ROV-based vertical anti-shake device carrying hyperspectral probe and underwater detection equipment

Abstract

The invention discloses an ROV-based vertical anti-shake device carrying a hyperspectral probe and underwater detection equipment, and relates to the technical field of underwater detection. Wherein the mounting frame is used for being connected with an ROV; the vertical anti-shake mechanism comprises a holder, a first spring, flexible transmission parts and second springs, the holder is used for being connected with the hyperspectral probe and connected to the mounting frame in an up-down sliding mode, the first spring is connected between the holder and the mounting frame, and the flexible transmission parts and the second springs are arranged at the two horizontal opposite ends of the holder; one end of the flexible transmission part is connected to the mounting frame, the other end of the flexible transmission part extends horizontally and is connected to one end of the second spring, the other end of the second spring is connected to the retainer, the second spring at the two ends can stretch out and draw back in the horizontal direction under the acting force of the flexible transmission part, and the stretching-out and drawing-back directions are opposite. According to the invention, the influence of the jitter effect in the vertical direction on the hyperspectral image can be effectively reduced, and the fidelity rate of the hyperspectral image data is improved.

Description

Technical Field

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

[0002] As human beings are increasingly developing and utilizing marine resources and the environment, there is an urgent need for an underwater detection technology with high efficiency and high resolution. At present, due to its high real-time performance and high resolution, underwater hyperspectral imaging detection systems are widely used in underwater precision detection operations. Among them, line scanning imaging spectrometers are often used in underwater detection work.

[0003] However, line-scan imaging spectrometers are extremely sensitive to jitter during the push-scan process. Jitter from different directions during the push-scan process will cause spatial discontinuity, image deformation and distortion in the final stitched monochrome image. Although in subsequent data processing, the obtained hyperspectral image data can be geometrically corrected in combination with the geographic location information and posture information recorded by the onboard platform to ensure the correctness of the target's spatial information, the corrected image may still have a certain degree of distortion, which will cause the underwater hyperspectral imaging detection system to be unable to accurately reflect the target's spatial information, thus adding great difficulty and uncertainty to underwater scientific research detection work.

[0004] Therefore, in order to obtain high-quality hyperspectral image data in underwater detection work, it is necessary to improve the vertical stability of the hyperspectral imager located on the mounting platform to reduce the adverse effects caused by the shaking in the vertical direction. 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 vertical anti-shake device and underwater detection equipment based on a ROV equipped with a hyperspectral probe, which can effectively reduce the adverse effects of vertical jitter on hyperspectral images during underwater detection and improve the fidelity of hyperspectral data.

[0006] The first aspect of the present invention provides a vertical anti-shake device based on a hyperspectral probe mounted on an ROV, comprising: A mounting frame, used for connecting with the ROV; A vertical anti-shake mechanism includes a holding frame, a first spring, a flexible transmission member and a second spring. The holding frame is slidably connected to the mounting frame in the up-down direction. The holding frame is used to connect to the hyperspectral probe. The first spring is connected between the holding frame and the mounting frame. The flexible transmission member and the second spring are provided at opposite ends of the holding frame in the horizontal direction. One end of the flexible transmission member is connected to the mounting frame, and the other end extends in the horizontal direction and is connected to one end of the second spring. The other end of the second spring is connected to the holding frame. The second springs at both ends can be extended and retracted in the horizontal direction under the force of the flexible transmission member, and the extension and retraction directions are opposite.

[0007] The vertical 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 installed on the ROV through the vertical anti-shake device based on the ROV-mounted hyperspectral probe, the ROV can drive the hyperspectral probe to move during underwater detection operations. During this movement, the vertical anti-shake mechanism can be subjected to the pulling force applied by the mounting frame fixed on the ROV through the flexible transmission member and the first spring, thereby enabling the hyperspectral probe to obtain hyperspectral image data in a stable state.

[0008] When the vertical anti-shake device based on the ROV equipped with a hyperspectral probe is subjected to vertical downward or vertical upward vibration from the ROV, since the holder and the mounting frame are connected in an up and down sliding manner, the ROV and the mounting frame can only move vertically downward or vertically upward relative to the holder, which will cause the first spring to be compressed or stretched due to the force. At this time, the second springs located at both ends of the holder will simultaneously contract or stretch in opposite directions along the horizontal direction of the holder, so that the flexible transmission member can always be in a tensioned state under the elastic force of the second spring, and the horizontal forces applied to the holder by the flexible transmission member and the second spring of the mounting frame offset each other, so that the holder is balanced in the horizontal direction, so that the holder can maintain a stable state, avoiding the high-spectral probe located below the holder from being displaced in the vertical direction, and finally realizing the anti-shake and vibration isolation functions of the vertical anti-shake device based on the ROV equipped with a hyperspectral probe in the vertical direction, thereby improving the fidelity of the hyperspectral image data.

[0009] In some embodiments of the present invention, the vertical anti-shake mechanism also includes a damping assembly, and the damping assembly is provided at both ends of the retaining frame in the horizontal direction. The damping assembly is slidably connected to the retaining frame in the horizontal direction. The flexible transmission member is wound around the damping assembly, and the upper end of the flexible transmission member extends along the horizontal direction of the retaining frame, and then extends along the vertical direction and is connected to the mounting frame. The lower end of the flexible transmission member extends along the horizontal direction of the retaining frame and is connected to the retaining frame, and the second spring is connected to the damping assembly at one end close to the flexible transmission member.

[0010] In some embodiments of the present invention, the damping assembly includes a slider and a damping wheel, the slider is slidably connected to the retaining frame along the horizontal direction of the retaining frame, and is connected to one end of the second spring close to the flexible transmission member, the damping wheel is rotatably connected to the slider, and the flexible transmission member is wound around the damping wheel.

[0011] In some embodiments of the present invention, the vertical anti-shake mechanism also includes a guide wheel, and the guide wheel is provided at both ends of the retaining frame in the horizontal direction. The guide wheel is located above the damping assembly and is rotatably connected to the retaining frame. The guide wheel is used to change the extension direction of the flexible transmission member so that the upper end of the flexible transmission member is guided from the horizontal direction to the vertical direction for extension.

[0012] In some embodiments of the present invention, the guide wheel is provided below the damping assembly, the guide wheel is fixedly connected to the retaining frame, and the lower end of the flexible transmission member extends along the horizontal direction of the retaining frame and is fixedly connected to the guide wheel after bypassing the guide wheel.

[0013] In some embodiments of the present invention, both ends of the retaining frame in the horizontal direction are provided with limiting plates, and the limiting plates are located on a side of the damping assembly away from the second spring and can contact the damping assembly.

[0014] In some embodiments of the present invention, the limiting plate is provided with an arc surface, and the arc surface is arranged toward the damping component and is arranged in close contact with the damping component.

[0015] In some embodiments of the present invention, the vertical anti-shake mechanism also includes a linear driving member, both ends of which are respectively connected to the retaining frame and an end of the second spring away from the flexible transmission member, and the linear driving member is used to drive the end of the second spring connected thereto to move along the extension and contraction direction of the second spring.

[0016] In some embodiments of the present invention, the linear drive member is an electric push rod, which is disposed on the retaining frame, and a rod end of the electric push rod is fixedly connected to an end of the second spring away from the flexible transmission member.

[0017] In some embodiments of the present invention, one of the mounting frame and the retaining frame is provided with a guide column extending in the up-down direction, and the other is provided with a guide hole, and the guide column is adaptively connected to the guide hole; and / or, The flexible transmission member is an elastic belt; and / or, The mounting frame and the retaining frame are respectively provided with wire holes for routing cables of the hyperspectral probe, and all the wire holes are coaxially arranged; and / or, The first spring, the mounting frame and the retaining frame are coaxially arranged, the flexible transmission members at both ends are symmetrically arranged with respect to the first spring, and the second springs at both ends are symmetrically arranged with respect to the first spring.

[0018] A second aspect of the present invention provides an underwater detection device, which includes: A vertical 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 mounting frame; A hyperspectral probe is connected to the holding frame.

[0019] The underwater detection 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 vertical anti-shake device based on the ROV-mounted hyperspectral probe, the ROV can carry the hyperspectral probe and stably perform hyperspectral imaging detection work in the underwater space; in this process, even if the vertical anti-shake device based on the ROV-mounted hyperspectral probe is subjected to the vibration in the vertical direction from the ROV, the vertical anti-shake device based on the ROV-mounted hyperspectral probe can also play the anti-shake and vibration isolation effect in the vertical direction, thereby realizing the anti-shake and vibration isolation function of the hyperspectral probe in the vertical direction of the underwater space, effectively solving the vertical shake problem faced by the underwater hyperspectral imaging detection system in the prior art, helping to enhance the stability of the hyperspectral probe in the vertical direction during underwater operation, and ultimately improving the fidelity of the hyperspectral data.

[0020] 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

[0021] Figure 1is a side view of an underwater detection device provided according to an embodiment of the present invention; Figure 2 is a three-dimensional structural diagram of an underwater detection device provided according to an embodiment of the present invention; Figure 3 is a three-dimensional structural diagram of a vertical anti-shake device based on a ROV-mounted hyperspectral probe provided in an embodiment of the present invention when a hyperspectral probe is installed; Figure 4 It is a front view of a vertical anti-shake device based on a ROV equipped with a hyperspectral probe provided by an embodiment of the present invention when a hyperspectral probe is installed; Figure 5 It is a three-dimensional structural diagram of a vertical anti-shake device based on a ROV equipped with a hyperspectral probe in a cross-sectional state provided in an embodiment of the present invention; Figure 6 It is a front view of a vertical anti-shake device based on a ROV equipped with a hyperspectral probe in a cross-sectional state provided by an embodiment of the present invention; Figure 7 is a schematic structural diagram of a second spring provided in an embodiment of the present invention being respectively connected to an electric push rod and a damping wheel; Figure 8 It is a schematic diagram of a ROV equipped with a hyperspectral probe in the prior art being shaken in different directions; Fig. 9 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.

[0022] Figure numerals: 100, vertical anti-shake device based on ROV equipped with hyperspectral probe; 110, mounting frame; 111, bracket; 112, guide hole; 113, connecting bolt; 114, base; 120, vertical anti-shake mechanism; 121, guide column; 122, retaining frame; 1231, lining plate; 1232, limit plate; 124, guide wheel; 125, flexible transmission part; 126, damping wheel; 127, slider; 128, second spring; 129, electric push rod; 130, connecting seat; 140, cable; 150, first spring; 200, hyperspectral probe; 300, ROV; 400, lighting lamp. DETAILED DESCRIPTION

[0023] 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.

[0024] 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.

[0025] 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.

[0026] With the vigorous development and utilization of marine resources and environment by human beings, the demand for underwater detection technology with high efficiency and high resolution is very urgent. 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.

[0027] 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. 9 shown.

[0028] However, line scanning spectral imaging technology is extremely sensitive to the jitter effect 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 during underwater detection, the stability of the platform carrying the hyperspectral imager must be ensured to reduce the impact of jitter on the hyperspectral imager.

[0029] 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.

[0030] 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.

[0031] 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. 9 Specifically, Figure 8 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.

[0032] like Fig. 9 As 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. 9 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 a decrease in the accuracy of the detection results.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] Based on the above-mentioned technical problems, the present invention aims to provide a vertical anti-shake device and underwater detection equipment based on a hyperspectral probe carried by an ROV, which can provide shock absorption and stabilization for the hyperspectral probe in the vertical direction to reduce the impact of ROV movement on the hyperspectral probe, and effectively reduce the adverse effects of vertical shaking on hyperspectral images during underwater detection operations, thereby improving the fidelity of hyperspectral data.

[0037] Reference below Figures 1 to 7 A vertical anti-shake device and underwater detection equipment based on a hyperspectral probe carried by an ROV according to an embodiment of the present invention are described.

[0038] like Figures 1 to 7 As shown, the vertical anti-shake device 100 based on the ROV-mounted hyperspectral probe according to the embodiment of the first aspect of the present invention can be installed on the existing ROV300, and the existing hyperspectral probe 200 can be installed on the vertical anti-shake device 100 based on the ROV-mounted hyperspectral probe, so that the hyperspectral probe 200 can complete the underwater imaging detection work under the driving action of the ROV300.

[0039] The vertical anti-shake device 100 based on the ROV-mounted hyperspectral probe of this embodiment can effectively solve the problem of spatial discontinuity and image deformation distortion in the hyperspectral image caused by the vertical shaking effect caused by the changes in the external environment of the ROV 300 and the water body on the hyperspectral probe 200 located underwater, thereby improving the fidelity of the hyperspectral data.

[0040] The vertical 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 arranged vertically in pairs. 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.

[0041] like Figures 1 to 6 As shown, the vertical anti-shake device 100 based on the ROV equipped with a hyperspectral probe includes a mounting frame 110 and a vertical anti-shake mechanism 120 .

[0042] The function of the mounting frame 110 is to be connected to the ROV300. In the present embodiment, the mounting frame 110 includes a bracket 111 and a base 114. The bracket 111 is provided with a plurality of bolt holes, and the bolt holes extend through in the up-down direction. The bracket 111 can be fixedly connected to the ROV300 by passing the connecting bolts 113 through the bolt holes, and the upper surface of the bracket 111 can fit in contact with the lower surface of the ROV300. The base 114 is located below the bracket 111, and the base 114 is located at the center of the bracket 111, and the base 114 is fixedly connected to the bracket 111 by bolts. It can be understood that the design of the structure and size of the bracket 111 and the base 114 can be selected according to actual needs, and is not specifically limited here.

[0043] The vertical anti-shake mechanism 120 is used to eliminate the vibration (or shaking) effect in the vertical direction transmitted from the ROV 300. The vertical anti-shake mechanism 120 includes a retaining frame 122, a first spring 150, a flexible transmission member 125 and a second spring 128. Figures 3 to 6 shown.

[0044] Among them, the first spring 150 is connected between the retaining frame 122 and the mounting frame 110, and the first spring 150 can apply elastic force to the retaining frame 122 and the mounting frame 110. The first spring 150 can be extended and retracted in the up and down directions, and the upper end of the first spring 150 is fixedly connected to the mounting frame 110, and the lower end of the first spring 150 is fixedly connected to the retaining frame 122. It can be understood that the number of the first spring 150 is not limited to one. In some examples, there is only one first spring 150, and the first spring 150 is arranged at the center of the mounting frame 110. In other examples, the number of the first spring 150 is multiple, and the multiple first springs 150 are arranged in a matrix array or a circular array about the center of the mounting frame 110.

[0045] The holder 122 is used to connect with the hyperspectral probe 200. The hyperspectral probe 200 can be installed on the lower surface of the holder 122 and located at the center of the holder 122. Of course, it is not excluded that in other embodiments, the hyperspectral probe 200 is arranged at one of the four ends of the holder 122.

[0046] The retaining frame 122 is fixedly connected to the lower end of the first spring 150, and the retaining frame 122 is slidably connected to the mounting frame 110 along the up and down directions, so that the retaining frame 122 can only move vertically upward or vertically downward relative to the mounting frame 110 to prevent the retaining frame 122 from shaking relative to the mounting frame 110 in the horizontal plane.

[0047] In this embodiment, the retaining frame 122 extends in the horizontal direction, and the extending direction is assumed to be the left-right direction. The retaining frame 122 is located below the mounting frame 110. The retaining frame 122 is provided with a guide column 121, and the guide column 121 extends in the up-down direction. The number of the guide columns 121 is two, and the two guide columns 121 are arranged at intervals in the left-right direction of the mounting frame 110, and are symmetrically arranged about the center position of the mounting frame 110; the mounting frame 110 is provided with a guide hole 112, and the guide hole 112 extends and is connected in the up-down direction. The guide holes 112 and the guide columns 121 are arranged one by one in number, and the guide columns 121 are adaptively connected to the guide holes 112, that is, the outer peripheral surface of the guide column 121 is in contact with the inner peripheral surface of the guide hole 112, so that the guide column 121 can move in the guide hole 112 in the up-down direction.

[0048] It is understood that during the assembly process, the guide post 121 is inserted into the guide hole 112 on the mounting frame 110, so that the mounting frame 110 and the retaining frame 122 can be installed and positioned. The guide post 121 can be cylindrical or prismatic. After the assembly is completed, when the mounting frame 110 moves up and down relative to the retaining frame 122, the first spring 150 will expand and contract, and at this time, the guide post 121 moves up and down in the guide hole 112, and the guide post 121 is always located in the guide hole 112.

[0049] In other embodiments, the mounting frame 110 is provided with a guide post 121 extending in the up-down direction, the retaining frame 122 is provided with a guide hole 112, the guide post 121 is adapted to be connected with the guide hole 112, and the guide post 121 can move up and down in the guide hole 112. Of course, it is not excluded that in other embodiments, other structures such as a combination of an optical axis and a guide sleeve or a guide rail slider pair are adopted to realize the sliding connection between the mounting frame 110 and the retaining frame 122 in the up-down direction.

[0050] The holder 122 is provided with a flexible transmission member 125 and a second spring 128 at both opposite ends in the horizontal direction thereof, and the flexible transmission member 125 and the second spring 128 are both located below the mounting frame 110. One end of the flexible transmission member 125 is fixedly connected to the mounting frame 110, and the other end of the flexible transmission member 125 extends along the horizontal direction of the holder 122 and is fixedly connected to one end of the second spring 128, while the other end of the second spring 128 is fixedly connected to the holder 122. The second springs 128 located at both ends of the holder 122 can be extended and retracted in the horizontal direction of the holder 122 by the force of the flexible transmission member 125, and their retracting directions are opposite.

[0051] It is understandable that the flexible transmission member 125 is an elastic band, and of course, it is not excluded that the flexible transmission member 125 is a steel wire rope or a chain, etc. In this embodiment, the upper end of the flexible transmission member 125 is fixedly connected to the base 114, and the lower surface of the base 114 is provided with two connecting ends to facilitate the connection of the two flexible transmission members 125. The flexible transmission member 125 and the second spring 128 at the same end of the retaining frame 122 can be provided with one or more, for example, the flexible transmission member 125 and the second spring 128 are arranged in a one-to-one, one-to-two or two-to-one manner.

[0052] like Figures 3 to 6 As shown, the holder 122 can be a shell having a cavity with an opening, the opening of the cavity is open upward, so that the flexible transmission member 125 and the second spring 128 are arranged in the cavity of the shell, and the upper end of the flexible transmission member 125 extends out of the opening of the cavity and is fixedly connected to the mounting frame 110, so that the flexible transmission member 125 and the second spring 128 can be prevented from being affected by the impact of underwater currents. Of course, it is not ruled out that the holder 122 adopts a frame with a hollow structure.

[0053] The second spring 128 is located on the side of the flexible transmission member 125 away from the base 114 along the second direction, and the second spring 128 can be extended and contracted along the second direction. Figure 6 and Figure 7As shown, the second spring 128 located on the left side of the retaining frame 122 can extend to the right, while the second spring 128 located on the right side of the retaining frame 122 can extend to the left; the second spring 128 located on the left side of the retaining frame 122 can contract to the left, while the second spring 128 located on the right side of the retaining frame 122 can contract to the right. There are two flexible transmission members 125, and two second springs 128, and they are respectively located on opposite sides of the retaining frame 122 in the second direction, and are symmetrically arranged about the center position of the mounting frame 110. The retaining frame 122 and the mounting frame 110 are coaxially arranged in the up and down directions.

[0054] When both ends of the flexible transmission member 125 can be connected to the mounting frame 110 and the second spring 128 respectively through the metal connecting block, and the second spring 128 is installed on the retaining frame 122, if the spacing between the mounting frame 110 and the retaining frame 122 in the vertical direction changes, the second spring 128 will expand and contract in the second direction, so that the flexible transmission member 125 can always maintain a taut state under the elastic force of the second spring 128. In order to ensure that the second spring 128 can stably pull the flexible transmission member 125 along the second direction, the connection between the flexible transmission member 125 and the second spring 128 can be slidably connected to the retaining frame 122 in the second direction.

[0055] In some embodiments, the vertical anti-shake mechanism 120 further includes a damping component and a guide wheel 124 .

[0056] The retaining frame 122 is provided with a damping assembly and a guide wheel 124 at both ends thereof in the horizontal direction. The guide wheel 124 is located above the damping assembly, and the guide wheel 124 is located below the mounting frame 110. The guide wheel 124 is mounted on the retaining frame 122 through a rotating shaft so that the guide wheel 124 is rotatably connected to the retaining frame 122. The rotation axis of the guide wheel 124 extends along the first direction. In addition, the damping assembly is slidably connected to the retaining frame 122 in the horizontal direction of the retaining frame 122, for example, the damping assembly is slidably connected to the retaining frame 122 through the matching structure of the guide rail slider pair or the slider and the slide groove. The damping assembly can be cylindrical or prismatic, and the damping assembly can only move linearly along the second direction.

[0057] The flexible transmission member 125 is wound around the damping assembly, and the upper end of the flexible transmission member 125 extends along the horizontal direction of the retaining frame 122, then extends along the vertical direction, and is fixedly connected to the mounting frame 110. Specifically, the upper end of the flexible transmission member 125 extends vertically after bypassing the guide wheel 124, and is connected to the mounting frame 110. Here, the guide wheel 124 is used to change the extension direction of the flexible transmission member 125 so that the upper end of the flexible transmission member 125 is guided from the horizontal direction to the vertical direction for extension. The lower end of the flexible transmission member 125 extends along the horizontal direction of the retaining frame 122 and is connected to the retaining frame 122. One end of the second spring 128 close to the flexible transmission member 125 is connected to the damping assembly. Both ends of the flexible transmission member 125 extend horizontally in the same direction.

[0058] It is understandable that, in the case where the damping assembly is provided, the flexible transmission member 125 is not connected to the second spring 128, but is wound around the damping assembly and connects the damping assembly to the second spring 128. The flexible transmission member 125 may be wound around the damping assembly for less than one circle, or may be wound around the damping assembly for one circle or more. The guide wheel 124 located above the damping assembly can guide the flexible transmission member 125 and change the extension direction of the flexible transmission member 125.

[0059] By adopting the above-mentioned structural arrangement, the damping component can be subjected to the pulling force applied by the upper and lower sections of the flexible transmission member 125 on the side of the damping component away from the second spring 128 in the second direction. Moreover, when a first displacement in the up-down direction occurs between the mounting frame 110 and the retaining frame 122, the displacement of the damping component in the second direction and the expansion and contraction of the second spring 128 are both half of the first displacement. This can avoid the situation where the second spring 128 is over-expanded and its service life is shortened, and can reduce the size of the retaining frame 122 in the second direction.

[0060] When the vertical distance between the mounting frame 110 and the retaining frame 122 increases, the damping assembly moves in the second direction away from the second spring 128, causing the second spring 128 to extend, while the flexible transmission member 125 remains in a tensioned state; when the vertical distance between the mounting frame 110 and the retaining frame 122 decreases, the damping assembly moves in the second direction toward the second spring 128, causing the second spring 128 to contract, while the flexible transmission member 125 remains in a tensioned state. The damping assemblies at both ends of the retaining frame 122 are symmetrically arranged with respect to the center position of the mounting frame 110.

[0061] In this embodiment, if Figure 6 and Figure 7As shown, the damping assembly includes a slider 127 and a damping wheel 126. The slider 127 is slidably connected to the holder 122 along the horizontal direction of the holder 122, and is connected to one end of the second spring 128 close to the flexible transmission member 125. Specifically, the slider 127 is provided with a convex portion, and the holder 122 is provided with a slide groove extending along the second direction. The convex portion is adaptively connected with the slide groove, so that the slider 127 can move smoothly and linearly along the extension direction of the slide groove.

[0062] The damping wheel 126 is rotatably connected to the slider 127. Specifically, the slider 127 is provided with a connecting shaft extending in the first direction, and the connecting shaft is coaxially arranged and rotatably connected to the damping wheel 126, so that the damping wheel 126 can rotate relative to the slider 127, and the rotation axis of the damping wheel 126 is perpendicular to the third direction and the second direction. The flexible transmission member 125 is wound around the damping wheel 126. The damping wheel 126 can be a roller made of metal or plastic. In this way, under the elastic force of the second spring 128, the damping wheel 126 can rotate while moving linearly in the second direction, thereby reducing the friction between the damping wheel 126 and the flexible transmission member 125, and avoiding excessive wear of the flexible transmission member 125 by the damping wheel 126.

[0063] Moreover, since the guide wheel 124 is rotatably connected to the retaining frame 122, the rotation axis of the guide wheel 124 and the rotation axis of the damping wheel 126 extend in the same direction. Therefore, the friction between the guide wheel 124 and the flexible transmission member 125 can be reduced, preventing the flexible transmission member 125 from being excessively worn by the guide wheel 124.

[0064] Of course, it is not ruled out that in other embodiments, the guide wheel 124 is fixedly connected to the retaining frame 122 so that the guide wheel 124 cannot rotate relative to the retaining frame 122; or, the position where the retaining frame 122 contacts the flexible transmission member 125 adopts an arc surface structure design to replace the guide wheel 124.

[0065] Further, such as Figure 5 and Figure 6 As shown, a guide wheel 124 is provided below the damping assembly, and the guide wheel 124 is fixedly connected to the holder 122, so that the guide wheel 124 is in a fixed state. Moreover, the lower end of the flexible transmission member 125 extends in the horizontal direction of the holder 122, and is fixedly connected to the guide wheel 124 after bypassing the guide wheel 124. It can be understood that the guide wheels 124 located on the upper and lower sides of the damping assembly are arranged relative to each other up and down, and the portion of the flexible transmission member 125 located between the damping assembly and the guide wheel 124 is in a state of horizontally extending along the second direction.

[0066] Further, such as Figure 5 and Figure 6As shown, the retaining frame 122 is provided with a limit plate 1232 at both ends thereof in the horizontal direction, the limit plate 1232 is fixed relative to the retaining frame 122, and the limit plate 1232 is located on the side of the damping assembly away from the second spring 128, that is, the limit plate 1232 is arranged on the side of the damping assembly close to the flexible transmission member 125 along the second direction, and the limit plate 1232 can contact the damping assembly. The limit plate 1232 and the damping assembly can be in point contact, line contact or surface contact.

[0067] In this embodiment, the damping assembly includes a damping wheel 126, and the limit plate 1232 is provided with an arc surface, which is arranged toward the damping assembly, and the arc surface is adapted to the outer peripheral surface of the damping wheel 126, so that the arc surface of the limit plate 1232 can be arranged in a close fit with the damping assembly. The limit plates 1232 located on opposite sides of the retaining frame 122 are symmetrically arranged about the center position of the mounting frame 110. The limit plates 1232 can play a limiting role on the damping assembly to prevent the damping assembly from continuing to move in the same direction, thereby limiting the moving distance of the damping assembly, and at the same time preventing the second spring 128 from being over-stretched.

[0068] It is understandable that if Figure 5 and Figure 6 As shown, when the mounting frame 110 is subjected to the vertical downward vibration from the ROV300, the mounting frame 110 can move downward relative to the mounting frame 122 due to the upward and downward sliding connection between the retaining frame 122 and the mounting frame 110. Therefore, the first spring 150 will be compressed by the downward force applied by the mounting frame 110. At this time, the second springs 128 located at the opposite ends of the retaining frame 122 will synchronously contract in the opposite directions in the second direction, causing the damping wheels 126 located at the opposite sides of the retaining frame 122 to move away from each other under the elastic force of the second springs 128, so that the flexible transmission members 125 located at the opposite sides of the retaining frame 122 are pulled downward under the driving action of the damping wheels 126, and the tightness of the flexible transmission member 125 is adjusted, so that the flexible transmission member 125 is in a tensioned state, so that the flexible transmission member 125 can maintain its original state (i.e., a tight state).

[0069] If the flexible transmission member 125 is in a relaxed state, the tension exerted by the mounting frame 110 on the retaining frame 122 through the flexible transmission member 125 and the first spring 150 is weakened, which will cause the retaining frame 122 and the hyperspectral probe 200 to move downward, causing the hyperspectral probe 200 to be affected by vertical vibration, resulting in low fidelity of the hyperspectral image data collected by the hyperspectral probe 200.

[0070] The mounting frame 110 applies sufficient pulling force to the retaining frame 122 and the hyperspectral probe 200 through the taut flexible transmission member 125 and the first spring 150, so that the retaining frame 122 and the hyperspectral probe 200 are in a stable state, and the compressed first spring 150 is effectively prevented from transmitting vibration energy to the retaining frame 122 and the hyperspectral probe 200 in order to restore the original state, so that the vibration energy is converted into elastic potential energy, thereby maintaining the hyperspectral probe 200 located below the retaining frame 122 without a large displacement in the vertical direction.

[0071] When the mounting frame 110 is subjected to the vertical upward vibration from the ROV300, the mounting frame 110 can move upward relative to the retaining frame 122 due to the up and down sliding connection between the retaining frame 122 and the mounting frame 110. Therefore, the first spring 150 will be stretched by the upward force applied by the mounting frame 110. At this time, the flexible transmission members 125 located on the opposite sides of the retaining frame 122 are in a highly tensioned state under the driving action of the mounting frame 110.

[0072] Since the tension exerted by the mounting frame 110 on the retaining frame 122 through the highly taut flexible transmission member 125 and the first spring 150 is too large, the retaining frame 122 and the hyperspectral probe 200 will move upward together with the mounting frame 110, causing the hyperspectral probe 200 to have a large displacement in the vertical direction. Therefore, the second spring 128 will adjust its elastic force by itself under the strong tension of the flexible transmission member 125, so that the second spring 128 is stretched. Then, the damping wheels 126 located on the opposite sides of the retaining frame 122 will approach each other under the pulling action of the flexible transmission member 125, causing the second springs 128 located at the opposite ends of the retaining frame 122 to be synchronously extended in opposite directions in the second direction under the tension of the corresponding damping wheels 126, thereby adjusting the tightness of the flexible transmission member 125.

[0073] In this way, the flexible transmission member 125 can be reduced from a highly tightened state to a normal tightened state, thereby reducing the pulling force exerted by the mounting frame 110 on the retaining frame 122 and the hyperspectral probe 200 through the flexible transmission member 125 and the first spring 150, so that the retaining frame 122 and the hyperspectral probe 200 maintain a stable state to avoid large displacement in the vertical direction.

[0074] Moreover, since the second spring 128 applies a horizontal force to the holder 122 during both the contraction and extension processes, the horizontal forces applied by the mounting frame 110 to the holder 122 through the flexible transmission member 125 and the second spring 128 are equal in magnitude and opposite in direction, so that the horizontal forces can offset each other, so that the holder 122 is in a state of force balance in the horizontal direction, thereby ensuring that the holder 122 and the hyperspectral probe 200 maintain a stable state in the up and down directions, effectively preventing the hyperspectral probe 200 located below the holder 122 from being displaced in the vertical direction, and finally realizing the vertical anti-shake and vibration isolation functions of the vertical anti-shake device 100 based on the ROV-mounted hyperspectral probe, which is beneficial to improving the fidelity of the hyperspectral image data.

[0075] In some embodiments, Figure 6 and Figure 7 As shown, the vertical anti-shake mechanism 120 also includes a linear drive member. The linear drive members are provided on both opposite sides of the holder 122 in the second direction, and the two ends of the linear drive member are respectively connected to the holder 122 and the end of the second spring 128 away from the flexible transmission member 125, and the driving direction of the linear drive member extends along the second direction. The linear drive member is used to drive the end of the second spring 128 connected thereto to move along the extension direction of the second spring 128 (i.e., the second direction).

[0076] In this embodiment, the linear drive member is an electric push rod 129, which is disposed on the retaining frame 122, and the rod end of the electric push rod 129 is fixedly connected to the end of the second spring 128 away from the flexible transmission member 125. When the micro motor of the electric push rod 129 is started, the movable rod of the electric push rod 129 can be extended or shortened. When the movable rod of the electric push rod 129 is extended, the second spring 128 will contract, causing the elastic force of the second spring 128 to decrease; when the movable rod of the electric push rod 129 is shortened, the second spring 128 will extend, causing the elastic force of the second spring 128 to increase.

[0077] Regardless of whether the vertical anti-shake mechanism 120 is provided with a damping component or not, the elastic force of the second spring 128 can be adjusted by the operation of the electric push rod 129. Then, during the vertical anti-shake process, the displacement of the hyperspectral probe 200 in the vertical direction can be accurately adjusted by relying on the response speed of the micro-motor of the electric push rod 129, so as to avoid a large displacement of the hyperspectral probe 200 in the vertical direction, thereby reducing the influence of the vertical jitter on the hyperspectral data.

[0078] In some embodiments, Figures 4 to 6As shown, one first spring 150 is provided, and the first spring 150 is coaxially arranged with the mounting frame 110 and the retaining frame 122 in the up and down direction.

[0079] In this embodiment, the upper end of the first spring 150 can be fixed to the lower surface of the base 114 by welding or the like, a lining plate 1231 is disposed in the cavity of the holder 122, the lining plate 1231 is disposed horizontally and is fixedly connected to the holder 122, the lower end of the first spring 150 extends into the cavity through the opening of the cavity, and is fixedly connected to the upper surface of the lining plate 1231. The lining plate 1231 is provided with limiting plates 1232 on opposite sides along the second direction, and the limiting plates 1232 are fixedly connected to the lining plate 1231.

[0080] Furthermore, the flexible transmission members 125 at both ends of the holder 122 are symmetrically arranged with respect to the first spring 150, and the second springs 128 at both ends of the holder 122 are symmetrically arranged with respect to the first spring 150. In the case where a damping assembly is provided, the damping assembly at both ends of the holder 122 is also symmetrically arranged with respect to the first spring 150. With such a design, the center of gravity of the holder 122 is located on the central axis of the mounting frame 110, which can ensure that the holder 122 is in a balanced state in the second direction.

[0081] In some embodiments, Figures 3 to 6 As shown, the mounting frame 110 and the retaining frame 122 are respectively provided with wire holes, and the function of the wire holes is to allow the cables 140 of the hyperspectral probe 200 to be routed. All the wire holes extend through in the up-down direction and are coaxially arranged.

[0082] In this embodiment, wire holes are provided at the center of the base 114 and the center of the holder 122, and the cable 140 of the hyperspectral probe 200 passes through all the wire holes from top to bottom and is electrically connected to the hyperspectral probe 200. The hyperspectral probe 200 transmits data via the cable 140.

[0083] In addition, if Figures 3 to 6 As shown, a connection seat 130 may be provided on the lower surface of the holder 122 . The connection seat 130 is located at the center of the holder 122 , and the hyperspectral probe 200 is fixed on the lower surface of the connection seat 130 .

[0084] Specifically, the lower surface of the connection base 130 is provided with an installation groove for installing the hyperspectral probe 200, and the installation groove is provided with a plurality of connection holes, so that the hyperspectral probe 200 can be fixed at the installation groove by bolts. The hyperspectral probe 200 can collect hyperspectral image data downward to complete underwater detection work.

[0085] Moreover, the connection base 130 is also provided with a plurality of lighting lamps 400 , which are evenly arranged around the hyperspectral probe 200 , and the lighting lamps 400 can illuminate downwards.

[0086] When using the vertical anti-shake device 100 based on the ROV-mounted hyperspectral probe provided by the embodiment of the first aspect of the present invention, after the hyperspectral probe 200 is connected to the ROV 300 through the vertical 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. During this movement, the mounting frame 110 fixed on the ROV 300 applies sufficient pulling force to the retaining frame 122 and the hyperspectral probe 200 through the flexible transmission member 125 and the first spring 150, so that the hyperspectral probe 200 can obtain hyperspectral image data in a stable state.

[0087] When the vertical anti-shake device 100 based on the ROV equipped with a hyperspectral probe is subjected to vertical downward or vertical upward vibration from the ROV 300, the ROV 300 and the mounting frame 110 will move vertically downward or vertically upward relative to the retaining frame 122, which will cause the first spring 150 to be compressed or stretched due to the force. At this time, the second springs 128 located at the opposite ends of the retaining frame 122 will shrink or stretch in opposite directions along the horizontal direction of the retaining frame 122 at the same time, so that the flexible transmission member 125 can be under the elastic force of the second spring 128. Moreover, the horizontal forces exerted by the mounting frame 110 on the retaining frame 122 through the flexible transmission member 125 and the second spring 128 can offset each other, so that the retaining frame 122 is subjected to balanced forces in the horizontal direction, thereby enabling the retaining frame 122 to maintain a stable state, thereby preventing the hyperspectral probe 200 located below the retaining frame 122 from being displaced in the vertical direction, and finally realizing the vertical anti-shake and vibration isolation functions of the vertical anti-shake device 100 based on the hyperspectral probe carried by the ROV, thereby improving the fidelity of the hyperspectral image data.

[0088] like Figures 1 to 7 As shown, the underwater detection equipment according to the second aspect of the embodiment of the present invention can acquire high-quality hyperspectral image data.

[0089] The underwater detection equipment of this embodiment includes an ROV 300, a hyperspectral probe 200, and a vertical anti-shake device 100 based on the ROV equipped with a hyperspectral probe as in the first aspect of the embodiment of the present invention.

[0090] The ROV 300 is located above the vertical anti-shake device 100 based on the ROV equipped with a hyperspectral probe, and the ROV 300 is fixedly connected to the upper end of the mounting frame 110. The hyperspectral probe 200 is located below the vertical anti-shake device 100 based on the ROV equipped with a hyperspectral probe, and the hyperspectral probe 200 is fixedly connected to the retaining frame 122.

[0091] It can be understood that the embodiment of the second aspect of the present invention only makes the above-mentioned structural improvement to the vertical anti-shake device 100 based on the ROV equipped with a hyperspectral probe, while the 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 the ROV300 and the hyperspectral probe 200, which will not be described in detail here.

[0092] When the hyperspectral probe 200 is installed on the ROV300 through the vertical anti-shake device 100 based on the ROV-mounted hyperspectral probe, the ROV300 can carry the hyperspectral probe 200 and stably perform hyperspectral imaging detection underwater; during this underwater detection process, even if the vertical anti-shake device 100 based on the ROV-mounted hyperspectral probe is subjected to the vibration in the vertical direction from the ROV300, the vertical anti-shake device 100 based on the ROV-mounted hyperspectral probe can also play the anti-shake and vibration isolation effect in the vertical direction, thereby realizing the anti-shake and vibration isolation function of the hyperspectral probe 200 in the vertical direction of the underwater space, effectively solving the vertical shake problem faced by the underwater hyperspectral imaging detection system in the prior art, enhancing the vertical stability of the hyperspectral probe 200 during underwater operation, and ultimately improving the fidelity of the hyperspectral data.

[0093] 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.

[0094] 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 vertical anti-shake device based on a ROV equipped with a hyperspectral probe, characterized in that: include: A mounting frame, used for connecting with the ROV; A vertical anti-shake mechanism includes a holding frame, a first spring, a flexible transmission member and a second spring. The holding frame is slidably connected to the mounting frame in the up-down direction. The holding frame is used to connect to the hyperspectral probe. The first spring is connected between the holding frame and the mounting frame. The flexible transmission member and the second spring are provided at opposite ends of the holding frame in the horizontal direction. One end of the flexible transmission member is connected to the mounting frame, and the other end extends in the horizontal direction and is connected to one end of the second spring. The other end of the second spring is connected to the holding frame. The second springs at both ends can be extended and retracted in the horizontal direction under the force of the flexible transmission member, and the extension and retraction directions are opposite.

2. The vertical anti-shake device based on the ROV equipped with a hyperspectral probe according to claim 1, characterized in that: The vertical anti-shake mechanism also includes a damping assembly, and the damping assemblies are provided at both ends of the retaining frame in the horizontal direction. The damping assembly is slidably connected to the retaining frame in the horizontal direction. The flexible transmission member is wound around the damping assembly, and the upper end of the flexible transmission member extends along the horizontal direction of the retaining frame, and then extends along the vertical direction and is connected to the mounting frame. The lower end of the flexible transmission member extends along the horizontal direction of the retaining frame and is connected to the retaining frame. The second spring is connected to the damping assembly at one end close to the flexible transmission member.

3. The vertical anti-shake device based on the ROV equipped with a hyperspectral probe according to claim 2 is characterized in that: The damping assembly includes a slider and a damping wheel. The slider is slidably connected to the retaining frame along the horizontal direction of the retaining frame and is connected to one end of the second spring close to the flexible transmission member. The damping wheel is rotatably connected to the slider, and the flexible transmission member is wound around the damping wheel.

4. The vertical anti-shake device based on the ROV equipped with a hyperspectral probe according to claim 2 or 3, characterized in that: The vertical anti-shake mechanism also includes guide wheels, which are provided at both ends of the retaining frame in the horizontal direction. The guide wheels are located above the damping assembly and are rotatably connected to the retaining frame. The guide wheels are used to change the extension direction of the flexible transmission member so that the upper end of the flexible transmission member is guided from the horizontal direction to the vertical direction for extension.

5. The vertical anti-shake device based on the ROV equipped with a hyperspectral probe according to claim 4 is characterized in that: The guide wheel is provided below the damping assembly, the guide wheel is fixedly connected to the retaining frame, and the lower end of the flexible transmission member extends along the horizontal direction of the retaining frame and is fixedly connected to the guide wheel after bypassing the guide wheel.

6. The vertical anti-shake device based on the ROV equipped with a hyperspectral probe according to claim 2 or 3, characterized in that: Both ends of the retaining frame in the horizontal direction are provided with limiting plates, and the limiting plates are located on a side of the damping assembly away from the second spring and can contact the damping assembly.

7. The vertical anti-shake device based on the ROV equipped with a hyperspectral probe according to claim 6, characterized in that: The limiting plate is provided with an arc surface, and the arc surface is arranged toward the damping component and is arranged in close contact with the damping component.

8. The vertical anti-shake device based on the ROV equipped with a hyperspectral probe according to claim 1, characterized in that: The vertical anti-shake mechanism also includes a linear drive component, both ends of which are respectively connected to the retaining frame and one end of the second spring away from the flexible transmission component, and the linear drive component is used to drive the end of the second spring connected thereto to move along the extension and contraction direction of the second spring.

9. The vertical anti-shake device based on the ROV equipped with a hyperspectral probe according to claim 8, characterized in that: The linear drive member is an electric push rod, which is arranged on the retaining frame, and a rod end of the electric push rod is fixedly connected to an end of the second spring away from the flexible transmission member.

10. The vertical anti-shake device based on the ROV equipped with a hyperspectral probe according to claim 1, characterized in that: One of the mounting frame and the retaining frame is provided with a guide column extending in the up-down direction, and the other is provided with a guide hole, and the guide column is adaptively connected with the guide hole; and / or, The flexible transmission member is an elastic belt; and / or, The mounting frame and the retaining frame are respectively provided with wire holes for routing cables of the hyperspectral probe, and all the wire holes are coaxially arranged; and / or, The first spring, the mounting frame and the retaining frame are coaxially arranged, the flexible transmission members at both ends are symmetrically arranged with respect to the first spring, and the second springs at both ends are symmetrically arranged with respect to the first spring.

11. An underwater detection device, characterized in that: include: A vertical anti-shake device based on a ROV-mounted hyperspectral probe as described in any one of claims 1 to 10; an ROV connected to the mounting frame; A hyperspectral probe is connected to the holding frame.

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