce the influence of the mud and sand on the swing of the wing 2.

[0048] Embodiment 4: See attached Figure 8 On the basis of the first embodiment of the present invention, the tail 3 is connected with an adjustment member 8, and the adjustment member 8 includes a guide plate 81. The guide plate 81 is installed on the side of the second tail 32 away from the first tail 31. There is an angle between the guide plate 81 and the second tail 32, which is an acute angle and the opening is facing away from the main frame 1. The camera 4 on the second tail 32 is located on the inner side of the angle. The guide plate 81 is provided with a flow gap 82 at a distance near the camera 4. The flow gap 82 is a slender slit. The penetration direction of the flow gap 82 is not perpendicular to the end face of the second tail 32. A coil spring 83 is provided at the connection between the guide plate 81 and the second tail 32.

[0049] The guide plate 81 is used to form protection for the other side of the camera 4 on the second tail wing 32. During the towing of the equipment, water can pass through the outside of the main frame 1 and act on the camera 4 at the tail. The guide plate 81 blocks the sand and gravel carried in the water, thereby improving the protection capability for the camera 4 in the non-storage state and reducing the possibility of damage to the camera 4. The guide plate 81 guides the water away from the first tail wing 31, that is, the guide plate 81 can interfere with the lateral undercurrent by guiding the water to the outside of the tail of the main frame 1, so as to stabilize the guiding effect of the first tail wing 31 on the water, which is beneficial to stabilizing the accuracy and timeliness of the height adjustment of the equipment during near-bottom detection in water, and improving the stability and accuracy of the equipment in adapting to complex terrain.

[0050] When the water is guided by the guide plate 81, part of the water can act on the camera 4 through the flow gap 82. The flow gap 82 filters large sand and gravel and allows a small amount of water to pass through. The small amount of water that passes through has a relatively gentle flow speed, which can clean the second tail wing 32 and the camera 4 lens on the first tail wing 31 without impact interference, thereby improving the picture clarity of the equipment's close-to-bottom shooting, and at the same time reducing the cost of replacing the camera 4 lens.

[0051] The coil spring 83 ensures that the angle between the guide plate 81 and the second tail wing 32 will not be lower than a certain value, thereby preventing the camera 4 from being compressed and realizing an elastic connection between the guide plate 81 and the second tail wing 32. When the second tail wing 32 is away from the first tail wing 31 to realize the storage of the camera 4, the guide plate 81 can be attached to the rear part of the main frame 1. At this time, the guide plate 81 and the second tail wing 32 form two layers of protection for the camera 4 inside and outside the main frame 1. The second tail wing 32 blocks the external impact, and the guide plate 81 blocks the impact of the water passing through the inner side of the main frame 1, thereby realizing multi-directional protection of the camera 4 and improving the protection effect of the camera 4 in the storage state.

[0052] When the rear side of the equipment is hit, the guide plate 81 is hit first. The guide plate 81 consumes the impact interference transmitted to the second tail wing 32 by squeezing the coil spring 83. On the one hand, it ensures the normal function of the second tail wing 32 and prevents the equipment from losing its steering function. On the other hand, when the guide plate 81 approaches the second tail wing 32, it can squeeze the water and release it to the rear of the rear of the main frame, which helps to prevent the impact debris from approaching the first tail wing 31 and the camera 4 arranged thereon, thereby protecting the camera on the first tail wing 31.

[0053] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A near-bottom towing equipment suitable for complex seabed terrain, comprising: A main frame (1) is characterized in that: the main frame (1) is movably connected to side wings (2) and a tail wing (3); a drive system for adjusting the directions of the side wings (2) and the tail wing (3) is provided in the main frame (1); and cameras (4) are respectively installed on the side wings (2) and the tail wing (3).

2. According to claim 1, a near-bottom towing equipment suitable for complex seabed terrain is characterized by: The side wings (2) are located on the sides of the main frame (1) and can swing up and down.

3. The near-bottom towing equipment suitable for complex seabed terrain according to claim 1 is characterized by: The tail wing (3) comprises a first tail wing (31) and a second tail wing (32), wherein the first tail wing (31) is located at the rear of the main frame (1) and can swing up and down, and the second tail wing (32) is symmetrically distributed on both sides of the first tail wing (31) and can swing laterally.

4. The near-bottom towing equipment suitable for complex seabed terrain according to claim 3 is characterized by: The camera (4) is arranged on a side of the second tail wing (32) away from the first tail wing (31), and the cameras (4) on the side wings (2), the first tail wing (31) and the second tail wing (32) can be stored inside the main frame (1).

5. The near-bottom towing equipment suitable for complex seabed terrain according to claim 1 is characterized by: The main frame (1) is provided with an anti-collision device (5) at the side, the anti-collision device (5) comprising guide rails (51) which are symmetrical in the vertical direction and arranged transversely, a load-bearing beam (52) being connected between the ends of adjacent guide rails (51) on the same side, the load-bearing beam (52) being connected to the main frame (1), the anti-collision device (5) further comprising an arc-shaped elastic plate (53) arranged with the guide rail (51), the end of the arc-shaped elastic plate (53) being able to slide along the guide rail (51), and an elastic roller (54) being rotatably connected between the arc-shaped elastic plates (53) on the same side.

6. The near-bottom towing equipment suitable for complex seabed terrain according to claim 5 is characterized by: There are at least five elastic rollers (54) on the same side of the main frame (1), and the elastic rollers (54) are arranged at intervals along the extension direction of the arc-shaped elastic plate (53). Part of the elastic rollers (54) are located on the outer side of the arc-shaped elastic plate (53) away from the main frame (1).

7. The near-bottom towing equipment suitable for complex seabed terrain according to claim 1 is characterized by: The main frame (1) is provided with a load-bearing device (6), the load-bearing device (6) comprising a load-bearing frame (61) fixed to the top of the main frame (1), a load-bearing member (62) movably connected inside the load-bearing frame (61), and the main frame (1) is provided with a feedback adjustment system, the feedback adjustment system is used to adjust the position of the load-bearing member (62) on the load-bearing frame (61), and the load-bearing member (62) can be hoisted.

8. The near-bottom towing equipment suitable for complex seabed terrain according to claim 7 is characterized by: The load-bearing member (62) comprises a load-bearing plate (621), the load-bearing plate (621) being rotatably connected to a roller (622) cooperating with the load-bearing frame (61), the load-bearing plate (621) being provided with a retractable lock (623) on the side, the feedback adjustment system being capable of driving the roller (622) to roll and the lock (623) to retract, and the load-bearing frame (61) being provided with a lock hole (624) cooperating with the lock (623).

9. The near-bottom towing equipment suitable for complex seabed terrain according to claim 8 is characterized by: The feedback adjustment system comprises a posture sensor and a control chamber, wherein the posture sensor can feed back posture information of the main frame (1) to the control chamber, and the control chamber can control the movement of the roller (622) and the lock (623).

10. The near-bottom towing equipment suitable for complex seabed terrain according to claim 8 is characterized by: The load-bearing member (62) further comprises a load-bearing head (625) connected to the load-bearing plate (621), and the load-bearing head (625) can be connected to a hanging device via a rope.

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