Single-beam and multi-beam fixing device

Abstract

The invention relates to the technical field of water area measuring equipment, and particularly discloses a single-beam and multi-beam fixing device, a transverse supporting plate is transversely erected on a ship body, the transverse supporting plate is fixed to the ship body, and the two ends of the transverse supporting plate extend out of the ship body; a shaft seat is arranged at one end of the transverse supporting plate, a vertical swing arm is hinged to the shaft seat, and a multi-beam probe is fixedly installed on the swing arm; an insertion sleeve is arranged at the other end of the transverse supporting plate, a telescopic plate parallel to the transverse supporting plate is arranged in the insertion sleeve in a sleeved mode, and a single-beam probe is installed and fixed on the telescopic plate through a single-beam installation pipe. According to the single-beam and multi-beam fixing device, multi-beam sound beam coverage is closer to the water bottom through swing arm adjustment, the terrain of a shallow water area below 3 meters is effectively detected, traditional single-beam independent measurement is replaced, the splicing error caused by the independence of a positioning system is reduced, the single-beam probe can go deep into the shallow water area through the design of the telescopic plate, and the detection accuracy is improved. Meanwhile, ship body shielding is avoided through telescopic adjustment, and the detection precision is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of water area measurement equipment, and in particular to a single-beam and multi-beam fixing device. Background Art

[0002] Water depth surveys typically use single-beam echo sounders or multi-beam echo sounder systems. A single-beam echo sounder uses a transducer to transmit sound waves vertically downward. When the sound waves hit the bottom, they reflect, and the reflected echo signal returns to the transducer where it is received. The water depth is determined by the round-trip time the sound waves take to travel through the water and the average speed of sound in the water. Single-beam echo sounders are portable and easy to install, making them highly effective for surveying shallow waters.

[0003] The multi-beam bathymetry system works by using a transmitting transducer array to emit wide-sector sound waves toward the seabed, and a receiving transducer array to receive the sound waves in a narrow beam. The orthogonality of the transmitting and receiving sectors illuminates the seabed topography, and a single detection can provide depth values ​​for hundreds or even more seabed points within a vertical plane perpendicular to the course. This allows for accurate and rapid measurement of the size, shape, and elevation of underwater targets within a certain width along the route, reliably depicting the three-dimensional features of the seabed topography. Combined with navigation positioning and attitude data collected on-site, this system produces high-precision, high-resolution digital maps.

[0004] Because vessels equipped with multibeam detection equipment have a deep draft, they cannot penetrate shallow waters. When encountering shallow waters less than 3 meters deep, multibeam vessels are unable to survey the area. To obtain topographic data in shallow waters and gain a complete picture of the underwater terrain, two methods are commonly used.

[0005] Method 1: Combined single-beam measurement for shallow waters. Single-beam detection devices are lightweight and simple, capable of detecting underwater terrain in shallower waters. In water surveys, deepwater areas are typically detected by survey vessels equipped with multi-beam systems, while shallower areas are detected by unmanned vessels equipped with single-beam systems. Because this combined measurement method uses two independent positioning systems for positioning, significant errors can easily occur during the subsequent data integration process.

[0006] Method 2: Tilt the multibeam probe for shallow water measurements. Tilt-mounting a multibeam probe allows for coverage of shallow water terrain. However, existing tilt brackets have a single structure and are unable to tilt the multibeam equipment, significantly increasing the complexity of the measurement process. Summary of the Invention

[0007] In response to the above problems, the present invention provides a single-beam and multi-beam fixing device that can carry two detection devices on the hull at the same time to have the ability to measure shallow water areas, and can adjust the inclination of the multi-beam device.

[0008] The solution adopted by the present invention to solve its technical problem is: a single-beam and multi-beam fixing device, comprising a transverse brace, the transverse brace is horizontally mounted on the hull, and the transverse brace is fixed to the hull, with both ends of the transverse brace extending outward from the outside of the hull; an axle seat is provided at one end of the transverse brace, a vertical swing arm is hinged on the axle seat, and a mounting seat is provided at the lower end of the swing arm, a through hole is provided in the middle of the mounting seat, a multi-beam mounting tube is inserted into the through hole, a locking wire hole 1 is provided on the side of the through hole, the locking wire in the locking wire hole 1 is screwed to fix the multi-beam mounting tube, and the multi-beam probe is fixed at the lower end of the multi-beam mounting tube; a sleeve is provided at the other end of the transverse brace, a telescopic plate parallel to the transverse brace is sleeved in the sleeve, and a mounting hole is provided at one end of the telescopic plate facing the outside of the hull, a single-beam mounting tube is sleeved in the mounting hole, a locking wire hole 2 is provided on the side of the mounting hole, the single-beam mounting tube is fixed by the locking wire in the locking wire hole 2, and the single-beam probe is fixed at the lower end of the single-beam mounting tube.

[0009] Preferably, the hull adopts an unmanned remote-controlled exploration ship, wherein a flip push rod is installed between the swing arm and the cross brace, and the two ends of the flip push rod are hinged to the cross brace and the swing arm respectively.

[0010] Preferably, a self-adjusting mechanism is installed on the hull, and the self-adjusting mechanism includes a U-shaped connecting pipe, which is fixed inside the hull, and the two ends of the U-shaped connecting pipe are respectively fixed on both sides of the hull, wherein the side close to the multi-beam probe is a through pipe connected to the outside world, and a piston connecting pipe is provided on the side of the single-beam probe extending outward, and the piston is connected to the driving piston through the piston connecting pipe; the telescopic plate is divided into two parts, namely a translation plate and a flip plate, and the translation plate and the flip plate are hinged, wherein the translation plate sleeve can be telescopically moved in the sleeve, and a piston is provided on the flip plate There is a mounting hole, through which the single-beam mounting tube is installed. A pipe clamp is provided on the single-beam mounting tube on the lower side of the flip plate. The telescopic end of the driving piston is hinged to the pipe clamp. The driving piston is located between the single-beam mounting tube and the hull. Liquid is filled in the U-shaped connecting tube so that the liquid fills the cylinder of the driving piston, and the liquid level on one side of the connecting tube is higher than the cylinder of the driving piston. When the hull tilts, the liquid in the U-shaped connecting tube flows along with the tilt of the hull, and the driving piston is driven to extend and retract by the flowing liquid, so that the single-beam mounting tube swings along with the tilt of the hull and remains in a vertical state.

[0011] Preferably, a vertical track is provided below the translation plate, and a slider is provided on the outside of the driving piston. The slider on the outside of the driving piston is mounted in the vertical track. A lifting push rod is also installed below the translation plate. The telescopic end of the lifting push rod is connected to the driving piston. The driving piston is driven up and down along the vertical track by the lifting push rod. The pipe clamp is mounted on the single-beam mounting tube, and the pipe clamp moves along the upper line of the single-beam mounting tube with the driving piston.

[0012] Preferably, a ballast water tank is installed in the hull, the ballast water tank is connected to the U-shaped connecting pipe, and the ballast water tank is located in the middle of the U-shaped connecting pipe.

[0013] Preferably, the cross brace is made of steel, has good bending strength and toughness, and can support multi-beam and single-beam detection devices. The cross brace is fixed to the hull by welding or bolts.

[0014] Preferably, the rocker arm is made of channel steel, a rotating shaft is set at the upper end of the channel steel, and the rotating shaft is inserted into the shaft seat. A transverse mounting seat is welded to the lower end of the channel steel, and the multi-beam mounting tube is installed through the through hole in the middle of the mounting seat.

[0015] Preferably, the multi-beam mounting tube and the single-beam mounting tube are circular steel tubes, and the cables connecting the multi-beam probe and the single-beam probe are sleeved in the steel tubes.

[0016] Beneficial effects of the present invention: The single-beam and multi-beam fixing devices provided by the present invention are adjusted through the swing arm, so that the multi-beam acoustic beam coverage is closer to the water bottom, effectively detecting the terrain in shallow water areas below 3 meters, replacing the traditional single-beam independent measurement, and reducing the splicing error caused by the independence of the positioning system. The telescopic plate design enables the single-beam probe to penetrate deep into shallow water areas, and at the same time avoids obstruction by the hull through telescopic adjustment, thereby improving detection accuracy.

[0017] Both probes share the same transverse brace and hull positioning reference, ensuring a completely consistent coordinate system. This eliminates the integration errors often associated with independent positioning systems (e.g., multi-beam vessels and unmanned vessels) in traditional solutions. Measurement results from both probes can be directly integrated during data processing, eliminating the need for complex calibration and improving operational efficiency.

[0018] This invention also uses the principle of liquid connectivity to sense the hull's tilt angle in real time, driving a piston-linked flip plate to automatically correct the single-beam angle without manual intervention, ensuring high-precision measurement data. When adjusting the multi-beam tilt angle, the single-beam probe remains vertical, avoiding measurement errors caused by center of gravity shift. This innovative design of liquid connectivity and mechanical linkage solves the core issue of multi-beam tilt causing hull tilt, which in turn affects single-beam verticality. This achieves high precision and stability in the coordinated operation of the equipment, providing reliable technical support for water terrain mapping. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a front view structural schematic diagram of the present invention; Figure 3 It is a schematic diagram of the three-dimensional structure of the self-adjusting mechanism installed in the present invention; Figure 4 It is a front view structural diagram of the self-adjusting mechanism installed in the present invention; Figure 5 It is a cross-sectional view of the self-adjusting mechanism of the present invention.

[0020] Numbers in the figure: hull 1, cross brace 2, axle seat 3, swing arm 4, mounting seat 5, lock wire hole 1 51, multi-beam mounting tube 6, multi-beam probe 7, telescopic plate 8, lock wire hole 2 81, sleeve 9, single-beam mounting tube 10, single-beam probe 11, flip push rod 12, translation plate 82, flip plate 83, pipe clamp 13, drive piston 14, vertical track 15, lifting push rod 16, water tank 101, piston connecting pipe 103, through pipe 102. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below.

[0022] Example 1: In order to solve the problems of insufficient coverage and data stitching errors in shallow water areas, the present invention provides a single-beam and multi-beam fixing device that realizes the coordinated operation of two detection devices through an adjustable mechanical structure. Its design takes into account flexibility, stability and cost-effectiveness, and is an effective upgrade of traditional measurement solutions. It is particularly suitable for engineering scenarios such as bridges and embankments that require high-precision shallow water terrain data.

[0023] Specifically, the single-beam and multi-beam mounting system includes a cross brace 2, which is mounted horizontally on the hull 1 and secured to the vessel. Serving as the core support structure, the cross brace 2 supports both the multi-beam and single-beam installations, avoiding the positioning errors inherent in traditional two independent systems. By securing the two probes to the hull 1 through the same cross brace 2, the positioning references of the two probes are aligned, reducing coordinate deviations during subsequent data integration.

[0024] The cross brace 2 is made of steel, which has good bending strength and toughness, and can support the multi-beam and single-beam detection devices. The cross brace 2 is fixed to the hull 1 by welding or bolts.

[0025] Both ends of the cross brace 2 extend outward from the hull 1, and an axle seat 3 is provided at one end of the cross brace 2, a vertical swing arm 4 is hinged on the axle seat 3, a mounting seat 5 is provided at the lower end of the swing arm 4, a through hole is provided in the middle of the mounting seat 5, a multi-beam mounting tube 6 is inserted into the through hole 9, a locking wire hole 51 is provided on the side of the through hole, the multi-beam mounting tube 6 is fixed by screwing the locking wire in the locking wire hole 51, and the multi-beam probe 7 is fixed at the lower end of the multi-beam mounting tube 6.

[0026] The rocker arm is made of channel steel, a rotating shaft is set at the upper end of the channel steel, and is sleeved in the shaft seat 3 through the rotating shaft. The lower end of the channel steel is welded to a transverse mounting seat 5, and the multi-beam mounting tube 6 is installed through the through hole in the middle of the mounting seat 5.

[0027] The swing arm 4 is hinged to the cross brace 2 via the axle mount 3 and can rotate about its axis, enabling vertical tilt adjustment of the multi-beam probe 7 between ±15° and 30°. Rotating the swing arm 4 to different angles modifies the multi-beam's coverage. This is particularly true in shallow waters, where tilting the probe allows the acoustic beam to be closer to the bottom, avoiding blind spots caused by the vessel's draft. The through-hole and lock-thread hole 51 in the mounting base 5 allow for fine-tuning of the multi-beam mounting tube 6's vertical height, further optimizing the probe's distance from the bottom.

[0028] The other end of the cross brace 2 is provided with a socket 9, and a telescopic plate 8 parallel to the cross brace 2 is installed in the socket 9. The end of the telescopic plate 8 facing outside the hull 1 is provided with a mounting hole, and a single-beam mounting tube 10 is installed in the mounting hole. A second locking wire hole 81 is provided on the side of the mounting hole. The single-beam mounting tube 10 is fixed by the locking wire in the second locking wire hole 81, and the single-beam probe 11 is fixed at the lower end of the single-beam mounting tube 10.

[0029] The telescopic plate 8 is connected to the cross brace 2 via a socket 9 and can be extended and retracted laterally along the hull 1 to adjust the horizontal position of the single-beam probe 11. The telescopic range can be customized based on the width of the hull 1 and operational requirements (e.g., 0.5 to 2 meters), ensuring that the single-beam probe 11 avoids the shadow of the hull 1 during close-range detection in shallow waters while remaining retractable to a safe position in deep waters. Locking screw hole 81 secures the single-beam mounting tube 10 in its horizontal position, preventing it from shifting due to currents or hull 1 motion during operation.

[0030] The multi-beam mounting tube 6 and the single-beam mounting tube 10 are circular steel tubes, and the cables connecting the multi-beam probe 7 and the single-beam probe 11 are sleeved in the steel tubes.

[0031] Specific usage: Install the cross brace 2 horizontally on the deck of the hull 1, and firmly connect it to the hull 1 by bolts or welding to ensure that it is level and without shaking; install the shaft seat 3 at one end of the cross brace 2, and hinge the swing arm 4 on the shaft seat 3 to ensure that the swing arm 4 can rotate freely; insert the telescopic plate 8 into the socket 9 at the other end, and initially adjust it to an appropriate length; according to the target water depth requirements, manually rotate the swing arm 4 to the required tilt angle (such as 15° tilt toward the outside of the hull 1 in shallow water), or you can rotate the swing arm 4 and the shaft seat 3 to ensure that the swing arm 4 can rotate freely; A flip push rod 12 is installed between the cross braces 2. The two ends of the flip push rod 12 are respectively hinged on the cross brace 2 and the swing arm 4. The flip push rod 12 is used to control the inclination of the swing arm 4. The flip push rod 12 can be remotely controlled by an electric push rod or a cylinder; the multi-beam mounting tube 6 is inserted into the through hole of the swing arm 4 mounting seat 5, and the lock wire is tightened through the lock wire hole 51 to fix the vertical position of the mounting tube; the multi-beam probe 7 is fixed at the lower end of the multi-beam mounting tube 6, and ensure that it is aligned with the longitudinal axis of the hull 1.

[0032] Adjust the extension length of telescopic plate 8 based on the water depth of the operation area and the vessel's draft (e.g., extend to its maximum length in shallow water). Insert the single-beam mounting tube 10 into the mounting hole at the end of telescopic plate 8 and secure it by tightening the lock screw through the second lock screw hole 81. Secure the single-beam probe 11 to the lower end of the single-beam mounting tube 10, ensuring a reasonable horizontal spacing from the multi-beam probe 7 to avoid signal interference. If a sudden change in water depth is encountered during operation, temporarily adjust the angle of the swing arm 4 or the length of the telescopic plate 8, then relock and continue measuring.

[0033] By adjusting the swing arm 4, the multi-beam acoustic beam coverage is made closer to the bottom of the water, effectively detecting the terrain in shallow water areas below 3 meters, replacing the independent measurement of the traditional single beam, and reducing the stitching error caused by the independence of the positioning system. The telescopic plate 8 design enables the single-beam probe 11 to penetrate deep into shallow water areas. At the same time, the telescopic adjustment avoids obstruction by the hull 1, thereby improving the detection accuracy.

[0034] Both probes share the same cross brace 2 and hull 1 positioning reference, ensuring a completely consistent coordinate system. This eliminates the integration errors often associated with independent positioning systems (e.g., multi-beam vessels and unmanned vessels) in traditional solutions. Measurement results from both probes can be directly integrated during data processing, eliminating the need for complex calibration and improving operational efficiency.

[0035] In addition, the shaking of hull 1 (such as roll and pitch) affects the measurement results of single-beam and multi-beam. In particular, multi-beam requires the simultaneous transmission and reception of hundreds of beams. The precise angle and position of each beam must be bound to the posture of hull 1 (roll, pitch, heave) in real time. The shaking of hull 1 will cause beam pointing deviation, which in turn affects the swath coverage width, beam footprint positioning accuracy, and even cause terrain distortion.

[0036] The movement of personnel on the survey ship will inevitably cause the hull to shake, but the remote-controlled unmanned survey ship can effectively avoid the impact of personnel movement on the hull and minimize the impact of the shaking of the hull 1. Therefore, the hull 1 in the present invention can adopt an unmanned remote-controlled survey ship.

[0037] Example 2: Based on Example 1, the single-beam detection device emits vertical sound waves for measurement, and there will be no changes in the horizontal direction. The multi-beam detection device simultaneously emits multiple beams of sound waves, covering a strip-shaped area. During measurement, it is necessary to expand horizontally to change the measurement angle. Therefore, when a single beam and a multi-beam are installed on the hull 1 at the same time, the horizontal expansion and tilt of the multi-beam will cause the center of gravity of the hull to shift, affecting the verticality of the single-beam detection equipment.

[0038] To this end, this embodiment further installs a self-adjusting mechanism on the hull 1, and the self-adjusting mechanism includes a U-shaped connecting pipe 102. The U-shaped connecting pipe 102 is fixed inside the hull 1, and the two ends of the U-shaped connecting pipe 102 are respectively fixed on both sides of the hull 1. The side close to the multi-beam probe 7 is a through pipe 102 connected to the outside world, and a piston connecting pipe 103 is provided on the side extending outward from the single-beam probe 11, and the piston 14 is connected through the piston connecting pipe 103. The telescopic plate 8 is divided into two parts, namely a translation plate 82 and a flip plate 83. The translation plate 82 and the flip plate 83 are hinged, wherein the translation plate 82 sleeve 9 can be telescopically moved in the sleeve 9. A mounting hole is provided on the flip plate 83, and the single-beam mounting tube 10 is installed through the mounting hole. A pipe clamp 13 is provided on the single-beam mounting tube 10 on the lower side of the flip plate 83, and the telescopic end of the driving piston 14 is hinged to the pipe clamp 13. The driving piston 14 is located between the single-beam mounting tube 10 and the hull 1; liquid is filled in the U-shaped connecting tube 102 so that the liquid fills the cylinder of the driving piston 14, and the liquid level on one side of the connecting tube 102 is higher than the cylinder of the driving piston 14. When the hull 1 tilts, the liquid in the U-shaped connecting tube 102 flows along with the tilt of the hull 1, and the driving piston 14 is driven to telescope by the flowing liquid, so that the single-beam mounting tube 10 tilts and swings along with the hull 1 to maintain a vertical state.

[0039] The U-shaped tube is filled with liquid, and the liquid level on the side of the through-tube 102 is connected to the outside world. When the hull 1 tilts toward the multi-beam side, the liquid in the U-shaped tube flows toward the lower side due to gravity, causing the liquid level on the side of the driving piston 14 to drop and compress the piston. Conversely, when the hull 1 tilts toward the single-beam side, the piston is pushed out. The expansion and contraction of the piston drives the flip plate 83 to rotate about the hinge point through the pipe clamp 13, causing the single-beam mounting tube 10 to automatically adjust its angle, offsetting the tilt of the hull 1 and maintaining a vertical launch direction.

[0040] In this embodiment, the tilt angle of the hull 1 is sensed in real time through the principle of liquid connectivity. This drives the piston 14, which in turn links the flip plate 83 to automatically correct the single-beam angle, eliminating the need for manual intervention and ensuring high-precision measurement data. When adjusting the tilt angle of the multi-beam system, the single-beam probe 11 remains vertical, avoiding measurement errors caused by center of gravity shift, which is crucial for the integrity of topographic data, especially in shallow waters. This innovative design of liquid connectivity and mechanical linkage solves the core issue of multi-beam tilt causing the hull 1 to tilt, which in turn affects the verticality of the single-beam system. This achieves high-precision and stable coordinated operation of the equipment, providing reliable technical support for shallow-water topographic mapping.

[0041] Furthermore, a vertical adjustment mechanism can be installed on the side of the single-beam probe 11 to adjust the height of the driving piston 14 through the vertical adjustment mechanism so that the extension and retraction of the driving piston 14 can match the tilt of the hull 1. Specifically, a vertical track 15 is provided below the translation plate 82, and a slider is provided on the outside of the driving piston 14. The slider on the outside of the driving piston 14 is mounted in the vertical track 15. A lifting push rod 16 is also installed below the translation plate 82. The telescopic end of the lifting push rod 16 is connected to the driving piston 14. The lifting push rod 16 drives the driving piston 14 to adjust up and down along the vertical track 15. The pipe clamp 13 is mounted on the single-beam mounting tube 10, and the pipe clamp 13 moves along the upper line of the single-beam mounting tube 10 with the driving piston 14.

[0042] At the same time, in order to further maintain the stability of the hull 1, a ballast water tank 101 can be installed in the hull 1 to connect the ballast water tank 101 to the U-shaped connecting pipe 102. The ballast water tank 101 is located in the middle of the U-shaped connecting pipe 102, which not only realizes the characteristic of increasing the stability of the hull 1 by counterweighting, but also the large amount of liquid contained in the water tank 101 can also increase the driving force of the driving piston 14.

[0043] Obviously, the embodiments described are only some of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

Claims

1. A single beam and multi-beam fixing device, characterized in that: The cam is secured to the hull and has two ends which extend outward from the hull, one end of the cam being secured to the hull and the other end being secured to the hull.

2. The single-beam and multi-beam fixing device according to claim 1, characterized in that: The hull adopts an unmanned remote-controlled detection ship, wherein a flip push rod is installed between the swing arm and the cross brace, and the two ends of the flip push rod are respectively hinged on the cross brace and the swing arm.

3. The single-beam and multi-beam fixing device according to claim 1, characterized in that: The hull is provided with a self-adjusting mechanism, which includes a U-shaped connecting pipe, which is fixed inside the hull, and the two ends of the U-shaped connecting pipe are respectively fixed on both sides of the hull, wherein the side close to the multi-beam probe is a through pipe connected to the outside world, and a piston connecting pipe is provided on the side of the single-beam probe to extend outward, and the piston is connected to the driving piston through the piston connecting pipe; the telescopic plate is divided into two parts, namely a translation plate and a flip plate, which are hinged between the translation plate and the flip plate, wherein the translation plate sleeve can be telescopically moved in the sleeve, and the flip plate is provided with a mounting hole. A mounting hole is provided, through which the single-beam mounting tube is installed. A pipe clamp is provided on the single-beam mounting tube on the lower side of the flip plate. The telescopic end of the driving piston is hinged to the pipe clamp. The driving piston is located between the single-beam mounting tube and the hull. Liquid is filled in the U-shaped connecting tube so that the liquid fills the cylinder of the driving piston, and the liquid level on one side of the connecting tube is higher than the cylinder of the driving piston. When the hull tilts, the liquid in the U-shaped connecting tube flows along with the tilt of the hull, and the driving piston is driven to extend and retract by the flowing liquid, so that the single-beam mounting tube swings along with the tilt of the hull and remains in a vertical state.

4. The single-beam and multi-beam fixing device according to claim 3, characterized in that: A vertical track is provided below the translation plate, and a slider is provided on the outside of the driving piston. The slider on the outside of the driving piston is mounted in the vertical track. A lifting push rod is also installed below the translation plate. The telescopic end of the lifting push rod is connected to the driving piston. The driving piston is driven up and down along the vertical track by the lifting push rod. The pipe clamp is mounted on the single-beam mounting tube, and the pipe clamp moves along the upper line of the single-beam mounting tube with the driving piston.

5. The single-beam and multi-beam fixing device according to claim 3, characterized in that: A ballast water tank is installed in the hull, which is connected to the U-shaped connecting pipe. The ballast water tank is located in the middle of the U-shaped connecting pipe.

6. The single-beam and multi-beam fixing device according to claim 1, characterized in that: The cross brace is made of steel and has excellent bending strength and toughness. It can support multi-beam and single-beam detection devices. The cross brace is fixed to the hull by welding or bolts.

7. The single-beam and multi-beam fixing device according to claim 1, characterized in that: The swing arm is made of channel steel, a rotating shaft is set at the upper end of the channel steel, and is sleeved in the shaft seat through the rotating shaft. A horizontal mounting seat is welded at the lower end of the channel steel, and the multi-beam mounting tube is installed through the through hole in the middle of the mounting seat.

8. The single-beam and multi-beam fixing device according to claim 1, characterized in that: The multi-beam installation tube and the single-beam installation tube are circular steel tubes, and the cables connecting the multi-beam probe and the single-beam probe are sleeved in the steel tubes.

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