A multi-modal adaptive fixing and floating device for nearshore monitoring equipment

Abstract

The present invention discloses a multi-modal adaptive fixing and floating device for nearshore monitoring equipment, which belongs to the technical field of marine monitoring equipment. The system adopts a stainless steel frame combination structure, including a pyramid frame and a square frame, and realizes the adaptive leveling and anti-overturning ability of the seabed through the dynamic and static combination design of movable support legs and fixed support legs. The movable support legs adopt ball cage universal joints with polyhedron counterweights, and the fixed support legs adopt lead cone counterweights. A connecting hook with a self-locking structure is provided on the top of the frame, and a triggerable airbag floating device is integrated at the bottom, which cooperates with underwater sensors and cameras to realize real-time monitoring of the equipment status and marine environment. The present invention effectively improves the comprehensive stability and operational convenience of nearshore measurement equipment in complex sea conditions through a dynamically stable structure, multi-terrain adaptability and a rapid recovery mechanism.

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 marine research and engineering, securing subsea measurement equipment is crucial. Existing methods for securing subsea equipment have numerous shortcomings. For example, stability is difficult to ensure in complex sea conditions, and equipment is prone to drift and damage. Installation and removal are cumbersome, labor-intensive, and time-consuming. Furthermore, there is a lack of effective monitoring of the equipment's real-time status. When equipment is damaged, stolen, or malfunctions due to harsh environmental conditions, timely detection and action are impossible, leading to data loss and equipment damage. Notably, when subsea measurement equipment requires maintenance or recovery, existing securing devices present significant challenges in achieving resurfacing. The immense pressure of the seawater and the complex connection between the device and the seabed make resurfacing extremely laborious. This often requires the use of large, expensive auxiliary equipment. Furthermore, some monitoring areas are unable to accommodate lifting equipment, forcing manual lifting. Furthermore, while lifting equipment is possible, it incurs additional costs, is inefficient, and can cause damage to the equipment itself. Currently, some measuring devices, such as the disclosed patent CN205383404U, achieve basic securing of equipment, but there is still room for improvement when it comes to handling 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 measurement equipment such as easy capsizing, poor stability, and difficulty in installation and recovery under complex sea conditions, and to provide a nearshore monitoring and measurement device with a combined dynamic and static support structure, adaptive terrain adjustment, and a rapid recovery mechanism.

[0004] A multimodal adaptive fixing and buoyancy device for nearshore monitoring equipment includes a stainless steel frame, primarily composed of a pyramidal frame and a square frame. The bottom of the stainless steel frame is equipped with movable and fixed support legs. An underwater camera is mounted on the top of the pyramidal frame. A first crossbar is positioned between the pyramidal frame and the square frame, with an underwater sensor mounted in the middle of the first crossbar. A second crossbar is positioned at the bottom of the square frame. Connecting devices are mounted on the sides of the square frame. A connecting hook is positioned at the top of the pyramidal frame, and a towing rope is inserted into the hook. The pyramidal shape of the stainless steel frame helps disperse pressure from the water flow above, enhancing the overall pressure resistance of the stainless steel frame in complex sea conditions. It also provides a stable and reasonable support structure for connecting various measuring equipment. The central square frame is designed to provide ample space for installing the underwater camera and various control components, ensuring a reasonable layout and non-interference between the components. When the device is placed on an uneven seabed, the movable support legs can flexibly adapt to changes in terrain, achieving automatic leveling and ensuring a stable interface between the device and the seabed. In complex sea conditions (such as currents and wave impacts), the movable support legs dynamically adjust their angles to disperse external forces and enhance the device's resistance to overturning. The fixed support legs, with their fixed design, provide a rigid support base for the device. Together with the four movable support legs at the corners, they form a dynamic and static combination, balancing the flexibility and stability of the overall structure. In extreme sea conditions (such as strong currents), the central fixed support leg acts as an "anchor point," ensuring the device remains stable. The movable support legs adapt to changing terrain, while the fixed support legs maintain a stable center of gravity. Together, they enhance the device's overall stability in complex seabed environments.

[0005] The underwater camera wirelessly connects to an external monitoring system, transmitting real-time image information around the device, allowing users to visually observe the device's status and the surrounding ocean environment. Underwater sensors detect any displacement or abnormal vibrations, preventing damage or theft from external impacts. They also monitor surrounding ocean parameters (such as water velocity, pressure, and temperature), providing real-time data support for scientific research or engineering projects. A connector allows for connection to measurement equipment, enabling quick installation and removal, eliminating traditional welding and complex assembly. A connecting hook, mounted on the top of the frame, securely hooks the towing rope through a self-locking mechanism, preventing it from becoming dislodged due to wave motion during installation and retrieval. The towing rope can be activated and retrieved using a surface vessel or manually, eliminating the need for diving or large lifting equipment, reducing operational complexity and costs.

[0006] A multi-modal adaptive anchoring and buoyancy device for nearshore monitoring equipment features movable support legs comprised of universal joints with counterweights positioned beneath them. These joints allow for flexible rotation in all directions. When the device is placed on an uneven seabed, the counterweights automatically adjust their angles with the joints, quickly leveling the entire device and ensuring stable contact with the seabed, thereby preventing structural instability caused by uneven surfaces. The movable support legs, located at the four corners of the square frame, incorporate high-density counterweights to lower the device's center of gravity, resisting lateral impact from currents and waves and preventing tipping or displacement. The counterweights are polyhedral structures with at least seven faces. This increases the contact surface with the seabed, improving friction within the device, adapting to varying terrain (such as rock and mud) and preventing slipping or sinking. The joints connect the counterweights, allowing for automatic angle adjustment, enabling the device to quickly and adaptively level itself on uneven seabeds and preventing tilting or instability.

[0007] A multi-modal adaptive fixing and buoyancy device for nearshore monitoring equipment. The fixed support legs include conical counterweights connected to a second crossbar with fixing bolts. The conical counterweights' shape provides excellent stability and guidance. When the device is subjected to external forces, the conical structure evenly distributes the force, further ensuring the stability of the entire structure and enhancing the device's anti-capsulation ability in complex marine environments. In sandy and muddy environments, the conical counterweights can be firmly embedded in the sand and mud, facilitating the stability of the entire device.

[0008] A multi-modal adaptive fixation and buoyancy device for nearshore monitoring equipment. The conical counterweight is made of lead, with a taper ratio between 0.5 and 1.5. Lead has a much higher density than iron, allowing for a greater counterweight ratio within the same volume, maintaining overall device stability. Lead also exhibits relatively good corrosion resistance in seawater and is chemically stable, making it less likely to react with seawater components.

[0009] A multi-modal adaptive fixing and buoyancy device for nearshore monitoring equipment. The underwater camera is enclosed in a waterproof housing 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 buoyancy device for nearshore monitoring equipment. The square frame includes four vertical poles, each with a buoyancy device installed on top. The buoyancy device includes an airbag with a gas release device inside. 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 will pull all the trigger ropes outward, and the gas release device in each buoyancy device will release gas to expand the airbag and generate buoyancy, thereby driving the entire measuring device to float. The gas release device can be a miniature high-pressure gas tank. The trigger rope is connected to the starting valve plate of the high-pressure gas tank. Pulling the trigger rope opens the starting valve plate and releases the compressed high-pressure gas in the miniature high-pressure gas tank to quickly fill the airbag and generate buoyancy.

[0011] A multi-modal adaptive fixing and floating device for nearshore monitoring equipment. The connecting device comprises a first arc structure, which is connected to a second arc structure by a first bolt. The second arc structure is connected to a slider by a second bolt. The slider has a circular hole in its center and a fastening bolt on its side. The first bolt adjusts the distance between the first and second arc structures. The connecting device is typically used to suspend nearshore dynamic measurement equipment, such as a wave dynamic profiler (RBR). The housing of such equipment typically has an arc surface that can be clamped and fixed within the circular cavity formed by the first and second arc structures. When the second bolt is loosened, the second arc structure can rotate about the central axis of the second bolt. The circular hole in the slider is designed to extend into a vertical rod, allowing the slider to slide freely up and down on the rod. When it is needed, the fastening bolt is tightened to secure the slider to a specific position on the rod. The connecting device allows for flexible adjustment of the fixing position and the orientation of the detection device. At least two connecting devices can be installed on a single vertical rod, allowing the detection device to be installed according to actual monitoring needs, significantly improving the measurement efficiency of the entire measurement equipment.

[0012] A multimodal adaptive fixation and buoyancy device for nearshore monitoring equipment. The underwater sensor integrates an underwater acoustic emission transducer, a microcontroller, a power supply module, and a data storage module. The underwater sensor transmits digital signals to an external computer. The transducer emits underwater acoustic signals of a specific frequency and encoding format. The microcontroller controls signal transmission, data processing, and storage. The power supply module provides power to the device, and the data storage module records relevant parameters and transmission information. The external computer consists 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 analog signals into digital signals. The communication module transmits the collected data to the computer for analysis and processing. The GPS module obtains the accurate position of the surface receiver. The computer displays the underwater device's position and image information in real time. If the position deviates significantly (over 0.5 meters), an alert is automatically sent to the user terminal, enabling timely action.

[0013] A multi-modal adaptive fixing and floating device for nearshore monitoring equipment. The connecting hook includes an arc shaft and a short shaft. The arc shaft and the short shaft are connected by a first connecting shaft. The short shaft has a notch. The notch can be embedded with a self-locking plate. The self-locking plate can rotate around the second connecting shaft. 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. When the self-locking plate is embedded in the notch, the short shaft and the arc shaft fit together and cannot rotate, ensuring that the towing rope will not slip out of the hook mouth of the connecting hook. The entire device firmly hooks the towing rope through the self-locking structure, preventing the rope from falling off due to the shaking of the waves during the installation and recovery of the equipment. It can also realize the function of the connecting hook to recover the equipment. If you want to open the connecting hook and take out the towing 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 combination structure of movable and fixed supporting legs, combined with the design of polyhedron counterweight blocks and conical counterweights, significantly improves the equipment's anti-overturning ability and terrain adaptability in complex sea conditions; the integrated airbag flotation device and self-locking connecting hook achieve rapid equipment recovery, reducing operational difficulty and cost; the modular connection device works in conjunction with the real-time monitoring system (camera, sensors), 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] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are merely exemplary, and those skilled in the art can derive other implementation drawings based on the provided drawings without inventive effort.

[0016] Figure 1 Schematic diagram of the overall device of the measuring device of the present invention.

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

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

[0019] Figure 4 It is a schematic diagram of the 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 Schematic diagram of the connecting device of the present invention.

[0022] Figure 7 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 foot, 3-fixed supporting foot, 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 clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0025] Example 1:

[0026] Refer to the attached Figure 1The figure shows a multimodal adaptive fixing and buoyancy device for nearshore monitoring equipment. The device comprises a stainless steel frame 1, primarily composed of a pyramid frame 11 and a square frame 12. The bottom of the stainless steel frame 1 is equipped with movable support legs 2 and fixed support legs 3. An underwater camera 7 is mounted on the top of the pyramid frame 11. A first crossbar 13 is located between the pyramid frame 11 and the square frame 12, with an underwater sensor 10 mounted in the middle of the first crossbar 13. A second crossbar 14 is located at the bottom of the square frame 12. Connecting devices 8 are mounted on the sides of the square frame 12. A connecting hook 4 is located at the top of the pyramid frame 11, with a towing rope 5 inserted within the hook 4. The shape of the pyramid frame 11 at the top of the stainless steel frame 1 helps disperse water pressure from above, enhancing the overall compressive strength of the stainless steel frame 1 in complex sea conditions. It also provides a stable and reasonable support structure for connecting various measurement equipment. The central square frame 12 is designed to provide ample space for installing the underwater camera and various control components, ensuring a reasonable layout and non-interference between the components. When the device is placed on an uneven seabed, the movable support foot 2 can flexibly adapt to changes in the terrain, 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, thereby improving the device's anti-overturning ability. The fixed support foot 3 adopts a fixed design, providing a rigid support base 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 acts as an "anchor point" to ensure that the device does not undergo overall displacement. The movable support foot 2 responds to terrain changes, and the fixed support foot 3 maintains a stable center of gravity. Together, the two improve the overall stability of the device in complex seabed environments.

[0027] Refer to the attached Figure 1 As shown, the underwater camera 10 is wirelessly connected to an external monitoring system, transmitting real-time image information around the device, allowing users to intuitively observe the device status and the surrounding marine environment. The underwater sensor 10 can detect whether the device has experienced positional displacement or abnormal vibration, preventing damage or theft due to external impact. It can also monitor surrounding marine environmental parameters (such as water flow velocity, pressure, temperature, etc.), providing real-time data support for scientific research or engineering. The connecting device 8 can connect to the measuring equipment, enabling rapid installation and disassembly, avoiding traditional welding and complex assembly. The connecting hook 4 is installed on the top of the frame and firmly hooks the towing rope through a self-locking structure to prevent the rope from falling off due to wave shaking during equipment installation and recovery. The towing rope 5 does not require diving or large lifting equipment. Recovery can be initiated by surface vessels or manual pulling of the rope, reducing operational difficulty and cost.

[0028] Refer to the attached Figure 2The figure shows a multi-modal adaptive fixation and buoyancy device for nearshore monitoring equipment. The movable support legs 2 include a ball-and-socket universal joint 21, with a counterweight 22 positioned underneath. The joint 21 allows for flexible rotation in all directions. When the device is placed on uneven seabed surfaces, the counterweight 22 automatically adjusts its angle with the joint, quickly leveling the entire device and ensuring stable contact with the seabed, thereby preventing structural instability caused by uneven surfaces. The movable support legs 2 are located at the four corners of the square frame and incorporate high-density counterweights 22. This lowers the device's center of gravity, resisting lateral impact from currents and waves and preventing tipping or displacement. For more information on the ball-and-socket universal joint, please refer to the patent application CN209604434U. The counterweight 22 is a heptahedron. This unique heptahedron structure increases the contact surface with the seabed, adapting to varying terrain (such as rock and mud), and preventing 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.

[0029] Refer to the attached Figure 3 As shown, a multi-modal adaptive fixing and buoyancy device for nearshore monitoring equipment has a fixed support leg 3 including a conical counterweight 31, which is connected to the second cross bar 14 by a fixing bolt 32. The shape of the conical counterweight 31 provides excellent stability and guidance. When the device is subjected to external forces, 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. In sandy and muddy environments, the conical counterweight 31 can be firmly embedded in the sand and mud to facilitate the stability of the entire device.

[0030] Refer to the attached Figure 3 As shown, a multi-modal adaptive fixation and buoyancy device for nearshore monitoring equipment features a conical counterweight 31 made of lead, with a taper ratio between 0.5 and 1.5. Lead has a much higher density than iron, allowing for a greater counterweight ratio within the same volume, maintaining overall device stability. Lead also exhibits relatively good corrosion resistance in seawater and is chemically stable, making it less likely to react with components in the water.

[0031] Refer to the attached Figure 1 As shown, a multi-modal adaptive fixing and floating device for nearshore monitoring equipment is provided. The underwater camera 7 is encapsulated in a waterproof shell and is connected to an external monitoring system wirelessly. It can adapt to different water depth environments. The underwater camera 7 can transmit image information around the device in real time, allowing users to intuitively observe the device and the surrounding marine environment.

[0032] Refer to the attached Figure 1 , Attachment Figure 4 As shown, attached Figure 5As shown, a multi-modal adaptive fixing and buoyancy device for nearshore monitoring equipment has a square frame 12 including four vertical rods 121, each of which is equipped with a buoyancy device 6 mounted on top. The buoyancy device 6 includes an airbag 62, which contains a gas release device 61. The gas release device 61 is connected to a trigger rope 63, which is wrapped around a main rope 64. As long as the main rope 64 is pulled hard, the main rope 64 pulls all the trigger ropes 63 outward, and the gas release device 61 in each buoyancy device 6 releases gas, causing the airbag 62 to expand and generate buoyancy, thereby driving the entire measuring device to float. The gas release device 61 is a miniature high-pressure gas tank, and the trigger rope 63 is connected to the starting valve plate of the high-pressure gas tank. Pulling the trigger rope 63 opens the starting valve plate, releasing the compressed high-pressure gas in the miniature high-pressure gas tank, which quickly fills the airbag 62 and generates buoyancy.

[0033] Refer to the attached Figure 6 As shown, a multi-modal adaptive fixing and floating device for nearshore monitoring equipment is shown. 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 via a second bolt 84. The slider 85 has a circular hole 851 in its center and fastening bolts 86 on its side. The first bolt 83 adjusts the distance between the first arc structure 81 and the second arc structure 82. The connecting device 8 is typically used to suspend nearshore dynamic measurement equipment, such as a wave profiler (RBR). The housing of such equipment typically has an arc surface and can be clamped and fixed by the circular cavity formed by the first and second arc structures 81 and 82. When the second bolt 84 is loosened, the second arc structure 82 can rotate about its central axis. The circular hole 851 of the slider 85 is designed to extend into the vertical rod 121, allowing the slider 85 to slide freely up and down on the vertical rod 121. When the slider 85 needs to be fixed, the fastening bolt 86 is tightened to secure the slider 85 to a specified position on 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.

[0034] Refer to the attached Figure 1The figure shows a multi-modal adaptive fixing and buoyancy device for nearshore monitoring equipment. The underwater sensor 10 integrates an underwater acoustic emission transducer, a microcontroller, a power module, and a data storage module. The underwater sensor 10 transmits digital signals to an external computer 9. The transducer emits underwater acoustic signals of a specific frequency and encoding format. The microcontroller controls signal transmission, data processing, and storage. The power module provides power to the device, and the data storage module records relevant parameters and transmission information. The external computer 9 consists 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 analog signals into digital signals. 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 surface receiver. The external computer 9 can display the position and image information of the underwater device in real time. If the position deviates significantly (over 0.5m), an alert is automatically sent to the user terminal, allowing the user to take timely action.

[0035] Refer to the attached Figure 7 As shown, a multi-modal adaptive fixing and buoyancy device for nearshore monitoring equipment is shown. The connecting hook 4 includes an arc shaft 42 and a short shaft 41. The arc shaft 42 and short shaft 41 are connected by a first connecting shaft 43. The short shaft 41 has a notch 411 that can be inserted into a self-locking plate 44. The self-locking plate 44 can rotate about a second connecting shaft 45. When the self-locking plate 44 is inserted into the notch 411, the short shaft 41 cannot rotate about the first connecting shaft 43. The connecting hook 4 has a self-locking function. When the self-locking plate 44 is inserted into the notch 411, the short shaft 41 and the arc shaft 42 fit together and cannot rotate, ensuring that the towing rope 5 does not slip out of the hook. The entire device firmly hooks the towing rope 5 through the self-locking structure, preventing the rope from falling due to wave shaking during equipment installation and recovery. It also enables the connecting hook 4 to recover the equipment. To open the connecting hook 4 and remove the towing rope 5, simply rotate the self-locking plate 44 out of the notch 411, and then rotate the short shaft 41 to open the connecting hook 4.

[0036] 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 do not impose any form of limitation on the implementation methods of the technology of the present invention. Any person skilled in the art 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.

[0037] 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 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, there are objectively infinite specific structures. For ordinary technicians in this technical field, without departing from the principles of this application, they can also make several improvements, modifications or changes, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the inventive concept and technical solution 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 bar (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 bar (13); a second cross bar (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); the top of the pyramid frame (11) is provided with a plurality of movable support feet (2) and a fixed support foot (3); a plurality of underwater cameras (7) are installed on the top of the pyramid frame (1 ... A connecting hook (4) is provided at the end, and a traction rope (5) is sleeved in the connecting hook (4); the movable supporting foot (2) includes a ball cage type universal joint (21), and a counterweight block (22) is matched below the ball cage type universal joint (21). When the device is on an uneven sea surface, the counterweight block (22) automatically adjusts its angle with the help of the ball cage type universal joint (21); the fixed supporting foot (3) includes a conical counterweight block (31), and the conical counterweight block (31) and the second cross rod (14) are connected with a fixing bolt (32).

2. The multi-modal adaptive fixing and floating device for nearshore monitoring equipment according to claim 1, characterized in that: The counterweight block (22) is a polyhedron structure with at least 7 faces.

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

5.

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

5. The multi-modal adaptive fixing and floating device for nearshore monitoring equipment according to claim 1, characterized in that: The square frame (12) includes four vertical rods (121), and a floating device (6) is installed on the top of each vertical rod (121). The floating device (6) includes an air bag (62), and a gas release device (61) is provided inside the air bag (62). The gas release device (61) is connected to a trigger rope (63), and the trigger rope (63) is wound around a main rope (64).

6. The multi-modal adaptive fixing and floating device for nearshore monitoring equipment according to claim 5, characterized in that: The connecting device (8) includes a first circular arc structure (81), wherein the first circular arc structure (81) and the second circular arc structure (82) are connected by a first bolt (83), and 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 further provided on the side of the slider (85).

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

8. 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 in a self-locking plate (44), and wherein the self-locking plate (44) can rotate around a second connecting shaft (45). 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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