Vertical anti-shake device based on ROV-mounted hyperspectral probe and underwater detection equipment

Abstract

The present invention discloses a vertical anti-shake device and an underwater detection device based on an ROV carrying a hyperspectral probe, which relates to the technical field of underwater detection. Among them, the mounting frame is used to connect with the ROV. The vertical anti-shake mechanism includes a cage, a first spring, a flexible transmission member, and a second spring. The cage is used to connect with the hyperspectral probe and is slidably connected to the mounting frame in the up-and-down direction. The first spring is connected between the cage and the mounting frame. Flexible transmission members and second springs are provided at both relatively horizontal ends of the cage. One end of the flexible transmission member is connected to the mounting frame, the other end extends horizontally, and is connected to one end of the second spring. The other end of the second spring is connected to the cage. The second springs at both ends can be stretched and contracted in the horizontal direction under the action of the flexible transmission member, and the stretching and contracting directions are opposite. The present invention can effectively reduce the influence of the jitter effect in the vertical direction on the hyperspectral image and improve the fidelity of the hyperspectral image data.

Description

Technical Field

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

[0002] The intensity of human development and utilization of marine resource environment is increasing day by day. Therefore, there is an urgent need for an underwater detection technology with the characteristics of high efficiency and high resolution. Currently, due to the high real-time performance and high resolution of the underwater hyperspectral imaging detection system, it is widely used in underwater precise detection operations. Among them, a line-scanning imaging spectrometer is often selected for underwater detection work.

[0003] However, the line-scanning imaging spectrometer is extremely sensitive to the 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 stitched monochromatic image. Although in subsequent data processing, the obtained hyperspectral image data can be geometrically corrected by combining the geographical location information and pose information recorded by the carrying platform to ensure the correctness of the spatial information of the target object, however, the image after the correction process may still have a certain degree of distortion, which will cause the underwater hyperspectral imaging detection system to not accurately reflect the spatial information of the target object, thus increasing great difficulty and uncertainty for underwater scientific research detection work.

[0004] Then, in order to obtain high-quality hyperspectral image data in underwater detection work, it is necessary to improve the stability of the hyperspectral imager on the carrying platform in the vertical direction to reduce the adverse effects brought by the jitter 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. For this purpose, the present invention provides a vertical anti-shake device and an underwater detection device based on an ROV carrying a hyperspectral probe, which can effectively reduce the adverse effects of vertical jitter on the hyperspectral image during underwater detection and improve the fidelity of hyperspectral data.

[0006] The first aspect embodiment of the present invention provides a vertical anti-shake device based on an ROV carrying a hyperspectral probe, which includes:

[0007] A mounting bracket for connecting with the ROV;

[0008] The vertical anti-vibration mechanism includes a cage, a first spring, a flexible transmission member, and a second spring. The cage is slidably connected to the mounting bracket in the vertical direction. The cage is used to connect to the hyperspectral probe. The first spring is connected between the cage and the mounting bracket. The flexible transmission member and the second spring are provided at opposite ends of the cage in the horizontal direction. One end of the flexible transmission member is connected to the mounting bracket, extends in the horizontal direction at the other end, and is connected to one end of the second spring. The other end of the second spring is connected to the cage. The second springs at both ends can be stretched or contracted in the horizontal direction under the action of the flexible transmission member, and the stretching directions are opposite.

[0009] The vertical anti-vibration device for an ROV-mounted hyperspectral probe according to the first aspect embodiment of the present invention has at least the following beneficial effects: When the hyperspectral probe is installed on the ROV through the vertical anti-vibration device for an ROV-mounted hyperspectral probe, the ROV can drive the hyperspectral probe to move during the underwater detection operation. During this movement process, the vertical anti-vibration mechanism can be subjected to the tensile force applied by the mounting bracket fixed on the ROV through the flexible transmission member and the first spring, so that the hyperspectral probe can obtain hyperspectral image data in a stable state.

[0010] When the vertical anti-vibration device for an ROV-mounted hyperspectral probe is subjected to vertical downward or vertical upward vibration from the ROV, since the cage is slidably connected to the mounting bracket up and down, the ROV and the mounting bracket can only move vertically downward or vertically upward relative to the cage. As a result, the first spring will be compressed or stretched due to the force. At this time, the second springs at both ends of the cage will contract or stretch simultaneously in the horizontal direction of the cage in opposite directions, so that the flexible transmission member can always be in a tightened state under the elastic force of the second spring. Moreover, the horizontal forces applied by the mounting bracket on the cage through the flexible transmission member and the second spring cancel each other out, so that the cage is in a balanced state in the horizontal direction, thereby enabling the cage to maintain a stable state and preventing the hyperspectral probe located below the cage from displacing in the vertical direction. Finally, the anti-vibration and vibration isolation functions of the vertical anti-vibration device for an ROV-mounted hyperspectral probe in the vertical direction are realized, and the fidelity of the hyperspectral image data is improved.

[0011] In some embodiments of the present invention, the vertical anti-shake mechanism further includes a damping component. The damping component is provided at both ends of the cage along the horizontal direction. The damping component is slidably connected to the cage along the horizontal direction. The flexible transmission member is wound around the damping component. The upper end of the flexible transmission member extends along the horizontal direction of the cage, then extends along the vertical direction and is connected to the mounting bracket. The lower end of the flexible transmission member extends along the horizontal direction of the cage and is connected to the cage. One end of the second spring close to the flexible transmission member is connected to the damping component.

[0012] In some embodiments of the present invention, the damping component includes a slider and a damping wheel. The slider is slidably connected to the cage along the horizontal direction of the cage 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. The flexible transmission member is wound around the damping wheel.

[0013] In some embodiments of the present invention, the vertical anti-shake mechanism further includes a guide wheel. The guide wheel is provided at both ends of the cage along the horizontal direction. The guide wheel is located above the damping component and is rotatably connected to the cage. 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 extends from the horizontal direction to the vertical direction.

[0014] In some embodiments of the present invention, the guide wheel is provided below the damping component. The guide wheel is fixedly connected to the cage, and the lower end of the flexible transmission member extends along the horizontal direction of the cage and is fixedly connected to the guide wheel after bypassing the guide wheel.

[0015] In some embodiments of the present invention, limit plates are provided at both ends of the cage along the horizontal direction. The limit plates are located on the side of the damping component away from the second spring and can contact the damping component.

[0016] In some embodiments of the present invention, the limit plate is provided with an arc surface. The arc surface faces the damping component and is attached to the damping component.

[0017] In some embodiments of the present invention, the vertical anti-shake mechanism further includes a linear drive member. The two ends of the linear drive member are respectively connected to the cage and the end of the second spring away from the flexible transmission member. The linear drive member is used to drive the end of the second spring connected to it to move along the telescopic direction of the second spring.

[0018] In some embodiments of the present invention, the linear driving member is an electric push rod, the electric push rod is arranged on the cage, and the rod end of the electric push rod is fixedly connected to one end of the second spring away from the flexible transmission member.

[0019] In some embodiments of the present invention, one of the mounting frame and the cage is provided with a guide post extending in the up and down direction, and the other is provided with a guide hole, and the guide post is adaptively connected to the guide hole; and / or,

[0020] The flexible transmission member is an elastic band; and / or,

[0021] The mounting frame and the cage are respectively provided with wire holes for the cable of the hyperspectral probe to pass through, and all the wire holes are coaxially arranged; and / or,

[0022] The first spring, the mounting frame and the cage 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.

[0023] An underwater detection device according to a second aspect embodiment of the present invention includes:

[0024] The vertical anti-shake device for an ROV carrying a hyperspectral probe according to any one of the first aspect embodiments;

[0025] An ROV, which is connected to the mounting frame;

[0026] A hyperspectral probe, which is connected to the cage.

[0027] The underwater detection device according to the second aspect embodiment of the present invention has at least the following beneficial effects: after the hyperspectral probe is installed on the ROV through the vertical anti-shake device for an ROV carrying a hyperspectral probe, the ROV can carry the hyperspectral probe to stably perform hyperspectral imaging detection work in the underwater space; during this process, even if the vertical anti-shake device for an ROV carrying a hyperspectral probe is affected by the vertical vibration from the ROV, the vertical anti-shake device for an ROV carrying a hyperspectral probe can also exert the anti-shake and vibration isolation effects in the vertical direction, so as to realize the anti-shake and vibration isolation functions of the hyperspectral probe in the vertical direction in the underwater space, effectively solve the problem of vertical jitter of the underwater hyperspectral imaging detection system in the prior art, help to enhance the vertical stability of the hyperspectral probe during underwater operation, and finally improve the fidelity of hyperspectral data.

[0028] 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 by the structures particularly pointed out in the specification, claims, and drawings. Description of the Drawings

[0029] Figure 1 is a side view of an underwater detection device provided according to an embodiment of the present invention;

[0030] Figure 2 is a three-dimensional structural diagram of an underwater detection device provided according to an embodiment of the present invention;

[0031] Figure 3 is a three-dimensional structural diagram of a vertical anti-shake device based on an ROV carrying a hyperspectral probe when the hyperspectral probe is installed, provided according to an embodiment of the present invention;

[0032] Figure 4 is a front view of a vertical anti-shake device based on an ROV carrying a hyperspectral probe when the hyperspectral probe is installed, provided according to an embodiment of the present invention;

[0033] Figure 5 is a three-dimensional structural diagram of a vertical anti-shake device based on an ROV carrying a hyperspectral probe in a sectional state, provided according to an embodiment of the present invention;

[0034] Figure 6 is a front view of a vertical anti-shake device based on an ROV carrying a hyperspectral probe in a sectional state, provided according to an embodiment of the present invention;

[0035] Figure 7 is a schematic structural diagram of a second spring respectively connected to an electric push rod and a damping wheel, provided according to an embodiment of the present invention;

[0036] Figure 8 is a schematic diagram of an ROV carrying a hyperspectral probe in the prior art being shaken in different directions;

[0037] Figure 9 are hyperspectral images obtained by a hyperspectral probe in the prior art without being affected by shaking and being affected by shaking in different directions during underwater detection operations.

[0038] Reference numerals: 100, vertical anti-shake device based on ROV carrying hyperspectral probe; 110, mounting frame; 111, bracket; 112, guide hole; 113, connecting bolt; 114, base; 120, vertical anti-shake mechanism; 121, guide post; 122, cage; 1231, lining plate; 1232, limiting plate; 124, guide wheel; 125, flexible transmission member; 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 implementation manners

[0039] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation to the present invention.

[0040] 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 specified, the meaning of "a plurality" is two or more.

[0041] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "connected" and "connected" 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.

[0042] With the vigorous development and utilization of the marine resource environment by humans, the demand for underwater detection technologies with high efficiency and high resolution characteristics 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, and has 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.

[0043] At present, the mainstream imaging spectrometers used in large-scale underwater hyperspectral imaging detection technology 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 stitching different wavelength information of the imaging area, such as Figure 9 as shown.

[0044] However, the line-scanning spectral imaging technology is extremely sensitive to the jitter during the push-broom process. Jitters from different directions during the push-broom process will cause problems such as spatial discontinuity and image deformation distortion on the finally stitched monochromatic image. Therefore, in order to obtain high-quality hyperspectral data during underwater detection, it is necessary to ensure the good stability of the platform carrying the hyperspectral imager to reduce the jitter impact on the hyperspectral imager.

[0045] For a common underwater hyperspectral imaging detection system carried on a mobile platform, which is 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 jitters in different directions on the hyperspectral imaging situation are different. Therefore, ensuring the stable installation of the probe in the hyperspectral imaging detection system on a remotely operated vehicle (ROV) is a major challenge in the field of underwater detection.

[0046] It can be understood 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 received by the hyperspectral probe mainly comes from two parts: the first is the irregular ocean 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 disturbance generated by the underwater thruster to the surrounding water body), which seriously affects the stability of the hyperspectral probe and the measurement results.

[0047] Assume that the x-axis direction is the forward direction of the ROV. The impact of simple jitter in a single dimension on the finally obtained monochromatic image is as Figure 9 shown. Specifically, as Figure 8 shown, when the ROV operates underwater, it usually encounters at least one of the jitters in the XY plane, the XZ plane, and 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, the XZ plane, and the YZ plane can be decomposed into the acting forces along the vertical direction and the acting forces in any direction within the horizontal plane.

[0048] As Figure 9As shown in the hyperspectral image (b), in the absence of jitter effects, the hyperspectral imaging detection system located on the mobile platform can obtain a normal hyperspectral image (i.e., normal hyperspectral image); as Figure 9 As shown in the hyperspectral images (c), (d), and (e), when affected by jitter in the XZ plane, YZ plane, or XY plane, the hyperspectral images obtained by the hyperspectral imaging detection system will have problems of spatial discontinuity and image deformation distortion. Moreover, when the jitter effects in different directions are superimposed, the fidelity rate of the hyperspectral data will be significantly reduced, resulting in a decrease in the accuracy of the detection results.

[0049] 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 be difficult to identify the target objects in the captured hyperspectral data.

[0050] Although most underwater carrier platforms such as ROVs, AUVs (i.e., Autonomous Underwater Vehicles) etc. 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 distortion of the acquired hyperspectral data. Although in the subsequent data processing process, the geometric correction of the obtained hyperspectral image 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, nevertheless, 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 spatial information of the target objects, thus increasing the difficulty and uncertainty of underwater scientific research detection work.

[0051] Therefore, how to eliminate the jitter effects caused by changes in the underwater water body and the external environment has become a major obstacle in high-precision underwater hyperspectral imaging detection technology.

[0052] Based on the above-mentioned technical problems, the present invention aims to provide a vertical anti-vibration device and an underwater detection device based on an ROV carrying a hyperspectral probe, which can apply shock absorption and stabilization to the hyperspectral probe in the vertical direction to reduce the influence of the ROV movement on the hyperspectral probe, effectively reduce the adverse effects of the jitter in the vertical direction during underwater detection operations on the hyperspectral image, and further improve the fidelity rate of the hyperspectral data.

[0053] Next, refer to Figures 1 to 7 Describe the vertical anti-vibration device and the underwater detection device based on an ROV carrying a hyperspectral probe provided according to an embodiment of the present invention.

[0054] As Figures 1 to 7 shown, the vertical anti-vibration device 100 based on an ROV carrying a hyperspectral probe according to an embodiment of the first aspect of the present invention can be installed on an existing ROV 300, and the existing hyperspectral probe 200 can be installed on the vertical anti-vibration device 100 based on an ROV carrying a hyperspectral probe, enabling the hyperspectral probe 200 to complete underwater imaging detection work under the driving action of the ROV 300.

[0055] The vertical anti-vibration device 100 based on an ROV carrying a hyperspectral probe in this embodiment can effectively solve the problem of the influence of the jitter from the vertical direction caused by changes in the ROV 300 and the external water environment on the hyperspectral probe 200 located underwater, which leads to spatial discontinuity and image deformation distortion of the hyperspectral image, thereby improving the fidelity of hyperspectral data.

[0056] The vertical anti-vibration device 100 based on an ROV carrying a hyperspectral probe has a first direction, a second direction, and a third direction, where 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.

[0057] As Figures 1 to 6 shown, the vertical anti-vibration device 100 based on an ROV carrying a hyperspectral probe includes a mounting frame 110 and a vertical anti-vibration mechanism 120.

[0058] The function of the mounting frame 110 is to connect with the ROV 300. In this embodiment, the mounting frame 110 includes a bracket 111 and a base 114. The bracket 111 is provided with a plurality of bolt holes that extend through in the up-down direction. The bracket 111 can be fixedly connected to the ROV 300 by passing a connecting bolt 113 through the bolt holes, and the upper surface of the bracket 111 can be in contact with the lower surface of the ROV 300. The base 114 is located below the bracket 111, and the base 114 is located at the central position of the bracket 111. The base 114 and the bracket 111 are fixedly connected by bolts. It can be understood that the designs of the bracket 111 and the base 114 in terms of structure and size can be selected according to actual needs and are not specifically limited herein.

[0059] The vertical anti-vibration mechanism 120 is used to eliminate the influence of vibration (or jitter) in the vertical direction transmitted from the ROV 300. The vertical anti-vibration mechanism 120 includes a cage 122, a first spring 150, a flexible transmission member 125, and a second spring 128, as Figures 3 to 6 shown.

[0060] Among them, the first spring 150 is connected between the cage 122 and the mounting bracket 110. The first spring 150 can apply an elastic force to the cage 122 and the mounting bracket 110. The first spring 150 can expand and contract along the up-and-down direction. Moreover, the upper end of the first spring 150 is fixedly connected to the mounting bracket 110, and the lower end of the first spring 150 is fixedly connected to the cage 122. It can be understood that the number of the first springs 150 is not limited to one. In some examples, only one first spring 150 is provided, and the first spring 150 is arranged at the central position of the mounting bracket 110. In other examples, the number of the first springs 150 is multiple, and the multiple first springs 150 are arranged in a matrix array or a circumferential array with respect to the central position of the mounting bracket 110.

[0061] The cage 122 is used to connect with the hyperspectral probe 200. The hyperspectral probe 200 can be installed on the lower surface of the cage 122 and located at the central position of the cage 122. Of course, it is not excluded that in other embodiments, the hyperspectral probe 200 is arranged at one of the front, rear, left, and right ends of the cage 122.

[0062] The cage 122 is fixedly connected to the lower end of the first spring 150, and the cage 122 is slidably connected to the mounting bracket 110 along the up-and-down direction, so that the cage 122 can only move stably vertically upward or vertically downward relative to the mounting bracket 110, avoiding the cage 122 from shaking relative to the mounting bracket 110 in the horizontal plane.

[0063] In this embodiment, the cage 122 extends along the horizontal direction, and the extension direction is assumed to be the left-right direction. The cage 122 is located below the mounting bracket 110. The cage 122 is provided with guide posts 121. The guide posts 121 extend along the up-and-down direction. The number of the guide posts 121 is two, and the two guide posts 121 are arranged at intervals along the left-right direction of the mounting bracket 110 and are symmetrically arranged with respect to the central position of the mounting bracket 110; the mounting bracket 110 is provided with guide holes 112. The guide holes 112 extend and communicate along the up-and-down direction. The guide holes 112 are arranged in one-to-one correspondence with the guide posts 121 in terms of quantity. The guide posts 121 are adaptively connected to the guide holes 112, that is, the outer peripheral surface of the guide post 121 is in close contact with the inner peripheral surface of the guide hole 112. Therefore, the guide post 121 can move up and down in the guide hole 112.

[0064] It can be understood that during the assembly process, the installation and positioning of the mounting bracket 110 and the cage 122 can be completed by inserting the guide posts 121 into the guide holes 112 on the mounting bracket 110. The shape of the guide posts 121 can be cylindrical or prismatic. After the assembly is completed, when the mounting bracket 110 has a vertical displacement relative to the cage 122, the first spring 150 will expand and contract. At this time, the guide posts 121 move up and down in the guide holes 112, and the guide posts 121 are always located in the guide holes 112.

[0065] In some other embodiments, the mounting bracket 110 is provided with guide posts 121 extending in the up and down direction, the cage 122 is provided with guide holes 112, the guide posts 121 are adaptively connected to the guide holes 112, and moreover, the guide posts 121 can move up and down within the guide holes 112. Of course, in other embodiments, it is not excluded to adopt other structures such as a combination of a optical axis and a guide sleeve or a guide rail-slider pair, etc. to realize the sliding connection between the mounting bracket 110 and the cage 122 in the up and down direction.

[0066] Flexible transmission members 125 and second springs 128 are provided at both opposite ends of the cage 122 in its horizontal direction. The flexible transmission members 125 and the second springs 128 are both located below the mounting bracket 110. Among them, one end of the flexible transmission member 125 is fixedly connected to the mounting bracket 110, the other end of the flexible transmission member 125 extends along the horizontal direction of the cage 122 and is fixedly connected to one end of the second spring 128, and the other end of the second spring 128 is fixedly connected to the cage 122. The second springs 128 located at both ends of the cage 122 can be stretched and contracted along the horizontal direction of the cage 122 under the action of the flexible transmission members 125, and moreover, their stretching and contracting directions are opposite.

[0067] It can be understood that the flexible transmission member 125 is an elastic band. 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. The lower surface of the base 114 is provided with two connecting ends to facilitate the connection of the two flexible transmission members 125. One or more flexible transmission members 125 and second springs 128 can be provided at the same end of the cage 122. For example, the flexible transmission members 125 and the second springs 128 are arranged in a one-to-one, one-to-two or two-to-one manner.

[0068] As Figures 3 to 6 shown, the cage 122 can be a housing. The housing has a cavity with an opening. The opening of the cavity faces upward and is open, so as to arrange the flexible transmission members 125 and the second springs 128 in the cavity of the housing, and make the upper end of the flexible transmission member 125 extend out of the opening of the cavity and be fixedly connected to the mounting bracket 110, so as to avoid the influence of the underwater ocean current impact on the flexible transmission members 125 and the second springs 128. Of course, it is not excluded that the cage 122 adopts a frame with a hollow structure.

[0069] The second spring 128 is located on the side of the flexible transmission member 125 away from the base 114 along the second direction. The second spring 128 can be stretched and contracted along the second direction. In this embodiment, as Figure 6 and Figure 7As shown, the second spring 128 located on the left side of the cage 122 can extend to the right. At the same time, the second spring 128 located on the right side of the cage 122 can extend to the left. The second spring 128 located on the left side of the cage 122 can contract to the left. At the same time, the second spring 128 located on the right side of the cage 122 can contract to the right. There are two flexible transmission members 125 and two second springs 128. Moreover, they are respectively located on the opposite sides of the cage 122 in the second direction and are symmetrically arranged about the central position of the mounting bracket 110. The cage 122 and the mounting bracket 110 are coaxially arranged in the up-and-down direction.

[0070] When both ends of the flexible transmission member 125 are respectively connected to the mounting bracket 110 and the second spring 128 through metal connection blocks and the second spring 128 is installed on the cage 122, if the distance between the mounting bracket 110 and the cage 122 in the up-and-down 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 cage 122 in the second direction.

[0071] In some embodiments, the vertical anti-shake mechanism 120 further includes a damping component and a guide wheel 124.

[0072] Damping components and guide wheels 124 are provided at both ends of the cage 122 along its horizontal direction. Among them, the guide wheel 124 is located above the damping component. The guide wheel 124 is located below the mounting bracket 110. The guide wheel 124 is installed on the cage 122 through a rotating shaft to realize the rotational connection of the guide wheel 124 to the cage 122. The rotation axis of the guide wheel 124 extends along the first direction. And, the damping component is slidably connected to the cage 122 along the horizontal direction of the cage 122, for example, the damping component is slidably connected to the cage 122 through a guide rail-slider pair or a matching structure of a slider and a chute. The damping component can be cylindrical or prismatic, and the damping component can only move linearly along the second direction.

[0073] The flexible transmission member 125 is wound around the damping assembly. The upper end of the flexible transmission member 125 extends along the horizontal direction of the cage 122, then extends along the vertical direction, and is fixedly connected to the mounting bracket 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 bracket 110. Here, the function of the guide wheel 124 is 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 cage 122 and is connected to the cage 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.

[0074] It can be understood 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 the damping assembly is connected to the second spring 128. The flexible transmission member 125 can bypass less than one turn on the damping assembly, or can bypass one turn or more on the damping assembly. The guide wheel 124 located above the damping assembly can play a role in guiding the flexible transmission member 125 and changing the extension direction of the flexible transmission member 125.

[0075] With the above structural arrangement, the damping assembly can be subjected to the tensile forces applied by the upper and lower sections of the flexible transmission member 125 on the side away from the second spring 128 in the second direction. Moreover, when a first displacement occurs in the up and down direction between the mounting bracket 110 and the cage 122, the displacement amount of the damping assembly in the second direction and the telescopic amount of the second spring 128 are both half of the first displacement. In this way, it can be avoided that the second spring 128 is over-telescoped, resulting in a shortened service life, and the size of the cage 122 in the second direction can be reduced.

[0076] When the vertical distance between the mounting bracket 110 and the cage 122 increases, the damping assembly will move in the second direction away from the second spring 128, causing the second spring 128 to elongate. At the same time, the flexible transmission member 125 remains in a tensioned state; when the vertical distance between the mounting bracket 110 and the cage 122 decreases, the damping assembly will move in the second direction closer to the second spring 128, causing the second spring 128 to contract. At the same time, it prompts the flexible transmission member 125 to maintain a taut state. The damping assemblies at both ends of the cage 122 are symmetrically arranged with respect to the central position of the mounting bracket 110.

[0077] In this embodiment, as Figure 6 and Figure 7As shown, the damping assembly includes a slider 127 and a damping wheel 126. Among them, the slider 127 is slidably connected to the cage 122 along the horizontal direction of the cage 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 cage 122 is provided with a chute extending in the second direction. The convex portion is adaptively connected to the chute, so that the slider 127 can move smoothly in a straight line along the extension direction of the chute.

[0078] 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. The connecting shaft is coaxially arranged with the damping wheel 126 and is rotatably connected, so that the damping wheel 126 can rotate relative to the slider 127. 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. With such a setting, under the elastic force of the second spring 128, the damping wheel 126 can rotate while moving in a straight line in the second direction, thus reducing the friction between the damping wheel 126 and the flexible transmission member 125 and preventing the flexible transmission member 125 from being excessively worn by the damping wheel 126.

[0079] Moreover, since the guide wheel 124 is rotatably connected to the cage 122 and the rotation axis of the guide wheel 124 extends in the same direction as the rotation axis of the damping wheel 126, the friction between the guide wheel 124 and the flexible transmission member 125 can be reduced, and the flexible transmission member 125 can be prevented from being excessively worn by the guide wheel 124.

[0080] Of course, it is not excluded that in other embodiments, the guide wheel 124 is fixedly connected to the cage 122 so that the guide wheel 124 cannot rotate relative to the cage 122; or, the position of the cage 122 in contact with the flexible transmission member 125 adopts an arc surface structure design to replace the guide wheel 124.

[0081] Furthermore, as Figure 5 and Figure 6 shown, a guide wheel 124 is provided below the damping assembly. The guide wheel 124 is fixedly connected to the cage 122, so that the guide wheel 124 is in a fixed state. Moreover, the lower end of the flexible transmission member 125 extends along the horizontal direction of the cage 122 and is fixedly connected to the guide wheel 124 after passing around 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 vertically opposite to each other, and the part of the flexible transmission member 125 located between the damping assembly and the guide wheel 124 is in a state of extending horizontally in the second direction.

[0082] Furthermore, as Figure 5 and Figure 6As shown, the cage 122 is provided with limiting plates 1232 at both ends in its horizontal direction. The limiting plates 1232 are fixed relative to the cage 122. The limiting plates 1232 are located on the side of the damping assembly away from the second spring 128, that is, the limiting plates 1232 are arranged on the side of the damping assembly close to the flexible transmission member 125 along the second direction, and the limiting plates 1232 can contact the damping assembly. The contact between the limiting plates 1232 and the damping assembly can be in the form of point contact, line contact or surface contact.

[0083] In this embodiment, the damping assembly includes a damping wheel 126. Then, the limiting plate 1232 is provided with an arc surface, and the arc surface faces the damping assembly. The arc surface of the limiting plate 1232 is adapted to the outer peripheral surface of the damping wheel 126. Therefore, the arc surface of the limiting plate 1232 can be attached to the damping assembly. The limiting plates 1232 on the opposite sides of the cage 122 are symmetrically arranged about the central position of the mounting frame 110. The limiting plate 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, it can prevent the second spring 128 from being overstretched.

[0084] It can be understood that as Figure 5 and Figure 6 shown, when the mounting frame 110 is subjected to a vertically downward vibration force from the ROV 300, since the cage 122 and the mounting frame 110 are connected by a vertical sliding connection, the mounting frame 110 can move downward relative to the cage 122. Therefore, the first spring 150 will be compressed by the downward force exerted by the mounting frame 110. At this time, the second springs 128 at both ends of the cage 122 will contract synchronously in the second direction in opposite directions, causing the damping wheels 126 on the opposite sides of the cage 122 to move away from each other under the elastic force of the second springs 128, so that the flexible transmission members 125 on the opposite sides of the cage 122 are pulled downward under the driving action of the damping wheels 126, adjusting the tightness of the flexible transmission members 125 to make the flexible transmission members 125 in a tightened state, and promoting the flexible transmission members 125 to maintain the original state (i.e., the taut state).

[0085] If the flexible transmission member 125 is in a relaxed state, the pulling force exerted by the mounting frame 110 on the cage 122 through the flexible transmission member 125 and the first spring 150 is weakened, which will cause the cage 122 and the hyperspectral probe 200 to move downward, resulting in the hyperspectral probe 200 being affected by vertical jitter, leading to a low fidelity rate of the hyperspectral image data collected by the hyperspectral probe 200.

[0086] The mounting bracket 110 applies sufficient tensile force to the cage 122 and the hyperspectral probe 200 through the tensioned flexible transmission member 125 and the first spring 150, keeping the cage 122 and the hyperspectral probe 200 in a stable state. This effectively prevents the compressed first spring 150 from transferring vibration energy to the cage 122 and the hyperspectral probe 200 as it returns to its original state, converting the vibration energy into elastic potential energy, thereby maintaining that the hyperspectral probe 200 located below the cage 122 does not have a large displacement in the vertical direction.

[0087] When the mounting bracket 110 is subjected to a vertically upward vibration force from the ROV 300, since the cage 122 and the mounting bracket 110 are connected by a vertical sliding connection, the mounting bracket 110 can move upward relative to the cage 122. Therefore, the first spring 150 will be stretched by the upward force applied by the mounting bracket 110. At this time, the flexible transmission members 125 located on the opposite sides of the cage 122 are in a highly tensioned state under the driving action of the mounting bracket 110.

[0088] Since the tensile force applied by the mounting bracket 110 to the cage 122 through the highly tensioned flexible transmission member 125 and the first spring 150 is too large, it will cause the cage 122 and the hyperspectral probe 200 to move upward together with the mounting bracket 110, resulting in a large displacement of the hyperspectral probe 200 in the vertical direction. Therefore, the second spring 128 will self-adjust its elastic force under the strong tensile force of the flexible transmission member 125, causing the second spring 128 to be stretched. Then, the damping wheels 126 located on the opposite sides of the cage 122 will move closer to each other under the pulling action of the flexible transmission member 125, prompting the second springs 128 located at the opposite ends of the cage 122 to synchronously elongate in the second direction in opposite directions under the pulling force of the corresponding damping wheels 126, thereby adjusting the tightness of the flexible transmission member 125.

[0089] In this way, the flexible transmission member 125 can be reduced from a highly tensioned state to a normal tensioned state, thereby reducing the tensile force applied by the mounting bracket 110 to the cage 122 and the hyperspectral probe 200 through the flexible transmission member 125 and the first spring 150, keeping the cage 122 and the hyperspectral probe 200 in a stable state to avoid large displacements in the vertical direction.

[0090] Moreover, since the second spring 128 applies a horizontal force to the cage 122 during both the contraction and elongation processes, the horizontal forces exerted on the cage 122 by the mounting bracket 110 through the flexible transmission member 125 and the second spring 128 are equal in magnitude and opposite in direction. Thus, the horizontal forces can cancel each other out, keeping the cage 122 in a horizontally balanced state. This ensures the stability of the cage 122 and the hyperspectral probe 200 in the vertical direction, effectively preventing the hyperspectral probe 200 located below the cage 122 from displacing vertically. Ultimately, the vertical anti-vibration and isolation function of the vertical anti-vibration device 100 for the ROV-mounted hyperspectral probe in the vertical direction is achieved, which is beneficial to improving the fidelity of hyperspectral image data.

[0091] In some embodiments, as Figure 6 and Figure 7 shown, the vertical anti-vibration mechanism 120 further includes a linear drive member. Specifically, linear drive members are provided on opposite sides of the cage 122 in the second direction. The two ends of the linear drive member are respectively connected to the cage 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 telescopic direction of the second spring 128 (i.e., the second direction).

[0092] In this embodiment, the linear drive member is an electric push rod 129. The electric push rod 129 is disposed on the cage 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 extend or contract. When the movable rod of the electric push rod 129 extends, the second spring 128 will contract, causing the elastic force of the second spring 128 to become smaller; when the movable rod of the electric push rod 129 contracts, the second spring 128 will extend, making the elastic force of the second spring 128 larger.

[0093] Regardless of whether the vertical anti-vibration 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 vertical anti-vibration, the response speed of the micro motor of the electric push rod 129 can be relied upon to accurately adjust the displacement amount of the hyperspectral probe 200 in the vertical direction, avoiding large displacements of the hyperspectral probe 200 in the vertical direction, thereby reducing the impact of vertical jitter on hyperspectral data.

[0094] In some embodiments, as Figures 4 to 6As shown in the figure, there is one first spring 150, and the first spring 150, the mounting bracket 110, and the cage 122 are coaxially arranged in the up and down direction.

[0095] 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 other means. A lining plate 1231 is arranged in the cavity of the cage 122. The lining plate 1231 is horizontally arranged and fixedly connected to the cage 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. Limiting plates 1232 are arranged on the opposite sides of the lining plate 1231 along the second direction, and the limiting plates 1232 are fixedly connected to the lining plate 1231.

[0096] Furthermore, the flexible transmission members 125 at both ends of the cage 122 are symmetrically arranged with respect to the first spring 150, and the second springs 128 at both ends of the cage 122 are symmetrically arranged with respect to the first spring 150. In the case where a damping assembly is provided, the damping assemblies at both ends of the cage 122 are also symmetrically arranged with respect to the first spring 150. Designed in this way, the center of gravity of the cage 122 is located on the central axis of the mounting bracket 110, which can ensure that the cage 122 is in a balanced state in the second direction.

[0097] In some embodiments, as Figures 3 to 6 shown, the mounting bracket 110 and the cage 122 are respectively provided with wire holes, and the function of the wire holes is to allow the cable 140 of the hyperspectral probe 200 to pass through. All the wire holes extend through in the up and down direction and are coaxially arranged.

[0098] In this embodiment, wire holes are provided at the central positions of both the base 114 and the cage 122. The cable 140 of the hyperspectral probe 200 passes through all the wire holes from top to bottom in sequence and is electrically connected to the hyperspectral probe 200. The hyperspectral probe 200 transmits data through the cable 140.

[0099] In addition, as Figures 3 to 6 shown, a connection seat 130 can be provided on the lower surface of the cage 122. The connection seat 130 is located at the central position of the cage 122, and the hyperspectral probe 200 is fixed on the lower surface of the connection seat 130.

[0100] Specifically, the lower surface of the connection seat 130 is provided with a mounting groove for mounting the hyperspectral probe 200, and a plurality of connection holes are provided in the mounting groove. Therefore, the hyperspectral probe 200 can be fixed at the mounting groove by bolts. The hyperspectral probe 200 can collect hyperspectral image data downward to complete underwater detection work.

[0101] Moreover, the connecting seat 130 is also provided with a plurality of lighting lamps 400. The plurality of lighting lamps 400 are evenly arranged around the hyperspectral probe 200, and the lighting lamps 400 can illuminate downward.

[0102] When using the vertical anti-shake device 100 for an 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 vertical anti-shake device 100 for an ROV-mounted hyperspectral probe, the ROV 300 can drive the hyperspectral probe 200 to move during the underwater detection operation. During this movement process, the mounting bracket 110 fixed on the ROV 300 applies a sufficient pulling force to the holding bracket 122 and the hyperspectral probe 200 through the flexible transmission member 125 and the first spring 150, so as to enable the hyperspectral probe 200 to obtain hyperspectral image data in a stable state.

[0103] When the vertical anti-shake device 100 for an ROV-mounted hyperspectral probe is subjected to a vertically downward or vertically upward vibration force from the ROV 300, the ROV 300 and the mounting bracket 110 will move vertically downward or vertically upward relative to the holding bracket 122. In this way, the first spring 150 will be compressed or stretched due to the force. At this time, the second springs 128 located at the opposite ends of the holding bracket 122 will simultaneously contract or stretch in the horizontal direction of the holding bracket 122 in opposite directions, so that the flexible transmission member 125 can always be in a tightened state under the elastic force of the second springs 128. Moreover, the horizontal acting forces applied by the mounting bracket 110 on the holding bracket 122 through the flexible transmission member 125 and the second springs 128 can cancel each other out, so that the holding bracket 122 is in a balanced state in the horizontal direction, thereby enabling the holding bracket 122 to maintain a stable state and preventing the hyperspectral probe 200 located below the holding bracket 122 from displacing in the vertical direction. Finally, the vertical anti-shake and vibration isolation functions of the vertical anti-shake device 100 for an ROV-mounted hyperspectral probe in the vertical direction are realized, and the fidelity of the hyperspectral image data is improved.

[0104] As Figures 1 to 7 shown, the underwater detection device according to the second aspect embodiment of the present invention can obtain high-quality hyperspectral image data.

[0105] The underwater detection device of this embodiment includes an ROV 300, a hyperspectral probe 200, and a vertical anti-shake device 100 for an ROV-mounted hyperspectral probe as in the first aspect embodiment of the present invention.

[0106] Among them, the ROV 300 is located above the vertical anti-shake device 100 for carrying a hyperspectral probe based on the ROV, 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 for carrying a hyperspectral probe based on the ROV, and the hyperspectral probe 200 is fixedly connected to the cage 122.

[0107] It can be understood that the structural improvement described above is only made to the vertical anti-shake device 100 for carrying a hyperspectral probe based on the ROV in the second aspect embodiment of the present invention, 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 given here.

[0108] After the hyperspectral probe 200 is installed on the ROV 300 through the vertical anti-shake device 100 for carrying a hyperspectral probe based on the ROV, the ROV 300 can carry the hyperspectral probe 200 to stably perform hyperspectral imaging detection work underwater; during this underwater detection process, even if the vertical anti-shake device 100 for carrying a hyperspectral probe based on the ROV is subjected to a vertical vibration effect from the ROV 300, the vertical anti-shake device 100 for carrying a hyperspectral probe based on the ROV can also exert the anti-shake and vibration isolation effects in the vertical direction, so as to realize the anti-shake and vibration isolation functions for the hyperspectral probe 200 in the vertical direction of the underwater space, effectively solve the problem of vertical jitter faced by the underwater hyperspectral imaging detection system in the prior art underwater, enhance the vertical stability of the hyperspectral probe 200 during underwater operation, and ultimately improve the fidelity of hyperspectral data.

[0109] In the description of this specification, the descriptions with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" etc. mean 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.

[0110] 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 purposes of the present invention, and the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A vertical anti-shake device based on an ROV equipped with a hyperspectral probe, characterized in that, Comprising: A mounting bracket for connecting with the ROV; A vertical anti-shake mechanism, including a cage, a first spring, a flexible transmission member and a second spring. The cage is slidably connected to the mounting bracket in the vertical direction. The cage is used for connecting with the hyperspectral probe. The first spring is connected between the cage and the mounting bracket. At opposite ends of the cage in the horizontal direction, there are provided the flexible transmission member and the second spring. One end of the flexible transmission member is connected to the mounting bracket, 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 cage. The second springs at both ends can be forced by the flexible transmission member to expand and contract in the horizontal direction, and the expansion and contraction directions are opposite; The vertical anti-shake mechanism further includes a damping assembly. The damping assembly is provided at both ends of the cage in the horizontal direction. The damping assembly is slidably connected to the cage in the horizontal direction. The flexible transmission member is wound around the damping assembly. The upper end of the flexible transmission member extends in the horizontal direction of the cage, then extends in the vertical direction and is connected to the mounting bracket. The lower end of the flexible transmission member extends in the horizontal direction of the cage and is connected to the cage. One end of the second spring close to the flexible transmission member is connected to the damping assembly.

2. The vertical anti-shake device based on the ROV-mounted hyperspectral probe according to claim 1, wherein, The damping assembly includes a slider and a damping wheel. The slider is slidably connected to the cage in the horizontal direction of the cage 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. The flexible transmission member is wound around the damping wheel.

3. The vertical anti-shake device based on the ROV-mounted hyperspectral probe according to claim 1 or 2, characterized in that, The vertical anti-shake mechanism further includes a guide wheel. The guide wheel is provided at both ends of the cage in the horizontal direction. The guide wheel is located above the damping assembly and is rotatably connected to the cage. 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.

4. The vertical anti-shake device based on the ROV-mounted hyperspectral probe according to claim 3, characterized in that, Below the damping assembly, there is provided the guide wheel. The guide wheel is fixedly connected to the cage, and the lower end of the flexible transmission member extends in the horizontal direction of the cage and is fixedly connected to the guide wheel after passing around the guide wheel.

5. The vertical anti-shake device based on the ROV-mounted hyperspectral probe according to claim 1 or 2, characterized in that, Limit plates are provided at both ends of the cage in the horizontal direction. The limit plates are located on the side of the damping assembly away from the second spring and can contact the damping assembly.

6. The vertical anti-shake device based on the ROV-mounted hyperspectral probe according to claim 5, wherein The limit plate is provided with an arc surface. The arc surface faces the damping assembly and is arranged in a fitting manner with the damping assembly.

7. The vertical anti-shake device based on the ROV-mounted hyperspectral probe according to claim 1, wherein The vertical anti-shake mechanism further includes a linear drive member. Both ends of the linear drive member are respectively connected to the cage and the end of the second spring away from the flexible transmission member. The linear drive member is used to drive the end of the second spring connected thereto to move along the expansion and contraction direction of the second spring.

8. The vertical anti-shake device based on the ROV-mounted hyperspectral probe according to claim 7, wherein The linear drive member is an electric push rod. The electric push rod is arranged on the cage, and the rod end of the electric push rod is fixedly connected to the end of the second spring away from the flexible transmission member.

9. The vertical anti-shake device based on an ROV-mounted hyperspectral probe according to claim 1, wherein, One of the mounting bracket and the cage is provided with a guide post extending in the vertical direction, and the other is provided with a guide hole, and the guide post is adaptively connected to the guide hole; and / or, The flexible transmission member is an elastic band; and / or, The mounting bracket and the cage are respectively provided with wire holes for the cable of the hyperspectral probe to pass through, and all the wire holes are coaxially arranged; and / or, The first spring, the mounting bracket and the cage are coaxially arranged, and 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.

10. An underwater detection device, characterized in that, Comprising: The vertical anti-shake device for ROV-mounted hyperspectral probe according to any one of claims 1 to 9; An ROV, which is connected to the mounting bracket; A hyperspectral probe, which is connected to the cage.

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