Multi-mode self-adaptive fixing and floating device for near-shore monitoring equipment

Abstract

The invention discloses a multimodal self-adaptive fixing and floating device for offshore monitoring equipment, and belongs to the technical field of marine monitoring equipment. The system is of a stainless steel frame combined structure and comprises a pyramid frame and a square frame, the seabed self-adaptive leveling and anti-overturning capacity is achieved through the dynamic and static combined design of movable supporting legs and fixed supporting legs, the movable supporting legs are matched with polyhedral balancing weights through ball cage type universal joints, and the fixed supporting legs are lead conical balancing weights. The top of the frame is provided with a connecting hook with a self-locking structure, and the bottom of the frame is integrated with a device capable of triggering air bag floating to realize real-time monitoring of the equipment state and the marine environment in cooperation with an underwater sensor and a camera. Through the dynamic stable structure, the multi-terrain adaptive capacity and the rapid recovery mechanism, the comprehensive stability and the operation convenience of the offshore measurement equipment under the complex sea condition are effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of marine monitoring equipment, and in particular to a multi-modal adaptive fixing and floating device for nearshore monitoring equipment. Background Art

[0002] In the field of marine scientific research and engineering, the fixation of seabed measurement equipment is crucial. There are many shortcomings in the existing seabed equipment fixation methods. For example, in complex sea conditions, stability is difficult to guarantee, and the equipment is prone to displacement and damage; the installation and disassembly process is cumbersome, consuming a lot of manpower and time costs. In addition, there is a lack of effective monitoring means for the real-time status of the equipment. When the equipment is damaged, stolen, or fails due to harsh environmental factors, it is impossible to detect and take measures in time, resulting in data loss and equipment loss. It is worth noting that when the seabed measurement equipment needs to be repaired or recovered, the existing fixing device faces great challenges in the process of floating. Due to the huge pressure of seawater and the complex connection between the device and the seabed, the floating operation is extremely laborious. It is usually necessary to use large and expensive auxiliary equipment. On the one hand, some monitoring areas cannot use related lifting equipment, and can only use manual lifting. On the other hand, although lifting equipment can be used, it brings additional cost increases, low efficiency, and is easy to cause additional damage to the equipment itself. At present, some measuring devices such as the public technology CN205383404U have been able to achieve basic fixation of equipment, but there is still room for improvement in dealing with complex and changing marine environments. Therefore, it is of great practical significance to develop a submarine equipment fixing device that is highly stable, easy to install, has real-time monitoring and early warning functions, and can achieve automatic floating and recovery. Summary of the invention

[0003] The purpose of the present invention is to solve the problems of traditional nearshore monitoring and measuring equipment, such as easy capsizing, poor stability, and difficulty in installation and recovery under complex sea conditions, and to provide a nearshore monitoring and measuring device with a dynamic and static combined support structure, adaptive terrain adjustment and a rapid recovery mechanism.

[0004] A multi-modal adaptive fixing and floating device for nearshore monitoring equipment includes a stainless steel frame, which is mainly composed of a pyramid frame and a square frame. The bottom of the stainless steel frame is provided with movable support feet and fixed support feet, an underwater camera is installed on the top of the pyramid frame, a first cross rod is provided between the pyramid frame and the square frame, an underwater sensor is installed in the middle of the first cross rod, a second cross rod is provided at the bottom of the square frame, a connecting device is installed on the side of the square frame, a connecting hook is provided at the top of the pyramid frame, and a traction rope is sleeved in the connecting hook. The pyramid frame shape at the top of the stainless steel frame helps to disperse the pressure of the water flow from above, enhance the overall pressure resistance of the stainless steel frame under complex sea conditions, and provide a stable and reasonable support structure for connecting various types of measuring equipment. The middle square frame is designed to provide sufficient space for installing underwater cameras and various control components to ensure that the layout of each component is reasonable and does not interfere with each other. When the device is placed on an uneven seabed, the movable support feet can flexibly adapt to terrain changes, achieve automatic leveling, and ensure that the contact surface between the device and the seabed is stable. Under complex sea conditions (such as water currents and wave impacts), the movable support feet disperse external forces by dynamically adjusting the angle to improve the device's anti-overturning ability. The fixed support feet adopt a fixed design to provide a rigid support reference for the device, forming a dynamic and static combination with the four-corner movable support feet to balance the flexibility and stability of the overall structure. Under extreme sea conditions (such as strong water current impact), the middle fixed support foot serves as an "anchor point" to ensure that the device does not move as a whole. The movable support foot responds to terrain changes, and the fixed support foot maintains a stable center of gravity. The two together improve the comprehensive stability of the device in a complex seabed environment.

[0005] The underwater camera is connected to the external monitoring system wirelessly to transmit the image information around the device in real time, so that users can directly observe the device status and the surrounding marine environment. The underwater sensor can detect whether the device has position displacement or abnormal vibration, prevent the device from being damaged or stolen due to external impact, and can also monitor the surrounding marine environmental parameters (such as water flow speed, pressure, temperature, etc.) to provide real-time data support for scientific research or engineering. The connection device can connect the measuring equipment to achieve rapid installation and disassembly, avoiding traditional welding and complex assembly. The connection hook is installed on the top of the frame, and the self-locking structure firmly hooks the towing rope to prevent the rope from falling off due to the shaking of the waves during the installation and recovery of the equipment. The towing rope does not require diving or large lifting equipment, and the recovery can be started by surface vessels or manual pulling of the rope, reducing the difficulty and cost of operation.

[0006] A multi-modal adaptive fixing and floating device for nearshore monitoring equipment, wherein the movable support foot includes a ball cage universal joint, and a counterweight is provided below the ball cage universal joint. The ball cage universal joint can rotate flexibly in all directions. When the device is placed on an uneven seabed, the counterweight can automatically adjust the angle with the help of the ball cage universal joint, so that the entire device can be quickly leveled, ensuring that the device is in stable contact with the seabed and avoiding structural instability due to uneven ground. The movable support foot is distributed at the four corners of the bottom of the square frame, and it is provided with a high-density counterweight, which is used to lower the center of gravity of the device, resist the lateral impact of currents and waves, and prevent the device from tipping over or shifting. The counterweight is a polyhedral structure with at least 7 faces. The polyhedral structure increases the contact surface with the seabed, improves the friction of the entire device in the seawater, and can adapt to different terrains (such as rocks, mud and sand) to prevent slipping or sinking. The ball cage universal joint is connected to the counterweight, and the angle can be automatically adjusted, so that the device can quickly "adaptively level" on the uneven seabed to avoid tilting and instability.

[0007] A multi-modal adaptive fixing and floating device for nearshore monitoring equipment, the fixed support foot includes a conical counterweight block, and the conical counterweight block and the second cross rod are connected by fixing bolts. The shape of the conical counterweight block has good stability and guidance. When the device is subjected to external force, the conical structure can evenly disperse the force, further ensuring the stability of the entire structure and enhancing the device's anti-overturning ability in complex marine environments. If it is in a sandy or muddy environment, the conical counterweight block can be firmly embedded in the sand and mud to facilitate the stability of the entire device.

[0008] A multi-modal adaptive fixing and floating device for nearshore monitoring equipment, the conical counterweight block is made of lead, and the taper ratio of the conical counterweight block is between 0.5 and 1.5. The density of lead is much greater than that of iron, and a larger counterweight ratio can be achieved under the same volume to maintain the stability of the overall device. At the same time, lead has relatively good corrosion resistance in seawater, stable chemical properties, and is not easy to react with components in seawater.

[0009] A multi-modal adaptive fixing and floating device for nearshore monitoring equipment. The underwater camera is encapsulated in a waterproof shell and connected to an external monitoring system wirelessly. It can adapt to different water depth environments. The underwater camera can transmit image information around the device in real time, allowing users to intuitively observe the device and the surrounding marine environment.

[0010] A multi-modal adaptive fixing and floating device for nearshore monitoring equipment. The square frame includes four vertical poles, and a floating device is installed on the top of each vertical pole. The floating device includes an airbag, and a gas release device is inside the airbag. The gas release device is connected to a trigger rope, and the trigger rope is wrapped around a main rope. As long as the main rope is pulled hard, the main rope drives all the trigger ropes to pull outward, and the gas release device in each floating device will release gas to expand the airbag to generate buoyancy, thereby driving the entire measuring device to float. The gas release device can be a miniature high-pressure gas storage tank, and the trigger rope is connected to the starting valve plate of the high-pressure gas storage tank. Pulling the trigger rope opens the starting valve plate to release the compressed high-pressure gas in the miniature high-pressure gas storage tank to quickly fill the airbag and generate buoyancy.

[0011] A multi-modal adaptive fixing and floating device for nearshore monitoring equipment, wherein a connecting device comprises a first arc structure, wherein the first arc structure and the second arc structure are connected by a first bolt, wherein the second arc structure is connected to a slider by a second bolt, wherein the slider has a circular hole in the center, and a fastening bolt is also provided on the side of the slider. The first bolt can adjust the distance between the first arc structure and the second arc structure. The connecting device is usually used to suspend nearshore dynamic measurement equipment such as a wave dynamic profile measurement system (RBR), wherein the housing of such equipment is generally an arc surface, and can be clamped and fixed by a circular cavity composed of the first arc structure and the second arc structure. When the second bolt is in a loose state, the second arc structure can rotate around the central axis of the second bolt. The circular hole of the slider is used to extend into a vertical rod, and the slider can slide freely up and down on the vertical rod. When it needs to be fixed, the fastening bolt is tightened to fix the slider at a specified position of the vertical rod. The connecting device can freely adjust the fixing position and adjust the installation direction of the detection device. At least two connecting devices can be arranged on a vertical rod, and the detection device can be installed according to actual monitoring needs, which greatly improves the measurement efficiency of the entire measurement equipment.

[0012] A multi-modal adaptive fixing and floating device for nearshore monitoring equipment, wherein an underwater sensor is internally integrated with an acoustic emission transducer, a microcontroller, a power module, and a data storage module, and the underwater sensor transmits a digital signal to an external computer. The transducer transmits an acoustic signal of a specific frequency and coding format, the microcontroller is responsible for controlling signal emission, data processing and storage, the power module supplies power to the device, and the data storage module records relevant parameters and emission information. The external computer is composed of a signal processing unit, a data acquisition module, a communication module, and a GPS positioning module. The signal processing unit performs pre-processing such as amplification and filtering on the signal, the data acquisition module converts the analog signal into a digital signal, the communication module transmits the collected data to the computer for analysis and processing, and the GPS module is used to obtain the accurate position information of the water receiver. The computer can display the position and image information of the underwater equipment in real time. If a large position offset occurs (the offset position exceeds 0.5m), an early warning message is automatically sent to the user terminal so that the user can take timely measures.

[0013] A multi-modal adaptive fixing and floating device for nearshore monitoring equipment, wherein a connecting hook includes an arc shaft and a short shaft, wherein the arc shaft and the short shaft are connected through a first connecting shaft, wherein the short shaft has a notch, wherein a self-locking plate can be embedded in the notch, wherein the self-locking plate can rotate around a second connecting shaft, and when the self-locking plate is embedded in the notch, the short shaft cannot rotate around the first connecting shaft. The connecting hook has a self-locking function, wherein when the self-locking plate is embedded in the notch, the short shaft and the arc shaft fit together and cannot rotate, thereby ensuring that the traction rope will not slip out of the hook of the connecting hook. The entire device firmly hooks the traction rope through a self-locking structure, thereby preventing the rope from falling off due to the shaking of the waves during the installation and recovery of the equipment, and also realizing the function of the connecting hook recovery device. If you want to open the connecting hook and take out the traction rope, you only need to rotate the self-locking plate out of the notch, and then you can rotate the short shaft to open the connecting hook.

[0014] The advantages of the present invention are: the use of a dynamic and static combined structure of movable and fixed supporting legs, combined with a polyhedral counterweight block and a conical counterweight design, significantly improves the equipment's anti-overturning ability and terrain adaptability under complex sea conditions; the integrated airbag flotation device and self-locking connecting hook enable rapid equipment recovery, reducing operational difficulty and cost; the modular connecting device works in conjunction with the real-time monitoring system (camera, sensor), flexibly supports the installation of multiple devices and ensures data collection efficiency, while enhancing equipment safety through offset warning. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0016] Figure 1 It is a schematic diagram of the overall device of the measuring device of the present invention.

[0017] Figure 2 It is a schematic diagram of the movable supporting foot of the present invention.

[0018] Figure 3 It is a schematic diagram of the fixed support foot of the present invention.

[0019] Figure 4 It is a schematic diagram of a square frame of the present invention.

[0020] Figure 5 It is a schematic diagram of the floating device of the present invention.

[0021] Figure 6 It is a schematic diagram of the connection device of the present invention.

[0022] Figure 7 It is a schematic diagram of the connecting hook of the present invention.

[0023] Description of the drawings: 1-stainless steel frame, 11-pyramid frame, 12-square frame, 2-movable supporting feet, 3-fixed supporting feet, 13-first cross rod, 7-underwater camera, 10-underwater sensor, 14-second cross rod, 8-connecting device, 4-connecting hook, 5-traction rope, 21-ball cage universal joint, 22-counterweight, 31-conical counterweight, 32-fixing bolt, 6-floating device, 62-airbag, 61-gas release device, 63-trigger rope, 64-total rope, 81-first arc structure, 82-second arc structure, 83-first bolt, 84-second bolt, 85-slider, 851-circular hole, 86-fastening bolt, 121-vertical rod, 9-external computer, 42-arc axis, 41-short axis, 43-first connecting axis, 411-notch, 44-self-locking plate, 45-second connecting axis. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the 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.

[0025] Embodiment 1: Refer to the attached Figure 1As shown, a multi-modal adaptive fixing and floating device for nearshore monitoring equipment includes a stainless steel frame 1, which is mainly composed of a pyramid frame 11 and a square frame 12. A movable support foot 2 and a fixed support foot 3 are arranged at the bottom of the stainless steel frame 1. An underwater camera 7 is installed on the top of the pyramid frame 11. A first cross rod 13 is arranged between the pyramid frame 11 and the square frame 12. An underwater sensor 10 is installed in the middle of the first cross rod 13. A second cross rod 14 is arranged at the bottom of the square frame 12. A connecting device 8 is installed on the side of the square frame 12. A connecting hook 4 is arranged at the top of the pyramid frame 11, and a traction rope 5 is sleeved in the connecting hook 4. The shape of the pyramid frame 11 at the top of the stainless steel frame 1 helps to disperse the water flow pressure from above, enhance the overall pressure resistance of the stainless steel frame 1 in complex sea conditions, and provide a stable and reasonable support structure for connecting various measurement equipment. The middle square frame 12 is designed to provide sufficient space for installing underwater cameras and various control components to ensure that the layout of each component is reasonable and does not interfere with each other. When the device is placed on an uneven seabed, the movable support foot 2 can flexibly adapt to terrain changes, achieve automatic leveling, and ensure the stability of the contact surface between the device and the seabed. Under complex sea conditions (such as water currents and wave impacts), the movable support foot 2 disperses external forces by dynamically adjusting the angle to improve the device's anti-overturning ability. The fixed support foot 3 adopts a fixed design to provide a rigid support reference for the device, forming a dynamic and static combination with the four-corner movable support feet 2 to balance the flexibility and stability of the overall structure. Under extreme sea conditions (such as strong water current impact), the middle fixed support foot 3 serves as an "anchor point" to ensure that the device does not shift as a whole. The movable support foot 2 responds to terrain changes, and the fixed support foot 3 maintains a stable center of gravity. The two together improve the comprehensive stability of the device in a complex seabed environment.

[0026] Refer to the attached Figure 1 As shown, the underwater camera 10 is connected to the external monitoring system wirelessly to transmit the image information around the device in real time, so that the user can intuitively observe the device status and the surrounding marine environment. The underwater sensor 10 can detect whether the device has position displacement or abnormal vibration, prevent the device from being damaged or stolen due to external impact, and can also monitor the surrounding marine environmental parameters (such as water flow speed, pressure, temperature, etc.) to provide real-time data support for scientific research or engineering. The connecting device 8 can connect the measuring equipment to achieve rapid installation and disassembly, avoiding traditional welding and complex assembly. The connecting hook 4 is installed on the top of the frame, and the traction rope is firmly hooked through the self-locking structure to prevent the rope from falling off due to the shaking of the waves during the installation and recovery of the equipment. The traction rope 5 does not require diving or large lifting equipment, and the recovery can be started by a surface ship or manual pulling of the rope, reducing the difficulty and cost of operation.

[0027] Refer to the attached Figure 2As shown, a multi-modal adaptive fixing and floating device for nearshore monitoring equipment, the movable support foot 2 includes a ball cage universal joint 21, and a counterweight block 22 is matched below the ball cage universal joint 21. The ball cage universal joint 21 can rotate flexibly in all directions. When the device is placed on an uneven seabed, the counterweight block 22 can automatically adjust the angle with the help of the ball cage universal joint 21, so that the entire device can be quickly leveled, ensuring that the device is in stable contact with the seabed and avoiding structural instability due to uneven ground. The movable support foot 2 is distributed at the four corners of the bottom of the square frame, and it itself carries a high-density counterweight block 22, which is used to lower the center of gravity of the device, resist the lateral impact force of ocean currents and waves, and prevent the equipment from tipping over or shifting. The ball cage universal joint can refer to the public technology CN209604434U. The counterweight block 22 is a heptahedron structure. The unique heptahedron structure increases the contact surface with the seabed, can adapt to different terrains (such as rocks, mud and sand), and prevents slipping or sinking. By connecting the ball cage universal joint 21 with the counterweight block 22, the angle can be automatically adjusted, so that the device can quickly "adaptively level" on the uneven seabed to avoid tilting and instability.

[0028] Refer to the attached Figure 3 As shown, a multi-modal adaptive fixing and floating device for nearshore monitoring equipment, the fixed support foot 3 includes a conical counterweight 31, and the conical counterweight 31 and the second cross rod 14 are connected by a fixing bolt 32. The shape of the conical counterweight 31 has good stability and guidance. When the device is subjected to external force, the conical structure can evenly disperse the force, further ensuring the stability of the entire structure and enhancing the device's anti-overturning ability in complex marine environments. If it is in a sandy or muddy environment, the conical counterweight 31 can be firmly embedded in the sand and mud to facilitate the stability of the entire device.

[0029] Refer to the attached Figure 3 As shown, a multi-modal adaptive fixing and floating device for nearshore monitoring equipment, the conical counterweight block 31 is made of lead, and the taper ratio of the conical counterweight block 31 is between 0.5 and 1.5. The density of lead is much greater than that of iron, and a larger counterweight ratio can be achieved under the same volume to maintain the stability of the overall device. At the same time, lead has relatively good corrosion resistance in seawater, stable chemical properties, and is not easy to react with components in seawater.

[0030] Refer to the attached Figure 1 As shown, a multi-modal adaptive fixing and floating device for nearshore monitoring equipment is used. The underwater camera 7 is encapsulated in a waterproof shell and connected to an external monitoring system by wireless means. It can adapt to different water depth environments. The underwater camera 7 can transmit image information around the device in real time, so that the user can intuitively observe the device and the surrounding marine environment.

[0031] Refer to the attached Figure 1 , Attachment Figure 4 As shown, attached Figure 5As shown, a multi-modal adaptive fixing and floating device for nearshore monitoring equipment, the square frame 12 includes four vertical rods 121, the top of each vertical rod 121 is equipped with a floating device 6, the floating device 6 includes an air bag 62, the air bag 62 has a gas release device 61 inside, the gas release device 61 is connected to the trigger rope 63, and the trigger rope 63 is wound on the main rope 64. As long as the main rope 64 is pulled hard, the main rope 64 drives all the trigger ropes 63 to pull outward, and the gas release device 61 in each floating device 6 will release gas to expand the air bag 62 to generate buoyancy, thereby driving the entire measuring device to float. The gas release device 61 is a miniature high-pressure gas storage tank, and the trigger rope 63 is connected to the starting valve plate of the high-pressure gas storage tank. Pulling the trigger rope 63 opens the starting valve plate to release the compressed high-pressure gas in the miniature high-pressure gas storage tank to quickly fill the air bag 62 and generate buoyancy.

[0032] Refer to the attached Figure 6 As shown, a multi-modal adaptive fixing and floating device for nearshore monitoring equipment, the connecting device 8 includes a first arc structure 81, the first arc structure 81 and the second arc structure 82 are connected by a first bolt 83, the second arc structure 82 is connected to a slider 85 by a second bolt 84, the slider 85 has a circular hole 851 in the center, and a fastening bolt 86 is also provided on the side of the slider 85. The first bolt 83 can adjust the distance between the first arc structure 81 and the second arc structure 82. The connecting device 8 is usually used to suspend nearshore dynamic measurement equipment such as a wave dynamic profile measurement system (RBR). The shell of this equipment is generally an arc surface, which can be clamped and fixed by a circular cavity composed of the first arc structure 81 and the second arc structure 82. When the second bolt 84 is in a loose state, the second arc structure 82 can rotate around the central axis of the second bolt 84. The circular hole 851 of the slider 85 is used to extend into the vertical rod 121, and the slider 85 can slide freely up and down on the vertical rod 121. When it needs to be fixed, the fastening bolt 86 is tightened to fix the slider 85 at a specified position of the vertical rod 121. The connecting device 8 can freely adjust the fixed position and adjust the installation direction of the detection device. One vertical rod 121 can be arranged with at least two connecting devices 8, and the detection device can be installed according to actual monitoring needs, which greatly improves the measurement efficiency of the entire measuring equipment.

[0033] Refer to the attached Figure 1As shown, a multi-modal adaptive fixing and floating device for nearshore monitoring equipment, the underwater sensor 10 is internally integrated with an underwater acoustic emission transducer, a microcontroller, a power module, and a data storage module, and the underwater sensor 10 transmits a digital signal to an external computer 9. The transducer transmits an underwater acoustic signal of a specific frequency and coding format, the microcontroller is responsible for controlling signal emission, data processing and storage, the power module supplies power to the device, and the data storage module records relevant parameters and emission information. The external computer 9 is composed of a signal processing unit, a data acquisition module, a communication module, and a GPS positioning module. The signal processing unit performs pre-processing such as amplification and filtering on the signal, the data acquisition module converts the analog signal into a digital signal, the communication module transmits the collected data to the external computer 9 for analysis and processing, the GPS module is used to obtain the accurate position information of the water receiver, and the external computer 9 can display the position and image information of the underwater equipment in real time. If a large position offset occurs (the offset position exceeds 0.5m), an early warning message is automatically sent to the user terminal so that the user can take timely measures.

[0034] Refer to the attached Figure 7 As shown, a multi-modal adaptive fixing and floating device for nearshore monitoring equipment, the connecting hook 4 includes an arc shaft 42 and a short shaft 41, the arc shaft 42 and the short shaft 41 are connected by a first connecting shaft 43, the short shaft 41 has a notch 411, the notch 411 can be embedded with a self-locking piece 44, the self-locking piece 44 can rotate around the second connecting shaft 45, when the self-locking piece 44 is embedded in the notch 411, the short shaft 41 cannot rotate around the first connecting shaft 43. The connecting hook 4 has a self-locking function, when the self-locking piece 44 is embedded in the notch 411, the short shaft 41 and the arc shaft 42 fit and cannot rotate, ensuring that the traction rope 5 will not slip out of the hook mouth of the connecting hook, the whole device firmly hooks the traction rope 5 through the self-locking structure, prevents the rope from falling off due to the shaking of the waves when the equipment is installed and recovered, and can also realize the function of the connecting hook 4 to recover the equipment. If you want to open the connecting hook 4 and take out the traction rope 5, you only need to rotate the self-locking piece 44 out of the notch 411, and then you can rotate the short shaft 41 to open the connecting hook 4.

[0035] The embodiments and / or implementation methods described above are only used to illustrate the preferred embodiments and / or implementation methods for realizing the technology of the present invention, and are not intended to limit the implementation methods of the technology of the present invention in any form. Any technical personnel in this field may make slight changes to other equivalent embodiments without departing from the scope of the technical means disclosed in the content of the present invention, but they should still be regarded as technologies or embodiments that are essentially the same as the present invention. This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and its core ideas of this application. The above is only the preferred implementation method of this application. It should be pointed out that due to the limitations of textual expression and the objective existence of infinite specific structures, ordinary technicians in this technical field can make several improvements, modifications or changes without departing from the principles of this application, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the concept and technical solution of the invention to other occasions without improvement, should be regarded as the scope of protection of this application.

Claims

1. A multi-modal adaptive fixing and floating device for nearshore monitoring equipment, comprising a stainless steel frame (1), wherein the stainless steel frame (1) is mainly composed of a pyramid frame (11) and a square frame (12), and is characterized in that: The bottom of the stainless steel frame (1) is provided with a movable support foot (2) and a fixed support foot (3); the top of the pyramid frame (11) is provided with an underwater camera (7); a first cross rod (13) is provided between the pyramid frame (11) and the square frame (12); an underwater sensor (10) is installed in the middle of the first cross rod (13); a second cross rod (14) is provided at the bottom of the square frame (12); a connecting device (8) is installed on the side of the square frame (12); a connecting hook (4) is provided at the top of the pyramid frame (11); a traction rope (5) is sleeved inside the connecting hook (4).

2. According to claim 1, a multi-modal adaptive fixing and floating device for nearshore monitoring equipment is characterized in that: The movable supporting foot (2) comprises a ball cage type universal joint (21), and a counterweight block (22) is provided below the ball cage type universal joint (21).

3. The multi-modal adaptive fixing and floating device for nearshore monitoring equipment according to claim 2 is characterized by: The counterweight block (22) is a polyhedral structure with at least 7 faces.

4. The multi-modal adaptive fixing and floating device for nearshore monitoring equipment according to claim 1 is characterized by: The fixed support foot (3) comprises a conical counterweight block (31), and the conical counterweight block (31) and the second cross rod (14) are connected by a fixing bolt (32).

5. The multi-modal adaptive fixing and floating device for nearshore monitoring equipment according to claim 4 is characterized by: The conical counterweight (31) is made of lead, and the conical counterweight (31) has a taper between 0.5 and 1.

5.

6. The multi-modal adaptive fixing and floating device for nearshore monitoring equipment according to claim 1 is characterized by: The underwater camera (7) is encapsulated in a waterproof housing and is connected to an external monitoring system in a wireless manner.

7. The multi-modal adaptive fixing and floating device for nearshore monitoring equipment according to claim 1 is characterized by: The square frame (12) comprises four vertical rods (121), each of which is provided with a floating device (6) on its top, the floating device (6) comprising an air bag (62), a gas release device (61) being provided inside the air bag (62), the gas release device (61) being connected to a trigger rope (63), and the trigger rope (63) being wound around a main rope (64).

8. The multi-modal adaptive fixing and floating device for nearshore monitoring equipment according to claim 7 is characterized by: The connecting device (8) comprises a first circular arc structure (81), the first circular arc structure (81) and the second circular arc structure (82) are connected by a first bolt (83), the second circular arc structure (82) is connected to a slider (85) by a second bolt (84), the slider (85) has a circular hole (851) at its center, and a fastening bolt (86) is also provided on a side of the slider (85).

9. The multi-modal adaptive fixing and floating device for nearshore monitoring equipment according to claim 1, characterized in that: The underwater sensor (10) has an underwater acoustic emission transducer, a microcontroller, a power module, and a data storage module integrated therein, and the underwater sensor (10) transmits a digital signal to an external computer (9).

10. The multi-modal adaptive fixing and floating device for nearshore monitoring equipment according to claim 1, characterized in that: The connecting hook (4) comprises an arc shaft (42) and a short shaft (41), wherein the arc shaft (42) and the short shaft (41) are connected via a first connecting shaft (43), wherein the short shaft (41) has a notch (411), wherein the notch (411) can be embedded with a self-locking plate (44), wherein the self-locking plate (44) can rotate around a second connecting shaft (45), and when the self-locking plate (44) is embedded in the notch (411), the short shaft (41) cannot rotate around the first connecting shaft (43).

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