Horizontal anti-shake device carrying hyperspectral probe based on ROV (Remote Operated Vehicle) and underwater operation equipment

Abstract

The invention discloses a horizontal anti-shake device carrying a hyperspectral probe based on an ROV and underwater operation equipment, and relates to the technical field of underwater detection. The horizontal anti-shake device based on the ROV carrying the hyperspectral probe comprises a stabilizing frame used for being connected with the ROV; an elastic component; the connecting frame is used for being connected with a hyperspectral probe; wherein the stabilizing frame is located above the connecting frame and movably connected to the connecting frame, the number of the elastic assemblies is at least two, the elastic assemblies are arranged around the stabilizing frame at intervals, and each elastic assembly is arranged between the stabilizing frame and the connecting frame and can provide elastic acting force when the connecting frame moves relative to the stabilizing frame in any radial direction of the stabilizing frame. According to the method, the influence of horizontal jitter on the hyperspectral image in the underwater detection process can be eliminated, and the data fidelity rate is improved.

Description

Technical Field

[0001] The present invention relates to the field of underwater detection technology, and in particular to a horizontal anti-shake device and underwater operation equipment based on an ROV equipped with a hyperspectral probe. Background Art

[0002] With the vigorous development and utilization of marine resources and environment, there is an urgent need for underwater detection technology with high efficiency and high resolution. At present, underwater hyperspectral imaging detection systems are widely used in underwater precision detection operations due to their high real-time performance and high resolution. Among them, line scanning imaging spectrometers are usually used in underwater detection work.

[0003] However, line-scan imaging spectrometers are extremely sensitive to jitter during the push-scan process. Jitter in different directions during the push-scan process can cause spatial discontinuity, image deformation and distortion in the final stitched monochrome image. Although the geographic location information and posture information recorded by the onboard platform can be combined in subsequent data processing to perform geometric correction on the obtained hyperspectral image to ensure the accuracy of the target's spatial information, the corrected image may still have a certain degree of distortion, resulting in the underwater hyperspectral imaging detection system being unable to accurately reflect the target's spatial information, thereby increasing the difficulty and uncertainty of underwater scientific research detection work.

[0004] Therefore, in order to obtain high-quality hyperspectral data, it is necessary to ensure the horizontal stability of the hyperspectral imager on the mounting platform and try to eliminate the adverse effects of jitter in the horizontal direction on the hyperspectral imager. Summary of the invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a horizontal anti-shake device and underwater operation equipment based on a hyperspectral probe mounted on an ROV, which can effectively eliminate the adverse effects of horizontal jitter on hyperspectral images during underwater detection and improve the fidelity of hyperspectral data.

[0006] The first aspect of the present invention provides a horizontal anti-shake device based on a ROV equipped with a hyperspectral probe, comprising: A stabilizing frame, used for connecting with the ROV; Elastic components; A connecting frame, used for connecting with the hyperspectral probe; Wherein, the stabilizing frame is located above the connecting frame and is movably connected to the connecting frame. At least two elastic components are provided and are arranged at intervals around the stabilizing frame. Each elastic component is provided between the stabilizing frame and the connecting frame and can provide an elastic force when the connecting frame moves relative to the stabilizing frame along any radial direction of the stabilizing frame.

[0007] The horizontal anti-shake device based on the ROV-mounted hyperspectral probe according to the embodiment of the first aspect of the present invention has at least the following beneficial effects: when the hyperspectral probe is connected to the ROV through the horizontal anti-shake device based on the ROV-mounted hyperspectral probe, the ROV can drive the hyperspectral probe to move during the underwater detection operation, thereby enabling the hyperspectral probe to obtain hyperspectral image data in a stable state.

[0008] When the horizontal anti-shake device based on the ROV equipped with a hyperspectral probe is subjected to vibration in any direction in the horizontal plane of the ROV, the stabilizing frame will move linearly relative to the connecting frame in the horizontal plane, thereby driving all elastic components between the stabilizing frame and the connecting frame to undergo elastic deformation, and by providing elastic force to convert the vibration into elastic potential energy, the vibration transmitted to the stabilizing frame is eliminated, so that the connecting frame and the hyperspectral probe can maintain a stable state, preventing the hyperspectral probe from being displaced in the horizontal plane, and finally realizing the anti-shake and vibration isolation functions of the horizontal anti-shake device based on the ROV equipped with a hyperspectral probe in any direction in the horizontal plane, ensuring the acquisition of high-quality hyperspectral data.

[0009] In some embodiments of the present invention, the stabilizing frame has a central axis extending in the up-down direction, the stabilizing frame is provided with at least three first connecting parts arranged circumferentially around the central axis, the connecting frame is provided with at least three second connecting parts arranged circumferentially around the central axis, one of the first connecting parts and the second connecting parts includes a first rod body and a second rod body hingedly connected to each other, the hinge axis of the first rod body extends in the up-down direction, and the other is connected to the second rod body in a radial sliding manner along the stabilizing frame.

[0010] In some embodiments of the present invention, the horizontal anti-shake device based on the ROV equipped with a hyperspectral probe also includes an annular ring, the annular ring, the stabilizing frame and the connecting frame are coaxially arranged, the elastic component includes a spring and a connecting rod, all of the springs are sleeved on the annular ring and evenly arranged along the circumference of the annular ring, the connecting rods are hinged at opposite ends of the springs, the connecting rods at both ends of the springs are hinged to form hinged ends, the hinge axis of the connecting rod extends in the up and down directions, one of the annular ring and the hinged end is arranged on the stabilizing frame, and the other is arranged on the connecting frame.

[0011] In some embodiments of the present invention, one of the first connecting portion and the second connecting portion is a directional rod, and the other is a directional hole. The directional rod includes the first rod body and the second rod body, and the second rod body is inserted into the directional hole.

[0012] In some embodiments of the present invention, three of the first connecting parts and three of the second connecting parts are provided, three of the elastic components are provided, and they are arranged one by one corresponding to the three directional rods, the first rod body is fixedly connected to the connecting frame, the stabilizing frame is provided with the directional hole, the annular ring is fixedly connected to the stabilizing frame, and the hinged end is coaxially connected to the hinge between the first rod body and the second rod body.

[0013] In some embodiments of the present invention, the first rod is shorter than the second rod.

[0014] In some embodiments of the present invention, the stabilizing frame and the connecting frame are circular when viewed from top to bottom.

[0015] In some embodiments of the present invention, the stabilizing frame and the connecting frame are respectively provided with wire holes for routing cables of the hyperspectral probe, and all of the wire holes are coaxially arranged.

[0016] In some embodiments of the present invention, a connection surface for mounting the hyperspectral probe and a plurality of connection ends for mounting lighting lamps are provided at the lower end of the connection frame, and the plurality of connection ends are evenly arranged around the connection surface.

[0017] A second aspect of the present invention provides an underwater operation device, which includes: A horizontal anti-shake device based on an ROV equipped with a hyperspectral probe as described in any one of the embodiments of the first aspect; an ROV connected to the stabilizing frame; A hyperspectral probe is connected to the connecting frame.

[0018] The underwater operation equipment according to the embodiment of the second aspect of the present invention has at least the following beneficial effects: when the hyperspectral probe is installed on the ROV through the horizontal anti-shake device based on the ROV-mounted hyperspectral probe, the ROV can stably perform hyperspectral imaging detection underwater with the hyperspectral probe; in this process, even if the horizontal anti-shake device based on the ROV-mounted hyperspectral probe is subjected to vibration in any direction of the horizontal plane of the ROV, the horizontal anti-shake device based on the ROV-mounted hyperspectral probe can also play a good anti-shake and vibration isolation effect in any direction in the horizontal plane, thereby realizing the anti-shake and vibration isolation function of the hyperspectral probe in any direction in the horizontal plane of the underwater space, effectively solving the problem of shaking in any direction in the horizontal plane faced by the underwater hyperspectral imaging detection system in the prior art, enhancing the horizontal stability of the hyperspectral probe during underwater operation, and improving the fidelity of the hyperspectral data.

[0019] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a side view of an underwater operation equipment provided according to an embodiment of the present invention; Figure 2 is a three-dimensional structural diagram of an underwater operation equipment provided according to an embodiment of the present invention; Figure 3 It is a front view of the horizontal anti-shake device based on the ROV equipped with a hyperspectral probe provided by an embodiment of the present invention when the hyperspectral probe is installed; Figure 4 3D structural diagram of a horizontal anti-shake device based on a ROV equipped with a hyperspectral probe according to an embodiment of the present invention; Figure 5 is a three-dimensional structural diagram from another perspective of a horizontal anti-shake device based on an ROV-mounted hyperspectral probe provided according to an embodiment of the present invention; Figure 6 is a top view of a horizontal anti-shake device based on a ROV equipped with a hyperspectral probe according to an embodiment of the present invention; Figure 7 is a schematic diagram of the three-dimensional structure of an elastic component provided according to an embodiment of the present invention; Figure 8 is an exploded schematic diagram of the connection between the elastic component and the directional rod provided by an embodiment of the present invention; Fig. 9 It is a schematic diagram of a ROV equipped with a hyperspectral probe in the prior art being shaken in different directions; Fig.10 It is a hyperspectral image obtained by a hyperspectral probe in the prior art during underwater detection operations without being affected by vibrations or under the influence of vibrations in different directions.

[0021] Figure numerals: 100, horizontal anti-shake device based on ROV equipped with a hyperspectral probe; 110, stabilizing frame; 111, first wire hole; 120, annular ring; 121, support rod; 130, connecting frame; 131, supporting ring; 132, mounting seat; 133, connecting piece; 134, second wire hole; 140, elastic component; 141, spring; 142, retaining ring; 143, connecting rod; 144, hinged end; 151, second rod body; 152, first rod body; 200, hyperspectral probe; 300, ROV; 400, lighting lamp. DETAILED DESCRIPTION

[0022] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0023] In the description of the present invention, it is to be understood that a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0024] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] With the vigorous development and utilization of marine resources and environment by human beings, there is an urgent need for underwater detection technology with high efficiency and high resolution. Among them, underwater hyperspectral imaging detection means can avoid the complex optical path effects of water bodies, water-air interfaces and atmospheres, and at the same time has the characteristics of high real-time performance. The hyperspectral data detected by the hyperspectral probe, namely the cube image, is very clear, and the spectral data is intuitive and effective. It has a higher resolution among various underwater target detection technologies. Therefore, underwater hyperspectral imaging detection technology is a supplement to the current gap in the demand for underwater precision detection.

[0026] At present, the mainstream imaging spectrometers used in large-scale underwater hyperspectral imaging detection technology are basically line scanning imaging spectrometers. Line scanning imaging spectrometers perform spectroscopic imaging of a linear area through a slit, and obtain a monochrome image of each wavelength in the push-scan area by splicing different wavelength information of the imaging area, such as Fig.10 shown.

[0027] However, line scanning spectral imaging technology is extremely sensitive to jitter during the push-scan process. Jitter from different directions during the push-scan process will cause spatial discontinuity and image distortion in the final stitched monochrome image. Therefore, in order to obtain high-quality hyperspectral data, the stability of the platform on which the hyperspectral imager is mounted must be guaranteed.

[0028] For the common underwater hyperspectral imaging detection system mounted on a mobile platform, it is located in the underwater free space. Compared with the hyperspectral imaging detection system mounted on a fixed platform, it faces more directional jitter problems, and the jitter in different directions has different effects on the hyperspectral imaging situation. Therefore, ensuring the stable mounting of the probe in the hyperspectral imaging detection system on the remotely operated vehicle (ROV) is a major challenge in the field of underwater detection.

[0029] It is understandable that hyperspectral probes usually require precise pointing and a stable working environment to obtain high-quality spectral data. However, the movement and vibration of the ROV will be transmitted to the hyperspectral probe. The jitter of the hyperspectral probe mainly comes from two parts: the first is that the system as a whole is impacted by irregular ocean currents during underwater detection operations, which causes jitter; the second is the vibration of the mobile platform (the vibration properties of the ROV itself, the irregular disturbance of the underwater propeller to the surrounding water), which seriously affects the stability and measurement results of the hyperspectral probe.

[0030] Assuming that the x-axis direction is the forward direction of the ROV, the effect of simple jitter in one dimension on the final monochrome image is as follows: Fig.10 Specifically, Fig. 9 As shown in the figure, when the ROV is running underwater, it usually encounters at least one of the following situations: jitter on the XY plane, jitter on the XZ plane, and jitter on the YZ plane. The jitter will be transmitted to the hyperspectral imaging detection system and affect the imaging detection effect. The jitter effect on the XY plane, the jitter effect on the XZ plane, and the jitter effect on the YZ plane can be decomposed into the force in the vertical direction and the force in any direction in the horizontal plane.

[0031] like Fig.10As shown in the hyperspectral image (b) in FIG, in the absence of jitter, the hyperspectral imaging detection system on the mobile platform can obtain a normal hyperspectral image (ie, a normal hyperspectral image); Fig.10 As shown in the hyperspectral images (c), (d) and (e) in the figure, when affected by jitter on the XZ plane, jitter on the YZ plane or jitter on the XY plane, the hyperspectral images obtained by the hyperspectral imaging detection system will have problems of spatial discontinuity and image deformation and distortion. Moreover, when the jitter effects in different directions are superimposed, the fidelity of the hyperspectral data will be greatly reduced, resulting in inaccurate detection results.

[0032] Since the underwater hyperspectral imaging detection system will face jitter in multiple dimensions in the underwater environment, if the system does not take measures to maintain stability, it may cause the target objects in the captured hyperspectral data to be difficult to identify.

[0033] Although most underwater platforms such as ROV, AUV (Autonomous Underwater Vehicle) are equipped with dynamic posture systems to enable the system to maintain posture during transportation, the system is still affected by underwater fluctuations to a certain extent, resulting in distortion of the acquired hyperspectral data. Although in the subsequent data processing process, the obtained hyperspectral image can be geometrically corrected in combination with the geographic location information and posture information recorded by the platform to ensure the correctness of the target's spatial information, the corrected image may still have a certain degree of distortion, resulting in the underwater hyperspectral imaging detection system being unable to accurately reflect the target's spatial information, thereby increasing the difficulty and uncertainty of underwater scientific research detection work.

[0034] Therefore, how to eliminate the jitter caused by changes in underwater water bodies and external environment has become a major obstacle to high-precision underwater hyperspectral imaging detection technology.

[0035] Based on the above technical problems, the present invention aims to provide a horizontal anti-shake device and underwater operation equipment based on a hyperspectral probe carried by an ROV, which can provide shock absorption and stabilization for the hyperspectral probe in the horizontal plane of the underwater space, so as to reduce the influence of ROV movement on the hyperspectral probe, and effectively eliminate the adverse effects of jitter in any direction in the horizontal plane during underwater detection operations on the hyperspectral image, thereby improving the fidelity of the hyperspectral data.

[0036] Reference below Figures 1 to 8 The present invention describes a horizontal anti-shake device and underwater operation equipment based on a hyperspectral probe carried by an ROV according to an embodiment of the present invention.

[0037] like Figures 1 to 8 As shown, the horizontal anti-shake device 100 based on the ROV equipped with a hyperspectral probe according to the first aspect of the embodiment of the present invention can be installed on the existing ROV300, and the existing hyperspectral probe 200 can be installed on the horizontal anti-shake device 100 based on the ROV equipped with a hyperspectral probe, so that the hyperspectral probe 200 can complete the underwater imaging detection work under the driving action of the ROV300.

[0038] The horizontal anti-shake device 100 based on the hyperspectral probe carried by the ROV can effectively solve the problem of spatial discontinuity and image deformation distortion in the hyperspectral image caused by the adverse effect of the horizontal jitter caused by the ROV 300 and the changes in the external environment of the water body on the hyperspectral probe 200 located underwater, which is beneficial to improve the fidelity of the hyperspectral data obtained by the hyperspectral probe 200.

[0039] The horizontal anti-shake device 100 based on the ROV equipped with a hyperspectral probe has a first direction, a second direction and a third direction, wherein the first direction, the second direction and the third direction are perpendicular to each other. In this embodiment, it is assumed that the first direction is the front-to-back direction, the second direction is the left-to-right direction, and the third direction is the up-down direction.

[0040] The horizontal anti-shake device 100 based on the ROV equipped with a hyperspectral probe in this embodiment is used to eliminate the vibration influence in any direction in the horizontal plane transmitted from the ROV 300. Figures 3 to 8 As shown, the horizontal anti-shake device 100 based on the ROV equipped with a hyperspectral probe includes a stabilizing frame 110 , an elastic component 140 and a connecting frame 130 .

[0041] The function of the stabilizer 110 is to connect with the ROV 300. Specifically, the stabilizer 110 can be installed at the bottom of the ROV 300 by welding or bolting. The stabilizer 110 has a central axis extending in the up-down direction, and any radial direction of the stabilizer 110 is perpendicular to the central axis of the stabilizer 110. The stabilizer 110 is located above the connecting frame 130, and the function of the connecting frame 130 is to connect with the hyperspectral probe 200. Specifically, the hyperspectral probe 200 can be installed at the bottom of the connecting frame 130 by bolting.

[0042] The stabilizing frame 110 is circular when viewed from the top to the bottom, and the connecting frame 130 is also circular when viewed from the top to the bottom. With such an arrangement, the stabilizing frame 110 and the connecting frame 130 located underwater are subjected to more uniform force in the horizontal plane due to symmetry and hydrostatic pressure distribution characteristics. The stabilizing frame 110 and the connecting frame 130 are coaxially arranged in the top to bottom direction.

[0043] In this embodiment, the stabilizing frame 110 is a disc, and the upper surface of the stabilizing frame 110 is fixedly connected to the lower surface of the ROV 300. The connecting frame 130 includes a support ring 131 and a mounting seat 132, the mounting seat 132 is located inside the support ring 131, and both ends of the mounting seat 132 are fixedly connected to the support ring 131 through a connecting piece 133. The mounting seat 132 is coaxially arranged with the support ring 131, and the support ring 131 is coaxially arranged with the stabilizing frame 110. The mounting seat 132 is located at the lower side of the stabilizing frame 110, and the hyperspectral probe 200 can be installed on the lower surface of the mounting seat 132 by bolts. The support ring 131, the mounting seat 132 and the connecting piece 133 can be integrally formed. The connecting piece 133 can be a block.

[0044] Of course, it is not excluded that in other embodiments, the stabilizing frame 110 and the connecting frame 130 may be designed in other shapes.

[0045] Furthermore, the stabilizing frame 110 is movably connected to the connecting frame 130 , so that the stabilizing frame 110 can move linearly along its own radial direction relative to the connecting frame 130 , and the stabilizing frame 110 can rotate within a certain range in a horizontal plane relative to the connecting frame 130 .

[0046] Specifically, the stabilizing frame 110 is provided with at least three first connecting parts, and all the first connecting parts are arranged in a circle around the central axis of the stabilizing frame 110. The connecting frame 130 is provided with at least three second connecting parts, and all the second connecting parts are arranged in a circle around the central axis of the stabilizing frame 110. Among them, the second connecting part includes a first rod body 152 and a second rod body 151 that are hinged to each other, one end of the first rod body 152 is fixedly connected to the connecting frame 130, and the other end of the first rod body 152 is hinged to one end of the second rod body 151, the hinge axis of the first rod body 152 extends in the up-down direction, and the first connecting part and the other end of the second rod body 151 are connected in a radial sliding manner to the stabilizing frame 110.

[0047] Of course, it is also possible that the first connecting portion includes a first rod body 152 and a second rod body 151 that are hinged to each other, the first rod body 152 is fixedly connected to the stabilizing frame 110, the axis of the hinge between the first rod body 152 and the second rod body 151 extends in the up and down directions, and the second connecting portion is connected to the second rod body 151 along the radial sliding direction of the stabilizing frame 110.

[0048] In some examples, the connecting frame 130 is provided with three directional rods, which are evenly arranged along the circumference of the central axis of the stabilizing frame 110, and the stabilizing frame 110 is provided with three directional holes, which are evenly arranged along the circumference of the central axis of the stabilizing frame 110. The directional rods extend radially along the stabilizing frame 110, and the structure of the directional rods includes a first rod body 152 and a second rod body 151 that are hinged to each other, and each first rod body 152 can be fixedly connected to the inner circumference of the support ring 131 by welding or the like, and each second rod body 151 can be adapted to be connected with each directional hole, and the second rod body 151 is plugged into the directional hole so that the second rod body 151 can move linearly in the directional hole. In this case, there are three first connecting parts and three second connecting parts, the first connecting part is a directional hole, and the second connecting part is a directional rod. The directional hole can be a circular hole.

[0049] Through the cooperation between the directional rod and the directional hole, the stabilizing frame 110 can move linearly relative to the connecting frame 130 along any radial direction when subjected to vibration from any direction on the horizontal plane of the ROV300. At the same time, the second rod body 151 will swing relative to the first rod body 152, allowing the second rod body 151 to slide in the directional hole.

[0050] In other examples, the stabilizing frame 110 is provided with three directional rods evenly arranged along the circumference of the central axis, and the connecting frame 130 is provided with three directional holes evenly arranged along the circumference of the central axis. The directional rods extend radially along the stabilizing frame 110 and can be adapted to be connected with the directional holes. In this case, the first connecting part is the directional rods, and the second connecting part is the directional holes.

[0051] Certainly, it is not excluded that in other embodiments, a slide groove or a slide block is adopted to replace the directional hole. In addition, the directional rod and the directional hole can be respectively provided with four, five or more.

[0052] At least two elastic components 140 are provided, and all the elastic components 140 are arranged at intervals around the stabilizing frame 110. In the present embodiment, the number of the elastic components 140 is three, and the three elastic components 140 are arranged in a circle along the central axis extending up and down the stabilizing frame 110. Each elastic component 140 is provided between the stabilizing frame 110 and the connecting frame 130, and the elastic component 140 can exert elastic force on the stabilizing frame 110 and the connecting frame 130, and each elastic component 140 can be elastically deformed when the connecting frame 130 moves relative to the stabilizing frame 110 along any radial direction of the stabilizing frame 110 to provide elastic force, so that the vibration energy in any direction in the horizontal plane can be converted into elastic potential energy, so as to avoid the vibration energy from being transmitted from the stabilizing frame 110 to the connecting frame 130, thereby causing the vibration energy from the horizontal direction to affect the operation of the hyperspectral probe 200.

[0053] In a specific embodiment, Figures 3 to 8As shown, the horizontal anti-shake device 100 based on the ROV equipped with a hyperspectral probe also includes an annular ring 120. The annular ring 120, the stabilizing frame 110 and the connecting frame 130 are coaxially arranged. In this embodiment, the inner diameter of the annular ring 120 is greater than the outer diameter of the stabilizing frame 110, and the outer diameter of the annular ring 120 is smaller than the inner diameter of the support ring 131. The stabilizing frame 110 is located in the inner periphery of the annular ring 120, and the annular ring 120 is located in the inner periphery of the support ring 131. The cross-sectional shape of the annular ring 120 is circular. The directional rod is located on the periphery of the stabilizing frame 110 and on the inner periphery of the support ring 131.

[0054] Each elastic component 140 includes a spring 141 and a connecting rod 143. All springs 141 are sleeved on the annular ring 120, and all springs 141 are evenly arranged along the circumference of the annular ring 120. Specifically, on the same circumference of the annular ring 120, all springs 141 are arranged at intervals according to a certain angle. If there are three springs 141, all springs 141 are arranged at intervals of 120°. Connecting rods 143 are hinged at opposite ends of each spring 141, and the connecting rods 143 at both ends of the spring 141 are hinged to each other to form hinged ends 144.

[0055] In this embodiment, one end of the connecting rod 143 at both ends of the spring 141 can be hinged by a hinge shaft to form a hinge end 144, and the other end of the connecting rod 143 at both ends of the spring 141 is respectively hinged to the two ends of the spring 141, and the hinge axis of each connecting rod 143 extends in the up-down direction. The hinge end 144 is arranged opposite to the first connecting part and the second connecting part in the up-down direction. Of course, it is not ruled out that the hinge end 144 is staggered with the first connecting part and the second connecting part in the horizontal plane.

[0056] It can be understood that, in some examples, a connecting rod 143 is provided on the upper side or the lower side of each end of the spring 141. In other examples, connecting rods 143 are provided on both the upper and lower sides of each end of the spring 141, and the connecting rods 143 located on the upper and lower sides of the spring 141 are arranged opposite to each other up and down, and the hinge axes of the two hinge ends 144 coincide, and the two hinge ends 144 can share the same hinge axis or use two hinge axes respectively.

[0057] In this embodiment, there are three first connection parts and three second connection parts, and the three first connection parts are arranged at intervals of 120° on the same circumference of the central axis of the stabilizing frame 110, and the same is true for the three second connection parts. There are also three elastic components 140, and the three elastic components 140 are arranged in a one-to-one correspondence with the three directional rods.

[0058] Both ends of each spring 141 are fixedly connected with a retaining ring 142, which is sleeved on the annular ring 120 and can slide along the extension direction of the annular ring 120. The lower part of the retaining ring 142 is hinged to one end of the connecting rod 143 through a pin. The connecting rod 143 is located on the outside of the spring 141. The annular ring 120 is arranged on the stabilizing frame 110, and the hinged end 144 is arranged on the connecting frame 130. The first rod body 152 is fixedly connected to the connecting frame 130, the stabilizing frame 110 is provided with a directional hole, and the second rod body 151 is inserted into the directional hole. The annular ring 120 is fixedly connected to the outer peripheral surface of the stabilizing frame 110 through a plurality of support rods 121, and the hinged end 144 is coaxially connected to the hinge between the first rod body 152 and the second rod body 151.

[0059] Specifically, Figures 4 to 8 As shown, one end of the second rod body 151 extends into the directional hole, the other end of the second rod body 151 is provided with a hinge shaft extending in the up-down direction, the two connecting rods 143 are rotatably connected to the hinge shaft, one end of the first rod body 152 is fixedly connected to the support ring 131, the other end of the first rod body 152 is provided with two connecting arms, and the two connecting arms are rotatably connected to the hinge shaft. Therefore, each connecting rod 143 and the first rod body 152 can swing around the hinge shaft.

[0060] Moreover, the length of the first rod 152 is shorter than that of the second rod 151. Specifically, the length of the second rod 151 is four times or more than the length of the first rod 152. With such a configuration, when the stabilizing frame 110 moves linearly relative to the connecting frame 130 in the horizontal plane due to vibration, it can be ensured that the second rod 151 always partially extends into the directional hole. Moreover, the shorter the length of the first rod 152, the smaller the arc of rotation of the connecting frame 130 in the horizontal plane, which is conducive to preventing the hyperspectral probe 200 installed on the connecting frame 130 from swinging in the horizontal plane due to vibration in the horizontal plane.

[0061] Of course, it is not excluded that in other embodiments, the hinge end 144 is disposed on the stabilizing frame 110, and the annular ring 120 is disposed on the connecting frame 130. In addition, the number of the elastic components 140 can be two, four or more, and they are evenly arranged along the circumference of the central axis of the stabilizing frame 110. In addition, the length of the first rod 152 can also be equal to the length of the second rod 151.

[0062] It is understandable that if Figure 6As shown, assuming that the vibration direction from the ROV 300 extends along the second direction and points to one of the elastic components 140 (the elastic component 140 is set as the first elastic component, and the other two are second elastic components), the force applied by the ROV 300 acts on the stabilizing frame 110 and the annular ring 120, and can drive the annular ring 120 and the stabilizing frame 110 to move linearly along the second direction toward the first elastic component relative to the connecting frame 130. At this time, the second rod body 151 corresponding to the first elastic component will penetrate into the corresponding directional hole, that is, the length of the second rod body 151 extending into the directional hole increases. Moreover, in the first elastic component, the two connecting rods 143 will move away from each other, so that the angle between the two connecting rods 143 will become larger, and the spring 141 will be stretched under the driving action of the connecting rod 143; at the same time, in the two second elastic components, the length of the second rod body 151 corresponding to the second elastic component extending into the directional hole is reduced, and the second rod body 151 will swing relative to the first rod body 152 under the directional action of the directional hole, and the two connecting rods 143 will approach each other, causing the angle between the two connecting rods 143 to become smaller, and the spring 141 will be compressed under the driving action of the connecting rod 143.

[0063] Therefore, the vibration energy in any direction in the horizontal plane can be converted into the elastic potential energy of the elastic component 140, so that the vibration effect in the horizontal direction finally transmitted to the connecting frame 130 is eliminated, so that the connecting frame 130 and the hyperspectral probe 200 are not affected by the vibration (or shaking) in the horizontal direction from the ROV 300, and the horizontal anti-shake device 100 based on the hyperspectral probe carried by the ROV can achieve the anti-shake and vibration isolation functions in any direction in the horizontal plane, thereby ensuring the horizontal stability of the hyperspectral probe 200 during underwater detection.

[0064] When the stabilizing frame 110 and the annular ring 120 move along a radial straight line of the stabilizing frame 110 due to the vibration in the horizontal plane, the directional rod and the directional hole cooperate to ensure that the stabilizing frame 110 and the annular ring 120 can only make a linear motion in the horizontal plane relative to the connecting frame 130. During this process, the first rod body 152 and the second rod body 151 will swing relative to each other to ensure that at least a portion of the second rod body 151 is located in the directional hole; and the setting of the elastic component 140 can convert the vibration energy in the horizontal direction into the elastic potential energy of the spring 141, thereby preventing the vibration energy from being transmitted to the connecting frame 130 and the hyperspectral probe 200, thereby ensuring that the hyperspectral probe 200 can obtain high-quality hyperspectral image data.

[0065] In some embodiments, Figures 3 to 6 As shown, the stabilizing frame 110 and the connecting frame 130 are respectively provided with wire holes, and the function of the wire holes is to provide cable routing for the hyperspectral probe 200 . All the wire holes extend through in the up-and-down direction and are coaxially arranged.

[0066] In this embodiment, the stabilizing frame 110 is provided with a first wire hole 111, and the mounting seat 132 is provided with a second wire hole 134. The cable of the hyperspectral probe 200 can pass through the first wire hole 111 and the second wire hole 134 from top to bottom, and be electrically connected to the hyperspectral probe 200 located at the mounting seat 132. The hyperspectral probe 200 transmits data through the cable.

[0067] In some embodiments, Figure 3 and Figure 5 As shown, the lower end of the connecting frame 130 is provided with a connecting surface for installing the hyperspectral probe 200. Specifically, the connecting surface is located at the lower end of the mounting seat 132. The connecting surface is provided with a plurality of bolt connection holes, so that the hyperspectral probe 200 can be installed at the connecting surface by bolts. The hyperspectral probe 200 can collect hyperspectral image data downward to complete underwater detection work.

[0068] Moreover, the connecting frame 130 is also provided with a plurality of connecting ends for mounting the illuminating lamp 400, and the plurality of connecting ends are evenly arranged around the connecting surface. Specifically, the mounting seat 132 is fixedly connected to the supporting ring 131 through the connecting member 133, and the connecting end is located at the lower surface of the connecting member 133 connected to the mounting seat 132, and the illuminating lamp 400 is mounted at the connecting end and can illuminate downward.

[0069] When using the horizontal anti-shake device 100 based on the ROV-mounted hyperspectral probe provided in the embodiment of the first aspect of the present invention, after the hyperspectral probe 200 is connected to the ROV 300 through the horizontal anti-shake device 100 based on the ROV-mounted hyperspectral probe, the ROV 300 can drive the hyperspectral probe 200 to move during the underwater detection operation, so that the hyperspectral probe 200 can obtain hyperspectral image data in a stable state.

[0070] When the horizontal anti-shake device 100 based on the ROV equipped with a hyperspectral probe is subjected to vibration in any direction in the horizontal plane from the ROV 300, the stabilizing frame 110 will move linearly relative to the connecting frame 130 in the horizontal plane, thereby driving at least one of the three elastic components 140 located between the stabilizing frame 110 and the connecting frame 130 to be compressed, and the others to be stretched, so as to convert the vibration energy into elastic potential energy, thereby eliminating the vibration effect transmitted to the stabilizing frame 110, allowing the connecting frame 130 and the hyperspectral probe 200 to maintain a stable state, preventing the hyperspectral probe 200 from being displaced in the horizontal plane, and finally realizing the anti-shake and vibration isolation functions of the horizontal anti-shake device 100 based on the ROV equipped with a hyperspectral probe in any direction in the horizontal plane, ensuring that the hyperspectral probe 200 can collect high-quality hyperspectral image data.

[0071] like Figures 1 to 8As shown, the underwater operation equipment according to the second embodiment of the present invention can obtain high-quality hyperspectral image data. The structure of the underwater operation equipment includes an ROV 300, a hyperspectral probe 200, and a horizontal anti-shake device 100 based on an ROV equipped with a hyperspectral probe as in the first embodiment of the present invention.

[0072] Among them, ROV300 is located above the horizontal anti-shake device 100 based on the ROV equipped with a hyperspectral probe, and ROV300 is fixedly connected to the stabilization frame 110; the hyperspectral probe 200 is located below the horizontal anti-shake device 100 based on the ROV equipped with a hyperspectral probe, and the hyperspectral probe 200 is connected to the connecting frame 130.

[0073] It can be understood that the embodiment of the second aspect of the present invention only makes the above-mentioned structural improvement to the horizontal anti-shake device 100 based on the ROV equipped with a hyperspectral probe, while ROV300 and the hyperspectral probe 200 are prior arts and have not been structurally optimized. Those skilled in the art should understand the specific structure and working principle of ROV300 and the hyperspectral probe 200, which will not be described in detail here.

[0074] When the hyperspectral probe 200 is installed on the ROV300 through the horizontal anti-shake device 100 based on the ROV equipped with the hyperspectral probe, the ROV300 can stably perform hyperspectral imaging detection underwater with the hyperspectral probe 200; in this process, even if the horizontal anti-shake device 100 based on the ROV equipped with the hyperspectral probe is subjected to the shaking effect in any direction of the horizontal plane of the ROV300, the horizontal anti-shake device 100 based on the ROV equipped with the hyperspectral probe can also play an excellent anti-shake and vibration isolation role in any direction in the horizontal plane, thereby realizing the anti-shake and vibration isolation function of the hyperspectral probe 200 in any direction in the horizontal plane of the underwater space, effectively solving the shaking problem of the underwater hyperspectral imaging detection system in the prior art in any direction in the horizontal plane, enhancing the horizontal stability of the hyperspectral probe 200 during underwater detection operations, and ultimately improving the fidelity of the hyperspectral data.

[0075] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0076] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A horizontal anti-shake device based on a ROV equipped with a hyperspectral probe, characterized in that: include: A stabilizing frame, used for connecting with the ROV; Elastic components; A connecting frame, used for connecting with the hyperspectral probe; Wherein, the stabilizing frame is located above the connecting frame and is movably connected to the connecting frame. At least two elastic components are provided and are arranged at intervals around the stabilizing frame. Each elastic component is provided between the stabilizing frame and the connecting frame and can provide an elastic force when the connecting frame moves relative to the stabilizing frame along any radial direction of the stabilizing frame.

2. The horizontal anti-shake device based on the ROV equipped with a hyperspectral probe according to claim 1 is characterized in that: The stabilizing frame has a central axis extending in the up-down direction, the stabilizing frame is provided with at least three first connecting parts arranged in a circle around the central axis, the connecting frame is provided with at least three second connecting parts arranged in a circle around the central axis, one of the first connecting part and the second connecting part includes a first rod body and a second rod body hingedly connected to each other, the hinge axis of the first rod body extends in the up-down direction, and the other is connected to the second rod body in a radial sliding manner along the stabilizing frame.

3. The horizontal anti-shake device based on the ROV equipped with a hyperspectral probe according to claim 2 is characterized in that: It also includes an annular ring, which is coaxially arranged with the annular ring, the stabilizing frame and the connecting frame. The elastic component includes a spring and a connecting rod. All the springs are sleeved on the annular ring and evenly arranged along the circumference of the annular ring. The connecting rods are hinged at opposite ends of the springs. The connecting rods at both ends of the springs are hinged to form hinged ends. The hinge axis of the connecting rod extends in the up and down direction. One of the annular ring and the hinged end is arranged on the stabilizing frame, and the other is arranged on the connecting frame.

4. The horizontal anti-shake device based on the ROV equipped with a hyperspectral probe according to claim 3 is characterized in that: One of the first connecting part and the second connecting part is a directional rod, and the other is a directional hole. The directional rod includes the first rod body and the second rod body, and the second rod body is inserted into the directional hole.

5. The horizontal anti-shake device based on the ROV equipped with a hyperspectral probe according to claim 4 is characterized in that: The first connecting parts and the second connecting parts are each provided with three, the elastic components are provided with three, and are arranged one by one corresponding to the three directional rods, the first rod body is fixedly connected to the connecting frame, the stabilizing frame is provided with the directional hole, the annular ring is fixedly connected to the stabilizing frame, and the hinged end is coaxially connected to the hinge between the first rod body and the second rod body.

6. The horizontal anti-shake device based on the ROV equipped with a hyperspectral probe according to claim 5 is characterized in that: The first rod body is shorter than the second rod body.

7. The horizontal anti-shake device based on the ROV-mounted hyperspectral probe according to any one of claims 3 to 6, characterized in that: The stabilizing frame and the connecting frame are circular when viewed from top to bottom.

8. The horizontal anti-shake device based on the ROV equipped with a hyperspectral probe according to claim 1, characterized in that: The stabilizing frame and the connecting frame are respectively provided with wire holes for routing cables of the hyperspectral probe, and all the wire holes are coaxially arranged.

9. The horizontal anti-shake device based on the ROV equipped with a hyperspectral probe according to claim 1, characterized in that: The lower end of the connecting frame is provided with a connecting surface for installing the hyperspectral probe and a plurality of connecting ends for installing lighting lamps, and the plurality of connecting ends are evenly arranged around the connecting surface.

10. An underwater operation equipment, characterized in that: include: The horizontal anti-shake device based on the ROV equipped with a hyperspectral probe as described in any one of claims 1 to 9; an ROV connected to the stabilizing frame; A hyperspectral probe is connected to the connecting frame.

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