A near-bottom towed device applicable to complex seabed terrains

Abstract

The present invention discloses a near-bottom towed device applicable to complex seabed terrains, belonging to the technical field of marine monitoring equipment. The towed device includes: a main frame, with side wings and a tail wing movably connected to the main frame. A driving system for adjusting the directions of the side wings and the tail wing is provided inside the main frame. Cameras are respectively installed on the side wings and the tail wing. An anti-collision device is provided on the side of the main frame. The anti-collision device includes guide rails arranged horizontally and symmetrically up and down. A stress beam is connected between the ends of the adjacent guide rails on the same side, and the stress beam is connected to the main frame. The anti-collision device further includes arc-shaped elastic plates configured with the guide rails. The ends of the arc-shaped elastic plates can slide along the guide rails, and elastic rollers are rotatably connected between the arc-shaped elastic plates on the same side. The present invention has a wide shooting angle of view, has high adaptability to complex seabed terrains, and can stably and efficiently conduct 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:

[0007] A near-bottom towed device suitable for complex seabed terrain, comprising: a main frame, with a flank and a tail fin movably connected to the main frame, a drive system for adjusting the directions of the flank and the tail fin is arranged inside the main frame, and cameras are respectively installed on the flank and the tail fin. Through the drive system, the angles and postures of the flank and the tail fin relative to the main frame can be adjusted, so that different water diversion effects on the water body can be obtained during the towing movement of the main frame on the seabed, thereby adjusting the posture of the towed device, realizing the adaptation of the towed device to the complex seabed terrain, reducing the possibility of deformation and damage after the towed device collides with seabed obstacles, and thus reducing the maintenance cost of the towed device;

[0008] While the angles and postures of the flank and the tail fin are adjusted by the drive system, the cameras installed on them move relative to the main frame, thereby changing the adjustment of the camera shooting field of view, which is beneficial to obtaining a larger and more effective field of view when the towed device is shooting near the bottom. Thus, the amount of information obtained during the near-bottom shooting of the towed device is increased, and relatively comprehensive near-bottom ocean information can be obtained without increasing the moving range of the towed device, which helps to reduce the energy consumption of the towed device. The cameras can use the scenes shot from multiple angles to make AR images, which is beneficial to the analysis and processing of data by professionals.

[0009] Preferably, the flank is located on the side of the main frame and can swing up and down. The flank located on the side of the main frame is controlled to swing by the drive system. When the flank swings and unfolds horizontally relative to the main frame, the water resistance received when the towed device sinks and rises can be increased, which is beneficial to maintaining the water depth stability of the main frame during near-bottom towing, so that the main frame can move relatively horizontally, and the cameras on the flank and the tail fin can stably shoot the field of view, which is beneficial to obtaining a clearer picture to improve the accuracy of information collection;

[0010] During the sinking and rising processes of the towed device, the drive system is used to retract the flank and make it fit against the side of the main frame to reduce the longitudinal water resistance received by the towed device when it rises and falls in the water, so as to ensure that the towed device can sink and rise quickly and stably. On the one hand, the accuracy of the placement position of the towed device is improved, and on the other hand, the horizontal position of the towed device during recovery is stabilized to reduce the lateral pulling force received by the recovery equipment, improving the recovery efficiency and safety of the equipment.

[0011] Preferably, the tail fin includes a first tail fin and a second tail fin. The first tail fin is located at the tail of the main frame and can swing up and down. The second tail fins are symmetrically distributed on both sides of the first tail fin and can swing horizontally. The first tail fin swings up and down relative to the tail of the main frame through a drive system, which can change the diversion direction of the water flow at the tail during towing, so as to realize the rise and fall of the main frame during towing, improve the adaptability of the towed equipment to the seabed, enable the camera to stably shoot and collect information at a certain height above the seabed, improve the stability of the seabed observation operation. The second tail fin that can swing horizontally through the drive system can block the lateral water flow by moving away from the first tail fin, thereby increasing the lateral water resistance received by the towed equipment during towing, realizing the rapid deceleration and stop of the towed equipment, facilitating the accurate positioning of the equipment above the hydrothermal anomaly point on the seabed for information collection, reducing the possibility of the towed equipment leaving the anomaly point due to inertia, thus reducing the energy consumption caused by retreat, and also improving the efficiency of the local observation operation by shortening the time for adjusting the position.

[0012] Preferably, a camera is provided on the side of the second tail fin away from the first tail fin. The cameras on the side fins, the first tail fin and the second tail fin can be stored inside the main frame. When the seabed environment is harsh, such as being subjected to large sediment disturbances, the side of the side fin with the camera is attached to the side of the main frame through the drive system, the second tail fin is moved away from the first tail fin and attached to the tail of the main frame through the drive system, and the side of the first tail fin 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 plates. That is, the active protection of the camera is realized through the side fins and tail fins used to adjust the direction and attitude of the main frame, without the need to additionally set up protection devices, realizing the protection of the camera without increasing costs, and reducing the use cost and maintenance cost of the towed equipment for near-bottom observation.

[0013] Preferably, anti-collision devices are provided on the sides of the main frame. The anti-collision devices include guide rails that are symmetrically arranged up and down and horizontally distributed. A stress beam is connected between the ends of the same side of adjacent guide rails. The stress beam is connected to the main frame. The anti-collision devices also include arc-shaped elastic plates that are arranged in cooperation with the guide rails. The ends of the arc-shaped elastic plates can slide along the guide rails, and elastic rollers are rotatably connected between the arc-shaped elastic plates on the same side. When the equipment encounters an obstacle and is impacted, the rotatably arranged elastic rollers contact the obstacle and consume part of the positive impact force transmitted to the arc-shaped elastic plate through rotation. Then, the impact force is transmitted to the arc-shaped elastic plate, causing 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 rails and contact the stress beams on both sides, realizing the buffering and transfer of the impact force, protecting the main frame and its internal detection equipment, reducing the probability of damage to the towed equipment, and improving the safety and stability of the near-bottom monitoring of the towed equipment;

[0014] When the main frame is suspended on the ship side by a rope, the anti-collision device can contact the ship side, reducing the possibility of the towed equipment hitting the side of the hull due to swaying during the deployment and recovery processes, improving the hoisting safety of the towed equipment. At the same time, when the anti-collision device contacts the ship side, rolling friction rather than sliding friction is formed between the rotating elastic rollers and the contact surface, reducing the contact wear between the elastic rollers and the shore base or the hull, and greatly reducing the wear on the hull during the hoisting process of the towed equipment.

[0015] Preferably, there are at least five elastic rollers on the same side of the main frame. The elastic rollers are arranged at intervals along the extending direction of the plate body of the arc-shaped elastic plate, and part of the elastic rollers are located on the outer side of the arc-shaped elastic plate away from the main frame. The elastic rollers arranged along the extending direction of the arc-shaped elastic plate strengthen the structural strength of the connection between two adjacent arc-shaped elastic plates. When a local part of a single arc-shaped elastic plate is impacted, it is beneficial to form a balanced deformation of two adjacent arc-shaped elastic plates at other positions through multiple elastic rollers, reducing the possibility of excessive deformation and fracture of the arc-shaped elastic plate, and improving the anti-collision effect.

[0016] Preferably, the main frame is provided with a load-bearing device. The load-bearing device includes a load-bearing frame fixed to the top of the main frame. A load-bearing member is movably connected inside the load-bearing frame. The main frame is provided with a feedback adjustment system for adjusting 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 during hoisting, resulting in the towed equipment being unable to enter the water stably in a predetermined posture. By adjusting the position of the load-bearing member on the load-bearing frame through the feedback adjustment system, the change of the hoisting position at the top of the towed equipment is realized, 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, it improves the adaptability of the main frame to different specifications of detection equipment and the layout adaptability, expanding the matching range of the towed equipment. On the other hand, it avoids the overturning or flipping of the equipment after tilting into the water, resulting in the equipment being unable to observe near the bottom normally or causing collision damage, improving the observation stability, reducing the time required for attitude adjustment after the equipment enters the water, and improving the observation efficiency.

[0017] Preferably, the load-bearing member includes a load-bearing plate. The load-bearing plate is rotatably connected with rollers that cooperate with the load-bearing frame. The load-bearing plate is provided with a retractable lock on the side. The feedback adjustment system can drive the rollers to roll and drive the lock to retract and extend. There are lock holes on the load-bearing frame that cooperate with the lock. The feedback adjustment system can drive the load-bearing plate to slide inside the load-bearing frame by driving the rollers. After reaching a suitable position, the feedback adjustment system drives the lock to retract and extend into the load-bearing frame to lock the position of the load-bearing plate on the load-bearing frame, so as to stably position the overall hoisting of the equipment, and then realize the equipment entering the water horizontally and stably, avoiding the interference of the rollers relative to the load-bearing frame caused by the sliding of the load-bearing plate relative to the load-bearing frame due to the swaying during the hoisting of the equipment.

[0018] Preferably, the feedback adjustment system includes an attitude sensor and a control bin. The attitude sensor can feedback the attitude information of the main frame to the control bin, and the control bin can control the movement of the rollers and the lock head.

[0019] Preferably, the load-bearing member further includes a load-bearing head connected to the load-bearing plate, and the load-bearing head can be connected to the hoisting device through a rope.

[0020] Compared with the prior art, the present invention has the following beneficial effects: The present invention can adjust the angles of the side wings and the tail wings to achieve the overall attitude adjustment of the equipment, improving the adaptability of the equipment to the complex seabed terrain; The cameras carried by the side wings and the tail wings form multi-angle shooting, and can use the multi-angle scenes to form AR images for auxiliary analysis and processing by professionals; The side wings can swing to assist the equipment in floating and sinking, improving the water depth stability of towing forward and the stability of the shooting picture when deployed, and can also be retracted to improve the efficiency of the deployment and recovery operations; The first tail wing and the second tail wing assist the equipment in lifting and sudden stop, which is beneficial for the equipment to accurately locate at the abnormal point for information collection, reducing the energy consumption caused by repeated positioning adjustment due to inertia; By adjusting the side wings and the tail wings, the active protection of the camera is realized, reducing the use cost and maintenance cost of the near-bottom observation of the towed equipment; The anti-collision device improves the safety and stability of the near-bottom detection of the equipment, and the elastic rollers can reduce the damage to the ship side during the deployment process of the equipment by using rolling friction. Description of the Drawings

[0021] Figure 1 It is a schematic diagram of a near-bottom towed equipment applicable to complex seabed terrain;

[0022] Figure 2 It is a schematic diagram of the tail wing viewed from below;

[0023] Figure 3 It is a schematic diagram of the structure of the protection device;

[0024] Figure 4 It is a schematic diagram of the load-bearing device;

[0025] Figure 5 It is a schematic diagram of the structure of the second embodiment of the present invention;

[0026] Figure 6 It is a schematic diagram of the position of the auxiliary member in the third embodiment of the present invention;

[0027] Figure 7 It is a schematic diagram of the cross-section of the auxiliary member;

[0028] Figure 8 It is a schematic diagram of the structure of the guide plate in the fourth embodiment of the present invention.

[0029] Attached reference numerals: main frame 1; side wings 2; tail wings 3; first tail wing 31; second tail wing 32; camera 4; anti-collision device 5; guide rail 51; stress 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 member 7; rod sleeve 71; guide rod 72; elastic member 73; release hole 74; adjusting member 8; guide plate 81; flow-through gap 82; helical spring 83. Specific embodiments

[0030] The technical solutions of the present invention will be further described in detail below in conjunction with specific embodiments and the accompanying drawings:

[0031] Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative work belong to the scope of protection of the present invention.

[0032] Embodiment 1:

[0033] Refer to the attached Figure 1 - attached Figure 4 , a near-bottom towed device suitable for complex seabed terrain, comprising: 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 arranged in the main frame 1, and cameras 4 are respectively installed on the side wings 2 and the tail wings 3.

[0034] An electronic instrument is installed in the main frame, and the electronic instrument includes but is not limited to: an electric control cabin; an attitude meter; a camera group; an inertial navigation system; an altimeter.

[0035] Through the driving system, the angles and postures of the side wings 2 and the tail wings 3 relative to the main frame 1 can be adjusted, so that different flow guiding effects on the water body can be obtained during the towing movement of the main frame 1 on the seabed, and then the posture of the towed device can be adjusted, realizing the adaptation of the towed device to the complex seabed terrain, reducing the possibility of deformation and damage after the towed device collides with seabed obstacles, and thus reducing the maintenance cost of the towed device;

[0036] While the angles and postures of the side wings 2 and the tail wings 3 are adjusted by the driving system, the cameras 4 installed on them move relative to the main frame, thereby changing the adjustment of the camera shooting field of view, which is beneficial to obtaining a larger and more effective field of view during the near-bottom shooting of the towed device, thereby increasing the amount of information obtained by observation during the near-bottom shooting of the towed device, obtaining more comprehensive near-bottom ocean information without increasing the moving range of the towed device, helping to reduce the energy consumption of the towed device, and the camera 4 can use the images taken from multiple angles to make AR images, which is beneficial to the analysis and processing of data by professionals.

[0037] The wing 2 is located on the side of the main frame 1 and can swing up and down.

[0038] The wing 2 is hinged to the top of the side of the main frame 1.

[0039] The wing 2 located on the side of the main frame 1 is controlled to swing by a drive system. When the wing 2 swings and unfolds horizontally relative to the main frame 1, it can increase the water resistance suffered by the towed equipment during sinking and rising, which is beneficial to maintaining the water depth stability of the main frame 1 during near-bottom towing, so that the main frame can move relatively horizontally, enabling the cameras 4 on the wing 2 and the tail fin 3 to stably capture the field of view, which is conducive to obtaining a clearer picture to improve the accuracy of information collection;

[0040] During the sinking and rising processes of the towed equipment, the drive system is used to retract the wing 2 and make it fit against the side of the main frame 1 to reduce the longitudinal water resistance suffered by the towed equipment during rising and falling in water, so as to ensure that the towed equipment can sink and rise quickly and stably. On the one hand, it improves the accuracy of the placement position of the towed equipment, and on the other hand, by stabilizing the horizontal position of the towed equipment during recovery, it reduces the lateral pulling force suffered by the recovery equipment, improving the recovery efficiency and safety of the equipment.

[0041] The tail fin 3 includes a first tail fin 31 and a second tail fin 32. The first tail fin 31 is located at the tail of the main frame 1 and can swing up and down, and the second tail fin 32 is symmetrically distributed on both sides of the first tail fin 31 and can swing horizontally.

[0042] The first tail fin 31 swings up and down relative to the tail of the main frame 1 through a drive system, which can change the diversion direction of the water flow at the tail during towing, thereby realizing the rising and sinking of the main frame 1 during towing, improving the adaptability of the towed equipment to the seabed, enabling the camera 4 to stably shoot and collect information at a certain height above the seabed, improving the stability of seabed observation operations. The second tail fin 32 that can swing horizontally through the drive system can block the lateral water flow by moving away from the first tail fin 31, thereby increasing the lateral water resistance suffered by the towed equipment during towing, realizing the rapid deceleration and stop of the towed equipment, which is beneficial to accurately positioning the equipment above the hydrothermal anomaly point on the seabed for information collection, reducing the possibility of the towed equipment leaving the anomaly point due to inertia, thereby reducing the energy consumption caused by retreat, and also improving the efficiency of the observation operation at this location by shortening the time for adjusting the position.

[0043] A camera 4 is provided on the side of the second tail fin 32 away from the first tail fin 31, and the cameras 4 on the wing 2, the first tail fin 31 and the second tail fin 32 can be stored inside the main frame.

[0044] When the seabed environment is harsh, such as suffering from large sediment disturbances, the side of the flank 2 equipped with the camera 4 is attached to the side of the main frame 1 through the drive system. The second tail fin 32 is moved away from the first tail fin 31 and attached to the tail of the main frame 1 through the drive system. The side of the first tail fin 31 equipped with the camera 4 is attached to the tail of the main frame 1, so that each camera 4 is received inside the main frame 1 and protected by the wing plate. That is, the active protection of the camera 4 is realized through the flank 2 and the tail fin used to adjust the direction and attitude of the main frame 1, without the need to additionally set up a protection device, realizing the protection of the camera 4 without increasing costs, and reducing the use cost and maintenance cost of the towed equipment for near-bottom observation.

[0045] The main frame 1 is provided with an anti-collision device 5 on the side. The anti-collision device 5 includes guide rails 51 arranged symmetrically up and down and horizontally. A stress beam 52 is connected between the ends of the adjacent guide rails 51 on the same side. The stress beam 52 is connected to the main frame 1. The anti-collision device 5 further includes an arc-shaped elastic plate 53 configured with the guide rail 51. The end of the arc-shaped elastic plate 53 can slide along the guide rail 51. Elastic rollers 54 are rotatably connected between the arc-shaped elastic plates 53 on the same side.

[0046] When the device encounters an obstacle and is impacted, the rotatably arranged elastic roller 54 contacts the obstacle and consumes part of the positive impact force transmitted to the arc-shaped elastic plate 53 through rotation. 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 stress beams 52 on both sides, realizing the buffering and transfer of the impact force, realizing the protection of the main frame 1 and the detection equipment inside it, reducing the probability of damage to the towed equipment, and improving the safety and stability of the near-bottom monitoring of the towed equipment;

[0047] When the main frame 1 is suspended on the side of the ship by a rope, the anti-collision device 5 can contact the side of the ship, reducing the possibility of the towed equipment hitting the side of the hull due to shaking during the deployment and recovery process, improving the suspension safety of the towed equipment. At the same time, when the anti-collision device 5 contacts the side of the ship, the rolling friction is formed between the rotatably arranged elastic roller 54 and the contact surface instead of sliding friction, reducing the contact wear degree of the elastic roller 54 with the shore base or the hull, and greatly reducing the wear of the hull during the suspension process of the towed equipment.

[0048] 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 plate body of the arc-shaped elastic plate 53. Part of the elastic rollers 54 are located outside the arc-shaped elastic plate 53 away from the main frame 1.

[0049] The elastic rollers 54 arranged along the extending 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 conducive to forming a balanced deformation of two adjacent arc-shaped elastic plates 53 at other positions through multiple elastic rollers 54 when a local impact occurs on a single arc-shaped elastic plate 53, reducing the possibility of excessive deformation and fracture of the arc-shaped elastic plate 53 and improving the anti-collision effect.

[0050] The main frame 1 is provided with a load-bearing device 6. The load-bearing device 6 includes a load-bearing frame 61 fixed to the top of the main frame 1. 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 for adjusting the position of the load-bearing member 62 on the load-bearing frame 61, and the load-bearing member 62 can be hoisted.

[0051] When different specifications of detection equipment are arranged 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 during hoisting, resulting in the towed equipment being unable to enter the water stably in a predetermined posture. By adjusting the position of the load-bearing member 62 on the load-bearing frame 61 through the feedback adjustment system, the change of the hoisting position at the top of the towed equipment is realized, so as to complete the balance of the equipment and ensure that the equipment can enter the water in a predetermined horizontal posture. On the one hand, the adaptability of the main frame 1 to different specifications of detection equipment and the layout adaptability are improved, and the matching range of the towed equipment is expanded. On the other hand, it is avoided that the equipment capsizes or turns over after tilting into the water, resulting in the equipment being unable to observe near the bottom normally or suffering collision damage, improving the observation stability, reducing the time required for attitude adjustment of the equipment after entering the water, and improving the observation efficiency.

[0052] The load-bearing member 62 includes a load-bearing plate 621. A roller 622 cooperating with the load-bearing frame 61 is rotatably connected to the load-bearing plate 621. A retractable lock head 623 is provided on the side of the load-bearing plate 621. The feedback adjustment system can drive the roller 622 to roll and drive the lock head 623 to retract and extend. A lock hole 624 cooperating with the lock head 623 is provided on the load-bearing frame 61.

[0053] The load-bearing frame 61 has two symmetrically arranged cross bars. The cross bars have support rods at the bottom for supporting the rollers 622. The load-bearing plate 621 cooperates between the two cross bars and can slide. The lock holes 624 are arranged at intervals on the cross bars;

[0054] Lock 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 lock heads 623. The distance between adjacent lock heads 623 is equal to the distance between adjacent lock holes 624. The number of lock holes 624 on the cross bar is greater than the number of lock heads 623.

[0055] The feedback adjustment system can drive the roller 622 to realize the sliding of the load-bearing plate 621 within the load-bearing frame 61. After reaching the appropriate position, the feedback adjustment system drives the lock head 623 to stretch and enter the load-bearing frame 61, realizing the locking of 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, and then realize the horizontal and stable entry of the overall equipment into the water, avoiding the relative sliding of the load-bearing plate 621 relative to the load-bearing frame 61 caused by the shaking of the equipment lifting, resulting in interference of the roller 622 relative to the load-bearing frame 61.

[0056] The feedback adjustment system includes an attitude sensor and a control chamber. The attitude sensor can feedback the attitude 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 head 623.

[0057] 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 the lifting device through a rope.

[0058] Embodiment 2:

[0059] See Appendix Figure 5 On the basis of Embodiment 1 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 stress 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 upward of the main frame 1.

[0060] 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 equipment as a whole bounces up and quickly leaves the obstacle through the recovery deformation of the arc-shaped elastic plate 53 after being pressed, reducing the possibility of the bottom of the equipment being stuck and contacting, thereby reducing the risk of the equipment being stuck and unable to be recovered. When the bottom anti-collision device 5 contacts the seabed undercurrent, each elastic roller 54 rolls, which can form a consumption of the undercurrent, reducing the situation that the first tail fin 31 contacts the undercurrent due to untimely adjustment, resulting in unstable overall attitude of the equipment. At the same time, it can also reduce the impact of the undercurrent carrying sediment on the camera 4 on the first tail fin 31 when the camera 4 is in a non-stored state, reducing the possibility of the lens being damaged, and improving the clarity of the picture of the camera 4 on the tail fin 3 during near-bottom shooting.

[0061] The anti-collision device 5 arranged at the bottom can form a support for the bottom of the equipment when the equipment is recovered ashore, that is, through the rolling contact of the elastic roller 54 with the ground or the ship deck, realizing the convenience of the equipment moving on the shore, improving the transfer convenience of the equipment, saving manpower, and reducing the bottom wear during the handling process.

[0062] Embodiment 3:

[0063] See Appendix Figure 6 Appendix Figure 7, on the basis of the first embodiment of the present invention, an auxiliary member 7 is connected between the arc-shaped elastic plate 53 and the guide rail 51. The auxiliary member 7 includes a rod sleeve 71 and a guide rod 72. One end of the rod sleeve 71 is closed and fitted inside the guide rail 51. The other end of the rod sleeve 71 is slidably connected to the guide rod 72 inside. One end of the guide rod 72 is located inside the rod sleeve 71 and connected with an elastic member 73. The other end of the guide rod 72 is fixed to the middle part inside 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 communicate with the internal space of the rod sleeve 71.

[0064] Both 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.

[0065] When the equipment is impacted by an external obstacle, the middle part of the arc-shaped elastic plate 53 is deformed under pressure and drives 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. During the sliding process, the elastic member 73 is compressed. After the impact ends, 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 through restoring deformation, so as to promote the deformation recovery of the arc-shaped elastic plate 53, reduce the possibility that the arc-shaped elastic plate 53 cannot be reset due to abnormal deformation, improve the stability and service durability of the anti-collision device 5 for the overall side protection of the equipment. The guide rod 72 and the rod sleeve 71 are connected through the elastic member 73, which strengthens the stability of the installation of the arc-shaped elastic plate 53 in the guide rail 51. Through the compression deformation of the elastic member 73, the frequency of the jitter contact of the end of the arc-shaped elastic plate 53 in the guide rail 51 caused by the side impact interference can be buffered, avoiding the contact wear between the end of the arc-shaped elastic plate 53 and the guide rail 51 resulting in unsmooth sliding, ensuring the deformation balance degree of the arc-shaped elastic plate 53, reducing the possibility of the arc-shaped elastic plate 53 breaking, and reducing the maintenance cost;

[0066] 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 impact of the arc-shaped elastic plate 53 by the obstacle occurs instantaneously, that is, the space is quickly compressed and then the release holes 74 release a rapid airflow to the outside. The airflow carries water to flow from the middle to both ends in the guide rail 51, realizing the cleaning of the guide rail 51 and the ends of the arc-shaped elastic plate 53, avoiding the attachment of plants, organisms and suspended debris generated by the impact in the guide rail 51. On the one hand, it ensures the smooth sliding degree of the ends of the arc-shaped elastic plate 53, ensures that the force-bearing beam 52 can effectively disperse the impact force, and improves the anti-impact effect. On the other hand, it avoids the increase in the gravity of the equipment due to the attached organisms, affecting the attitude stability during recovery.

[0067] The rapid water flow released through the release holes 74 can also form a water flow interference on the outside of the flank 2 and the camera 4, reducing the damage of the sand and dust raised to the lens of the camera 4 and reducing the influence of the sand and dust on the swing of the flank 2.

[0068] Embodiment Four:

[0069] See the appendix Figure 8 Figure 8 , on the basis of the first embodiment of the present invention, the fin 3 is connected with an adjusting member 8. The adjusting member 8 includes a guide plate 81. The guide plate 81 is installed on the side of the second fin 32 away from the first fin 31. There is an included angle between the guide plate 81 and the second fin 32. The included angle is an acute angle and the opening faces away from the main frame 1. The camera 4 on the second fin 32 is located inside the included angle. The guide plate 81 is provided with flow-through slits 82 at intervals near the camera 4. The flow-through slits 82 are slender slits. The penetration direction of the flow-through slits 82 is not perpendicular to the end face of the second fin 32. A spiral spring 83 is provided at the connection between the guide plate 81 and the second fin 32.

[0070] The guide plate 81 forms another protection for the camera 4 on the second fin 32. During the process of the equipment being towed forward, the water body 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 body, improves the protection ability of the camera 4 in the non-storage state, reduces the possibility of damage to the camera 4, and the guide plate 81 deflects the water body away from the first fin 31. That is, the water body deflected by the guide plate 81 to the outside of the tail of the main frame 1 can form an interference with the lateral undercurrent, so as to stabilize the guiding effect of the first fin 31 on the water body, which is beneficial to stabilizing the accuracy and timeliness of the height adjustment during the near-bottom detection of the equipment in the water, and improving the stability and accuracy of the equipment's adaptation to complex terrains.

[0071] During the process of the water body being deflected by the guide plate 81, part of the water body can act on the camera 4 through the flow-through slits 82. The flow-through slits 82 filter large sand and gravel and allow a small amount of water to pass through. The small amount of water passing through has a relatively gentle flow velocity, which can clean the camera lenses on the second fin 32 and the first fin 31 without impact interference, improve the clarity of the near-bottom shooting picture of the equipment, and at the same time reduce the cost of replacing the camera lenses.

[0072] The spiral spring 83 ensures that the included angle between the guide plate 81 and the second fin 32 will not be lower than a certain value, avoids the camera 4 from being pressed, and realizes the elastic connection between the guide plate 81 and the second fin 32. When the camera 4 is stored away from the first fin 31 on the second fin 32, the guide plate 81 can fit on the tail of the main frame 1. At this time, the guide plate 81 and the second fin 32 form two layers of protection for the camera 4 inside and outside the main frame 1. The outside impact is blocked by the second fin 32, and the impact of the water body passing through the inside of the main frame 1 is blocked by the guide plate 81, realizing multi-directional protection of the camera 4 and improving the protection effect of the camera 4 in the storage state.

[0073] When the tail side of the equipment is impacted, the guide plate 81 is first hit. The guide plate 81 consumes the impact interference transmitted to the second tail fin 32 by squeezing the helical spring 83. On the one hand, it ensures the normal realization of the function of the second tail fin 32 and prevents the equipment from losing its steering function. On the other hand, when the guide plate 81 approaches the second tail fin 32, it can squeeze the water body and release it to the rear of the main frame tail, which helps to block the impact debris from approaching the first tail fin 31 and the camera 4 arranged thereon, realizing the protection of the camera on the first tail fin 31.

[0074] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced by the present invention. Any reference signs in the claims should not be construed as limiting the claims involved.

Claims

1. A near-bottom towing equipment suitable for complex seabed terrain, comprising: A main frame (1), 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), The main frame (1) is provided with an anti-collision device (5) at the side, the anti-collision device (5) comprising a guide rail (51) symmetrically arranged in the upper and lower parts and arranged transversely, 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; The anti-collision device (5) is also arranged at the bottom of the main frame (1), the guide rail (51) at the bottom is fixed to the bottom of the main frame (1), and the curved inner side of the arc-shaped elastic plate (53) at the bottom faces upward of the main frame (1).

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: 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).

6. The near-bottom towing equipment suitable for complex seabed terrain according to claim 1 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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