Horizontal Anti-Shake Device Based on ROV Mounted with Hyperspectral Probe and Underwater Operation Equipment

Abstract

The present invention discloses a horizontal anti-shake device and an underwater operation device based on an ROV carrying a hyperspectral probe, which relates to the technical field of underwater detection; the horizontal anti-shake device based on the ROV carrying the hyperspectral probe includes: a stabilizing frame for connecting with the ROV; an elastic component; a connecting frame for connecting with the hyperspectral probe; wherein, the stabilizing frame is located above the connecting frame and is movably connected to the connecting frame. There are at least two elastic components, which are arranged at intervals around the stabilizing frame. Each elastic component is arranged 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. The present invention can eliminate the influence of horizontal jitter during underwater detection on hyperspectral images and improve the data fidelity rate.

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:

[0007] A stabilizing frame, used for connecting with the ROV;

[0008] Elastic components;

[0009] A connecting frame, used for connecting with the hyperspectral probe;

[0010] Wherein, the stabilizing frame is located above the connecting frame and is movably connected to the connecting frame. There are at least two elastic components, which are arranged at intervals around the stabilizing frame. Each elastic component is arranged between the stabilizing frame and the connecting frame and can provide an elastic acting force when the connecting frame moves relative to the stabilizing frame along any radial direction of the stabilizing frame.

[0011] The horizontal anti-vibration device for an 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-vibration device for an ROV-mounted hyperspectral probe, the ROV can drive the hyperspectral probe to move during the underwater detection operation, so that the hyperspectral probe can obtain hyperspectral image data in a stable state.

[0012] When the horizontal anti-vibration device for an ROV-mounted hyperspectral probe is subjected to vibration in any direction in the horizontal plane from the ROV, the stabilizing frame will move linearly relative to the connecting frame in the horizontal plane. Therefore, all the elastic components located between the stabilizing frame and the connecting frame can be driven to undergo elastic deformation, and by providing an elastic acting force, the vibration is converted into elastic potential energy, so that the vibration transmitted to the stabilizing frame is eliminated, enabling the connecting frame and the hyperspectral probe to maintain a stable state, preventing the hyperspectral probe from displacing in the horizontal plane, and finally realizing the anti-vibration and vibration isolation functions of the horizontal anti-vibration device for an ROV-mounted hyperspectral probe in any direction in the horizontal plane, ensuring the acquisition of high-quality hyperspectral data.

[0013] 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 in a circumferential pattern around the central axis, and the connecting frame is provided with at least three second connecting parts arranged in a circumferential pattern 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 that are hinged, the hinge axis of the first rod body extends in the up-down direction, and the other is slidably connected to the second rod body along the radial direction of the stabilizing frame.

[0014] In some embodiments of the present invention, the horizontal anti-vibration device for an ROV-mounted hyperspectral probe further 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 the springs are sleeved on the annular ring and are evenly arranged along the circumferential direction of the annular ring. The relative ends of the spring are hinged with the connecting rod, and the connecting rods at both ends of the spring are hinged to form a hinge end. The hinge axis of the connecting rod extends in the up-down direction. One of the annular ring and the hinge end is arranged on the stabilizing frame, and the other is arranged on the connecting frame.

[0015] 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.

[0016] In some embodiments of the present invention, there are three of each of the first connecting portion and the second connecting portion, and there are three elastic components, which are arranged in one-to-one correspondence with 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 joint between the first rod body and the second rod body.

[0017] In some embodiments of the present invention, the first rod body is shorter than the second rod body.

[0018] In some embodiments of the present invention, the stabilizing frame and the connecting frame are circular when viewed in the up-and-down direction.

[0019] In some embodiments of the present invention, the stabilizing frame and the connecting frame are respectively provided with wire holes for the cable of the hyperspectral probe to pass through, and all the wire holes are coaxially arranged.

[0020] In some embodiments of the present invention, 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 the lighting lamps, and the plurality of connecting ends are uniformly arranged around the connecting surface.

[0021] An underwater operation device according to an embodiment of the second aspect of the present invention includes:

[0022] A horizontal anti-shake device for an ROV carrying a hyperspectral probe as described in any one of the embodiments of the first aspect;

[0023] An ROV, which is connected to the stabilizing frame;

[0024] A hyperspectral probe, which is connected to the connecting frame.

[0025] The underwater operation device according to the embodiment of the second aspect of the present invention has at least the following beneficial effects: After the hyperspectral probe is installed on the ROV through the horizontal anti-vibration device for carrying the hyperspectral probe based on the ROV, the ROV can stably perform hyperspectral imaging detection work underwater with the hyperspectral probe; during this process, even if the horizontal anti-vibration device for carrying the hyperspectral probe based on the ROV is subjected to vibration in any direction on the horizontal plane from the ROV, the horizontal anti-vibration device for carrying the hyperspectral probe based on the ROV can also exert good anti-vibration and vibration isolation effects in any direction within the horizontal plane, thereby realizing the anti-vibration and vibration isolation functions for the hyperspectral probe in any direction within the horizontal plane of the underwater space, effectively solving the problem of jitter in any direction within 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 hyperspectral data.

[0026] Other features and advantages of the present invention will be described in the following specification, and, in part, will be obvious from the specification, or will be understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained through the structures specifically pointed out in the specification, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a side view of the underwater operation device provided according to the embodiment of the present invention;

[0028] Figure 2 is a three-dimensional structure diagram of the underwater operation device provided according to the embodiment of the present invention;

[0029] Figure 3 is a front view of the horizontal anti-vibration device for carrying the hyperspectral probe based on the ROV when the hyperspectral probe is installed, provided according to the embodiment of the present invention;

[0030] Figure 4 is a three-dimensional structure diagram of the horizontal anti-vibration device for carrying the hyperspectral probe based on the ROV provided according to the embodiment of the present invention;

[0031] Figure 5 is a three-dimensional structure diagram of the horizontal anti-vibration device for carrying the hyperspectral probe based on the ROV from another perspective provided according to the embodiment of the present invention;

[0032] Figure 6 is a top view of the horizontal anti-vibration device for carrying the hyperspectral probe based on the ROV provided according to the embodiment of the present invention;

[0033] Figure 7 is a three-dimensional structure schematic diagram of the elastic component provided according to the embodiment of the present invention;

[0034] Figure 8It is an explosion diagram of the connection between an elastic component and a directional rod provided according to an embodiment of the present invention;

[0035] Figure 9 It is a schematic diagram of an ROV equipped with a hyperspectral probe in the prior art being jittered in different directions;

[0036] Figure 10 It is a hyperspectral image obtained by a hyperspectral probe in the prior art during underwater detection operations without being affected by jitter and being affected by jitter in different directions.

[0037] Reference numerals: 100, a horizontal anti-shake device for an ROV equipped with a hyperspectral probe; 110, a stabilizing frame; 111, a first wire hole; 120, an annular ring; 121, a support rod; 130, a connecting frame; 131, a support ring; 132, a mounting seat; 133, a connecting member; 134, a second wire hole; 140, an elastic component; 141, a spring; 142, a retaining ring; 143, a connecting rod; 144, a hinged end; 151, a second rod body; 152, a first rod body; 200, a hyperspectral probe; 300, an ROV; 400, a lighting lamp. Detailed implementation manners

[0038] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0039] In the description of the present invention, it should be understood that the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise stated, the meaning of "a plurality" is two or more.

[0040] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "connected" and "connected to" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0041] With the extensive development and utilization of marine resources and environment by humans, the demand for underwater detection technologies with high efficiency and high resolution is extremely urgent. Among them, the underwater hyperspectral imaging detection method can avoid the complex optical path effects of water bodies, water-air interfaces, and the atmosphere, and at the same time has characteristics such as high real-time performance. The hyperspectral data, that is, the cube image, detected by the hyperspectral probe is very clear, and the spectral data is intuitive and effective, having a relatively high resolution among various underwater target detection technologies. Therefore, the underwater hyperspectral imaging detection technology is a supplement to the current gap in underwater precise detection requirements.

[0042] Currently, the mainstream imaging spectrometers used in large-scale underwater hyperspectral imaging detection technologies are basically line-scanning imaging spectrometers. The line-scanning imaging spectrometer performs spectral imaging on a linear area through a slit, and obtains monochromatic images of each wavelength in the push-broom area by splicing different wavelength information of the imaging area, as Figure 10 shown.

[0043] However, the line-scanning spectral imaging technology is extremely sensitive to jitter during the push-broom process. The jitter effects from different directions during the push-broom process will cause problems such as spatial discontinuity and image deformation distortion on the finally spliced monochromatic image. Therefore, in order to obtain high-quality hyperspectral data, the stability of the platform carrying the hyperspectral imager must be ensured.

[0044] For the common underwater hyperspectral imaging detection system carried on a mobile platform, it is located in the underwater free space. Compared with the hyperspectral imaging detection system carried on a fixed platform, it faces more directions of jitter problems, and moreover, the impacts of jitter in different directions on the hyperspectral imaging situation are different. Therefore, ensuring the stable installation of the probe in the underwater hyperspectral imaging detection system on a remotely operated vehicle (ROV) is a major challenge in the field of underwater detection.

[0045] It can be understood that the hyperspectral probe usually requires accurate 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 received by the hyperspectral probe mainly comes from two parts: the first is the irregular sea current impact during the underwater detection operation of the system as a whole, resulting in jitter; the second is the transmission of the vibration of the mobile carrying platform (the vibration characteristics of the ROV itself and the irregular disturbances generated by the underwater thrusters on the surrounding water bodies), which seriously affects the stability of the hyperspectral probe and the measurement results.

[0046] Assuming that the x-axis direction is the forward direction of the ROV, the influence of simple jitter in a single dimension on the finally obtained monochromatic image is as Figure 10 shown. Specifically, as Figure 9As shown, when the ROV operates underwater, it usually encounters at least one of the following situations: jitter in the XY plane, jitter in the XZ plane, and jitter in the YZ plane. The jitter will be transmitted to the hyperspectral imaging detection system and affect the imaging detection effect. The jitter effects in the XY plane, XZ plane, and YZ plane can be decomposed into forces along the vertical direction and forces in any direction within the horizontal plane.

[0047] As Figure 10 shown in the hyperspectral image (b) in, in the absence of jitter influence, the hyperspectral imaging detection system located on the mobile platform can obtain a normal hyperspectral image (i.e., normal hyperspectral image); as Figure 10 shown in the hyperspectral image (c), hyperspectral image (d), and hyperspectral image (e) in, when affected by jitter in the XZ plane, jitter in the YZ plane, or jitter in the XY plane, the hyperspectral images obtained by the hyperspectral imaging detection system will have problems such as spatial discontinuity and image deformation and distortion. Moreover, when the jitter effects in different directions are superimposed, the fidelity rate of the hyperspectral data will be greatly reduced, resulting in inaccurate detection results.

[0048] Since the underwater hyperspectral imaging detection system will face jitter in multiple dimensional directions in the underwater environment, if the system does not take measures to maintain stability, it may lead to the difficulty in identifying the target objects in the captured hyperspectral data.

[0049] Although most underwater carrier platforms such as ROVs and AUVs (i.e., Autonomous Underwater Vehicles) are equipped with dynamic pose systems to enable the system to maintain its pose during transportation, however, the system will still be affected by underwater fluctuations to a certain extent, resulting in the distortion of the acquired hyperspectral data. Although in the subsequent data processing process, the geometric correction of the obtained hyperspectral images can be carried out by combining the geographical location information and pose information recorded by the carrier platform to ensure the correctness of the spatial information of the target objects, however, the corrected images may still have a certain degree of distortion, resulting in the inability of the underwater hyperspectral imaging detection system to accurately reflect the spatial information of the target objects, thus increasing the difficulty and uncertainty for underwater scientific research detection work.

[0050] Therefore, how to eliminate the jitter influence caused by the change of underwater water body and external environment has become a major obstacle in high-precision underwater hyperspectral imaging detection technology.

[0051] Based on the above technical problems, the present invention aims to provide a horizontal anti-shake device and an underwater operation device based on an ROV carrying a hyperspectral probe, which can damp and stabilize the hyperspectral probe in the horizontal plane of the underwater space, so as to reduce the influence of the movement of the ROV on the hyperspectral probe, effectively eliminate the adverse influence of the jitter in any direction in the horizontal plane during the underwater detection operation on the hyperspectral image, and further improve the fidelity of the hyperspectral data.

[0052] The following refers to Figures 1 to 8 Describe the horizontal anti-shake device and the underwater operation device based on an ROV carrying a hyperspectral probe provided according to an embodiment of the present invention.

[0053] As Figures 1 to 8 shown, the horizontal anti-shake device 100 based on an ROV carrying a hyperspectral probe according to the first aspect embodiment of the present invention can be installed on the existing ROV 300, and the existing hyperspectral probe 200 can be installed on the horizontal anti-shake device 100 based on an ROV carrying a hyperspectral probe, so that the hyperspectral probe 200 can complete the underwater imaging detection work under the driving action of the ROV 300.

[0054] The horizontal anti-shake device 100 based on an ROV carrying a hyperspectral probe can effectively solve the problem that the horizontal jitter caused by the changes of the ROV 300 and the external water environment has an adverse effect on the hyperspectral probe 200 located underwater, resulting in spatial discontinuity and image deformation and distortion of the hyperspectral image, and further is beneficial to improving the fidelity of the hyperspectral data obtained by the hyperspectral probe 200.

[0055] The horizontal anti-shake device 100 based on an ROV carrying 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 pairs. In this embodiment, it is assumed that the first direction is the front-back direction, the second direction is the left-right direction, and the third direction is the up-down direction.

[0056] The horizontal anti-shake device 100 based on an ROV carrying 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. As Figures 3 to 8 shown, the horizontal anti-shake device 100 based on an ROV carrying a hyperspectral probe includes a stabilizing frame 110, an elastic component 140 and a connecting frame 130.

[0057] Among them, 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 bolt connection. 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 bolt connection.

[0058] When viewed in the up-down direction, the stabilizer 110 is circular, and the connecting frame 130 is also circular when viewed in the up-down direction. With such a setting, due to the symmetry and the characteristics of the hydrostatic pressure distribution, the stabilizer 110 and the connecting frame 130 located underwater are more evenly stressed in the horizontal plane. The stabilizer 110 and the connecting frame 130 are coaxially arranged in the up-down direction.

[0059] In this embodiment, the stabilizer 110 is a disc, and the upper surface of the stabilizer 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. Both ends of the mounting seat 132 are fixedly connected to the support ring 131 through a connecting member 133. The mounting seat 132 and the support ring 131 are coaxially arranged, the support ring 131 and the stabilizer 110 are coaxially arranged, the mounting seat 132 is located below the stabilizer 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 member 133 can be integrally formed. The connecting member 133 can be a block.

[0060] Of course, it is not excluded that in other embodiments, the stabilizer 110 and the connecting frame 130 can adopt other shape designs.

[0061] Moreover, the stabilizer 110 is movably connected to the connecting frame 130, so that the stabilizer 110 can linearly move relative to the connecting frame 130 along its own radial direction, and furthermore, the stabilizer 110 can rotate within a certain range relative to the connecting frame 130 in the horizontal plane.

[0062] Specifically, the stabilizer 110 is provided with at least three first connection parts, and all the first connection parts are arranged in a circular pattern around the central axis of the stabilizer 110. The connecting frame 130 is provided with at least three second connection parts, and all the second connection parts are arranged in a circular pattern around the central axis of the stabilizer 110. Among them, the second connection 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, 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 connection part is slidably connected to the other end of the second rod body 151 along the radial direction of the stabilizer 110.

[0063] Of course, it can also be that the first connection part 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 stabilizer 110, the axis of the hinge between the first rod body 152 and the second rod body 151 extends in the up-down direction, and the second connection part is slidably connected to the second rod body 151 along the radial direction of the stabilizer 110.

[0064] In some examples, the connecting frame 130 is provided with three guiding rods, the three guiding rods are evenly arranged in the circumferential direction of the central axis of the stabilizer 110, the stabilizer 110 is provided with three guiding holes, the three guiding holes are evenly arranged in the circumferential direction of the central axis of the stabilizer 110, the guiding rods extend along the radial direction of the stabilizer 110, the structure of the guiding rods includes a first rod body 152 and a second rod body 151 that are hinged to each other, and moreover, each first rod body 152 can be fixedly connected to the inner circumferential surface of the support ring 131 by means such as welding, each second rod body 151 can be adaptively connected to each guiding hole, and the second rod body 151 is inserted into the guiding hole so that the second rod body 151 can linearly move in the guiding hole. At this time, both the first connection part and the second connection part are provided with three. The first connection part is the guiding hole, and the second connection part is the guiding rod. The guiding hole can be a circular hole.

[0065] Through the mutual cooperation of the guiding rod and the guiding hole, it is urged that the stabilizer 110 can linearly move relative to the connecting frame 130 along any radial direction thereof when being vibrated in any direction on the horizontal plane from the ROV 300. At the same time, the second rod body 151 will swing relative to the first rod body 152, so that the second rod body 151 can slide in the guiding hole.

[0066] In some other examples, the stabilizer 110 is provided with three guiding rods that are evenly arranged in the circumferential direction of the central axis, the connecting frame 130 is provided with three guiding holes that are evenly arranged in the circumferential direction of the central axis, the guiding rods extend along the radial direction of the stabilizer 110 and can be adaptively connected to the guiding holes. At this time, the first connection part is the guiding rod, and the second connection part is the guiding hole.

[0067] Of course, in other embodiments, it is not excluded to use a chute or a slider to replace the orientation holes. In addition, the orientation rods and the orientation holes may each be provided with four, five or more.

[0068] At least two elastic components 140 are provided, and all the elastic components 140 are arranged at intervals around the stabilizer 110. In this embodiment, the number of elastic components 140 is three, and the three elastic components 140 are arranged in a circular pattern along the central axis extending up and down of the stabilizer 110. Each elastic component 140 is arranged between the stabilizer 110 and the connecting frame 130. The elastic component 140 can apply an elastic force to the stabilizer 110 and the connecting frame 130. Moreover, each elastic component 140 can undergo elastic deformation when the connecting frame 130 moves relative to the stabilizer 110 along any radial direction of the stabilizer 110, so as to provide an elastic acting force, enabling the vibration energy in any direction in the horizontal plane to be converted into elastic potential energy, and preventing the vibration energy from being transmitted from the stabilizer 110 to the connecting frame 130, thereby preventing the vibration energy from the horizontal direction from affecting the operation of the hyperspectral probe 200.

[0069] In a specific embodiment, as Figures 3 to 8 shown, the horizontal anti-shake device 100 for an ROV carrying a hyperspectral probe further includes an annular ring 120. Among them, the annular ring 120, the stabilizer 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 stabilizer 110, and the outer diameter of the annular ring 120 is less than the inner diameter of the support ring 131. The stabilizer 110 is located inside the annular ring 120, and the annular ring 120 is located inside the support ring 131. The cross-sectional shape of the annular ring 120 is circular. The orientation rods are located outside the stabilizer 110 and inside the support ring 131.

[0070] Each elastic component 140 includes a spring 141 and a connecting rod 143. Among them, all the springs 141 are sleeved on the annular ring 120, and all the springs 141 are evenly arranged along the circumferential direction of the annular ring 120. Specifically, on the same circumference of the annular ring 120, all the springs 141 are arranged at intervals at a certain angle. If the number of springs 141 is three, then all the springs 141 are arranged at intervals of 120°. Connecting rods 143 are hingedly provided 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 a hinged end 144.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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 the length of the first rod 152. With such a setting, when the stabilizer 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 orientation hole. Moreover, the shorter the length of the first rod 152, the smaller the rotation arc of the connecting frame 130 in the horizontal plane, which is beneficial 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.

[0077] Of course, in other embodiments, it is not excluded that the hinged end 144 is provided on the stabilizer 110 and the annular ring 120 is provided 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 circumferential direction of the central axis of the stabilizer 110. In addition, the length of the first rod 152 can also be equal to the length of the second rod 151.

[0078] It can be understood that, as Figure 6 shown, assuming that the vibration direction from the ROV 300 extends along the second direction and points to one of the elastic components 140 (this elastic component 140 is set as the first elastic component, and the other two are the second elastic components), the force applied by the ROV 300 acts on the stabilizer 110 and the annular ring 120, and can drive the annular ring 120 and the stabilizer 110 to move linearly relative to the connecting frame 130 along the second direction towards the first elastic component. At this time, the second rod 151 corresponding to the first elastic component will penetrate into the corresponding orientation hole, that is, the length of the second rod 151 extending into the orientation 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 becomes 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 151 corresponding to the second elastic component extending into the orientation hole decreases, and the second rod 151 will swing relative to the first rod 152 under the orientation action of the orientation hole. Moreover, the two connecting rods 143 will move closer to each other, prompting 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.

[0079] 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 action 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 jitter) in the horizontal direction from the ROV 300, realizing the anti-vibration and vibration isolation functions of the horizontal anti-shake device 100 for the hyperspectral probe carried by the ROV in any direction in the horizontal plane, and ensuring the horizontal stability of the hyperspectral probe 200 during underwater detection.

[0080] When the stabilizer 110 and the annular ring 120 move along a certain radial straight line of the stabilizer 110 due to the vibration in the horizontal plane, through the cooperation of the orientation rod and the orientation hole, it is ensured that the stabilizer 110 and the annular ring 120 can only make a linear motion relative to the connecting frame 130 in the horizontal plane. During this process, the first rod body 152 and the second rod body 151 will swing relatively to ensure that at least a part of the second rod body 151 is located in the orientation 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, avoiding the transmission of vibration energy to the connecting frame 130 and the hyperspectral probe 200, thereby ensuring that the hyperspectral probe 200 can obtain high-quality hyperspectral image data.

[0081] In some embodiments, as Figures 3 to 6 shown, the stabilizer 110 and the connecting frame 130 are respectively provided with wire holes, and the function of the wire holes is to provide a path for the cable of the hyperspectral probe 200. All the wire holes extend through in the up-down direction and are coaxially arranged.

[0082] In this embodiment, the stabilizer 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 in sequence 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.

[0083] In some embodiments, as Figure 3 and Figure 5 shown, the lower end of the connecting frame 130 is provided with a connecting surface for mounting the hyperspectral probe 200. Specifically, the connecting surface is located at the lower end of the mounting seat 132, and the connecting surface is provided with a plurality of bolt connection holes. Therefore, the hyperspectral probe 200 can be mounted at the connecting surface through bolts. The hyperspectral probe 200 can collect hyperspectral image data downward to complete underwater detection work.

[0084] Moreover, the connecting frame 130 is also provided with a plurality of connecting ends for mounting the lighting 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 support ring 131 through a connecting member 133, and the connecting ends are located on the lower surface of the connecting member 133 connected to the mounting seat 132. The lighting lamp 400 is mounted at the connecting ends and can illuminate downward.

[0085] When using the horizontal anti-shake device 100 for ROV-mounted hyperspectral probe provided in the first aspect embodiment of the present invention, after the hyperspectral probe 200 is connected to the ROV 300 through the horizontal anti-shake device 100 for ROV-mounted hyperspectral probe, the ROV 300 can drive the hyperspectral probe 200 to move during underwater detection operations, so that the hyperspectral probe 200 can obtain hyperspectral image data in a stable state.

[0086] When the horizontal anti-shake device 100 for ROV-mounted hyperspectral probe is subjected to vibration in any direction in the horizontal plane from the ROV 300, the stable frame 110 will move linearly relative to the connecting frame 130 in the horizontal plane. Therefore, at least one of the three elastic components 140 located between the stable frame 110 and the connecting frame 130 can be compressed, and the others will be stretched, so as to convert the vibration energy into elastic potential energy, and then eliminate the vibration transmitted to the stable frame 110, so that the connecting frame 130 and the hyperspectral probe 200 can maintain a stable state, prevent the hyperspectral probe 200 from displacing in the horizontal plane, and finally realize the anti-shake and vibration isolation functions of the horizontal anti-shake device 100 for ROV-mounted hyperspectral probe in any direction in the horizontal plane, ensuring that the hyperspectral probe 200 can collect high-quality hyperspectral image data.

[0087] As Figures 1 to 8 shown, the underwater operation device according to the second aspect embodiment of the present invention can obtain high-quality hyperspectral image data. The structure of the underwater operation device includes an ROV 300, a hyperspectral probe 200, and a horizontal anti-shake device 100 for ROV-mounted hyperspectral probe as in the first aspect embodiment of the present invention.

[0088] Among them, the ROV 300 is located above the horizontal anti-shake device 100 for ROV-mounted hyperspectral probe, and the ROV 300 is fixedly connected to the stable frame 110; the hyperspectral probe 200 is located below the horizontal anti-shake device 100 for ROV-mounted hyperspectral probe, and the hyperspectral probe 200 is connected to the connecting frame 130.

[0089] It can be understood that the second aspect embodiment of the present invention only makes the above structural improvements to the horizontal anti-shake device 100 for ROV-mounted hyperspectral probe, while the ROV 300 and the hyperspectral probe 200 are prior arts and no structural optimization is made. Those skilled in the art should understand the specific structures and working principles of the ROV 300 and the hyperspectral probe 200, and no specific description will be made here.

[0090] After the hyperspectral probe 200 is installed on the ROV 300 through the horizontal anti-shake device 100 for the hyperspectral probe carried by the ROV, the ROV 300 can stably perform hyperspectral imaging detection work underwater with the hyperspectral probe 200; during this process, even if the horizontal anti-shake device 100 for the hyperspectral probe carried by the ROV is subjected to jitter in any direction on the horizontal plane from the ROV 300, the horizontal anti-shake device 100 for the hyperspectral probe carried by the ROV can also play an excellent role in anti-shake and vibration isolation in any direction within the horizontal plane, so as to realize the anti-shake and vibration isolation functions for the hyperspectral probe 200 in any direction within the horizontal plane of the underwater space, effectively solve the problem of jitter in any direction within the horizontal plane faced by the underwater hyperspectral imaging detection system in the prior art, enhance the horizontal stability of the hyperspectral probe 200 during underwater detection operations, and ultimately improve the fidelity rate of hyperspectral data.

[0091] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0092] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A horizontal anti-shake device based on an ROV carrying a hyperspectral probe, characterized in that, Comprising: A stabilizer for connecting with the ROV; An elastic component; A connecting frame for connecting with the hyperspectral probe; An annular ring, the annular ring, the stabilizer and the connecting frame are coaxially arranged; Wherein, the stabilizer is located above the connecting frame and is movably connected to the connecting frame. There are at least two elastic components, which are arranged at intervals around the stabilizer. Each elastic component is arranged between the stabilizer and the connecting frame and can provide an elastic force when the connecting frame moves relative to the stabilizer along any radial direction of the stabilizer; The stabilizer has a central axis extending in the up-and-down direction. The stabilizer is provided with at least three first connecting parts arranged in a circumferential pattern around the central axis. The connecting frame is provided with at least three second connecting parts arranged in a circumferential pattern 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 that are hinged. The hinge axis of the first rod body extends in the up-and-down direction, and the other is slidably connected to the second rod body along the radial direction of the stabilizer; The elastic component includes a spring and a connecting rod. All the springs are sleeved on the annular ring and are evenly arranged along the circumferential direction of the annular ring. The connecting rods are hinged at the opposite ends of the spring. The connecting rods at the two ends of the spring are hinged to form a hinge end. The hinge axis of the connecting rod extends in the up-and-down direction. One of the annular ring and the hinge end is arranged on the stabilizer, and the other is arranged on the connecting frame; One of the first connecting part and the second connecting part is a guiding rod, and the other is a guiding hole. The guiding rod includes the first rod body and the second rod body, and the second rod body is inserted into the guiding hole.

2. The horizontal anti-shake device based on the ROV-mounted hyperspectral probe according to claim 1, characterized in that There are three first connecting parts and three second connecting parts respectively. There are three elastic components, which are arranged in one-to-one correspondence with the three guiding rods. The first rod body is fixedly connected to the connecting frame. The stabilizer is provided with the guiding hole. The annular ring is fixedly connected to the stabilizer. The hinge end is coaxially connected to the hinge position between the first rod body and the second rod body.

3. The horizontal anti-shake device based on the ROV-mounted hyperspectral probe according to claim 2, characterized in that, The first rod body is shorter than the second rod body.

4. The horizontal anti-shake device based on the ROV-mounted hyperspectral probe according to any one of claims 1 to 3, characterized in that, The stabilizer and the connecting frame are circular when viewed in the up-and-down direction.

5. The horizontal anti-shake device based on an ROV carrying a hyperspectral probe according to claim 1, characterized in that, The stabilizer and the connecting frame are respectively provided with wire holes for the cable of the hyperspectral probe to pass through, and all the wire holes are coaxially arranged.

6. The horizontal anti-shake device based on the ROV-mounted 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. The plurality of connecting ends are evenly arranged around the connecting surface.

7. An underwater operation device, characterized in that, Comprising: A horizontal anti-shake device for an ROV carrying a hyperspectral probe according to any one of claims 1 to 6; An ROV, which is connected to the stabilizer; A hyperspectral probe, which is connected to the connecting frame.

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