Frogman control type underwater binocular imaging device and anchor chain detection method

Abstract

The invention provides a frogman control type underwater binocular imaging device and an anchor chain detection method. The device comprises an instrument fixing buoyancy material; the binocular vision module is arranged on the instrument fixing buoyancy material; and the electronic cabin module is arranged on the instrument fixing buoyancy material, and the electronic cabin module is connected with the binocular vision module. According to the invention, the buoyancy material is fixed by the instrument to serve as an integral support and a bearing support body of the device, so that the device moves close to a to-be-detected anchor chain, the to-be-detected anchor chain is scanned by the binocular vision module, and a scanning result is sent to the electronic cabin module; and the electronic cabin module is used for carrying out position adjustment on the instrument fixing buoyancy material according to the displayed scanning result so as to adjust the scanning result obtained by the binocular vision module, and storing and processing the scanning result obtained after adjustment so as to obtain the three-dimensional structure and the measurement size of the anchor chain to be detected.

Description

Technical Field

[0001] This invention relates to the field of marine engineering equipment technology, and more specifically, to a frogman-operated underwater binocular imaging device and an anchor chain detection method. Background Technology

[0002] The ocean is a natural treasure trove for the sustainable development of human society, and countries around the world are developing its riches. With the advancement of science and technology, the application of floating marine engineering equipment is increasing, among which floating marine platforms are the most widely used. Anchoring systems are frequently used on these platforms due to their simple structure and low investment. The system's function is to connect the anchor chain to the platform, securing it in the ocean and enabling stable operation. Because the anchor chain is constantly submerged in water, it accumulates marine organisms and is subjected to the impact of wind and waves, accelerating corrosion and posing a significant safety hazard. Therefore, regular inspection of the anchor chain is crucial for maintaining the safety of floating marine platforms.

[0003] Current inspection methods typically involve visually or instrumentally inspecting the anchor chain after it has been retrieved to the platform, or using an underwater ROV for inspection. However, retrieving the anchor chain to the platform for inspection is labor-intensive and dangerous, and is not suitable for permanently moored floating offshore platforms. As for the other method, underwater ROVs are bulky and expensive, and since they operate in a suspended state underwater, the inspection of the anchor chain is extremely difficult, and the accuracy and reliability cannot be guaranteed. Summary of the Invention

[0004] In view of this, the present invention proposes a frogman-controlled underwater binocular imaging device and an anchor chain detection method, aiming to solve the problems existing in the current methods such as visual or instrument detection by retrieving the anchor chain to the platform, and detection by underwater ROVs.

[0005] On one hand, this invention proposes a frogman-controlled underwater binocular imaging device, which includes: an instrument fixing buoyancy material; a binocular vision module, mounted on the instrument fixing buoyancy material, for scanning the anchor chain to be inspected and sending the scanning results to an electronic cabin module; an electronic cabin module, mounted on the instrument fixing buoyancy material, and connected to the binocular vision module, for receiving and displaying the scanning results of the binocular vision module, adjusting the position of the instrument fixing buoyancy material according to the displayed scanning results, adjusting the scanning results acquired by the binocular vision module, and saving and processing the adjusted scanning results to obtain the three-dimensional structure and measurement dimensions of the anchor chain to be inspected.

[0006] Furthermore, in the aforementioned frogman-controlled underwater binocular imaging device, the electronic cabin module includes: an electronic cabin base, on which an attitude sensor, an embedded system development board, a button acquisition board, a depth sensor, and a watertight connector are mounted; an electronic cabin cover, connected to the electronic cabin base, and the electronic cabin cover is equipped with a display screen, which is connected to the embedded system development board and used to display the upper-level interface for program development within the embedded system development board.

[0007] Furthermore, in the aforementioned frogman-controlled underwater binocular imaging device, the electronic cabin cover is provided with a display screen mounting hole for mounting the display screen. The electronic cabin cover also has a transparent cover for covering the display screen mounting hole, and a cover for pressing the transparent cover against the display screen mounting hole. The electronic cabin cover is also provided with touch pressure buttons for connecting to a button acquisition board, allowing control of the upper interface on the display screen and the underwater binocular imaging device via the button acquisition board. The upper interface has binocular ranging and binocular 3D scanning reconstruction functions. There are six touch pressure buttons, used to control the opening and closing of the underwater binocular imaging device, the binocular ranging function, and the binocular 3D scanning reconstruction function, respectively.

[0008] Furthermore, in the aforementioned frogman-controlled underwater binocular imaging device, the binocular vision module includes: a binocular vision chamber; a binocular vision chamber rear cover, fastened to the rear side of the binocular vision chamber, and a binocular vision mounting cavity formed between the binocular vision chamber and the binocular vision chamber rear cover; two scanning elements disposed within the binocular vision mounting cavity; and two lens compartments provided on the front side of the binocular vision chamber, with the two scanning elements at least partially disposed within the two lens compartments for scanning the anchor chain to be inspected.

[0009] Furthermore, in the aforementioned frogman-controlled underwater binocular imaging device, the rear cover of the binocular housing is equipped with a scanning mounting bracket for supporting and fixing the scanning component; the rear cover of the binocular housing is also equipped with a wire threading bolt for introducing the lead wire of the illumination module into the binocular vision mounting cavity; the rear cover of the binocular housing is also equipped with a binocular watertight connector for leading out the lead wires of the scanning component and the illumination module and connecting them to the electronic cabin module.

[0010] Furthermore, in the aforementioned frogman-controlled underwater binocular imaging device, the front end of the two lens compartments of the binocular vision chamber is provided with a binocular transparent window, and the two lens compartments of the binocular vision chamber are connected with a double front cover for pressing the binocular transparent window into the front end of the lens compartment to achieve sealing of the two lens compartments of the binocular vision chamber; the lower end of the binocular vision chamber is provided with a vision module fixing bracket.

[0011] Furthermore, the aforementioned frogman-controlled underwater binocular imaging device also includes an illumination module on the instrument's fixed buoyancy material to provide illumination for the scanning field of view of the binocular vision module; an anti-loss pull ring on the instrument's fixed buoyancy material for connecting to the testing personnel; a hand handle on the instrument's fixed buoyancy material; and an ultra-short baseline transponder on the instrument's fixed buoyancy material to receive acoustic pulses emitted by transducers on land to obtain the position information of the instrument's fixed buoyancy material.

[0012] Furthermore, in the aforementioned frogman-controlled underwater binocular imaging device, a lamp chamber is provided on the front side of the instrument's buoyancy-fixing material, and the lighting module is installed inside the lamp chamber via a lighting mounting bracket; a pull ring slot is provided on the rear side of the instrument's buoyancy-fixing material, and the anti-loss pull ring is installed in the pull ring slot; a transponder mounting slot is provided on the front side of the instrument's buoyancy-fixing material, and the ultra-short baseline transponder is installed in the transponder mounting slot.

[0013] Furthermore, in the aforementioned frogman-controlled underwater binocular imaging device, the instrument's buoyancy support is also equipped with a power module, which includes: a power chamber, a power sealing cover and a power watertight connector disposed on the power chamber; wherein, the power chamber contains an integrated cylindrical lithium battery, and the lead wire of the lithium battery is connected to the wire of the power watertight connector; the power module is embedded in a power securing groove on the instrument's buoyancy support, and the instrument's buoyancy support is also provided with a detachable limiting plate for limiting and securing the power module into the power securing groove.

[0014] On the other hand, the present invention proposes an anchor chain detection method, which includes the following steps: testing each module of the underwater binocular imaging device to test whether each module is working properly; if each module is working properly, controlling the underwater binocular imaging device to be submerged in water, and controlling the underwater binocular imaging device to dive to a preset depth based on the depth information of the underwater binocular imaging device; controlling the binocular vision module of the underwater binocular imaging device to obtain the distance between the binocular vision module and the anchor chain to be detected, and adjusting the position of the underwater binocular imaging device to move it to a preset position; controlling the binocular vision module of the underwater binocular imaging device to scan the anchor chain to be detected, and performing size measurement and three-dimensional structure reconstruction of the anchor chain to be detected based on the scanned structure.

[0015] The present invention provides a frogman-controlled underwater binocular imaging device and anchor chain detection method. The device uses a fixed buoyancy material as its overall support and load-bearing structure, allowing it to move towards the anchor chain under test. The device then scans the anchor chain using a binocular vision module and sends the scan results to an electronic module. The electronic module adjusts the position of the fixed buoyancy material based on the displayed scan results, thereby adjusting the scan results acquired by the binocular vision module. The adjusted scan results are then saved and processed to obtain the three-dimensional structure and measured dimensions of the anchor chain under test. In particular, the scanning direction and position can be adjusted based on the scanning results until the desired effect is achieved to complete the underwater work. Simultaneously, the scanning results and other sensor information are automatically saved. Dimensional measurements and three-dimensional structural reconstruction are performed on the corroded anchor chain. Upon returning to land, inspection personnel retrieve the scanning results and other relevant data from the embedded system development board via a watertight connector. Subsequent analysis of the scanned anchor chain reveals any problems, leading to the development of solutions to address the technical challenges of periodically inspecting anchor chains. This overcomes the issues mentioned in the background art, such as visual or instrumental inspection of anchor chains retrieved to a platform, and inspection by underwater ROVs. Furthermore, this device also offers the following advantages: 1. The device is assembled into a complete structure by connecting multiple independent systems and instrument fixing buoyancy materials. The device has a compact structure, a high degree of modularity, and is relatively convenient for installation, disassembly and maintenance. Any part can be disassembled and replaced at any time.

[0016] 2. Each independent system in this device can operate as a standalone unit or be used in conjunction with other devices, exhibiting a degree of versatility and a wide range of applications. For example, the power module can supply power to other devices. Furthermore, the design of the electronic compartment module enhances the ease of operation of the embedded system development board, making underwater work more convenient for testing personnel.

[0017] 3. The display screen, touch pressure button, embedded system development board, attitude and depth sensors are all installed inside the electronic compartment, which reduces the number of connectors and machining parts for connecting the above instruments to the electronic compartment, thereby reducing costs. At the same time, installing the display screen and touch pressure button inside the electronic compartment improves the ease of operation of the embedded system development board and allows for real-time observation of the detection status. Attached Figure Description

[0018] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 A schematic diagram of the oblique front structure of the frogman-controlled underwater binocular imaging device provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the oblique front structure of the instrument fixing buoyancy material in the frogman-controlled underwater binocular imaging device provided in an embodiment of the present invention. Figure 3 This is a schematic diagram of the oblique rear structure of the frogman-controlled underwater binocular imaging device provided in an embodiment of the present invention. Figure 4 This is a schematic diagram of the oblique rear structure of the instrument fixing buoyancy material in the frogman-controlled underwater binocular imaging device provided in an embodiment of the present invention. Figure 5 This is a schematic diagram of the structure of the ultra-short baseline transponder in the frogman-controlled underwater binocular imaging device provided in an embodiment of the present invention. Figure 6 This is a schematic diagram of the structure of a handheld handle provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the anti-loss pull ring provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of a lighting module provided in an embodiment of the present invention; Figure 9 This is a schematic diagram of the structure of the lighting fixture provided in an embodiment of the present invention; Figure 10 This is a schematic diagram of the assembly of the binocular vision module and its fixing bracket provided in an embodiment of the present invention; Figure 11 This is an exploded view of the binocular vision module provided in an embodiment of the present invention. Figure 12 This is a rear-view exploded view of the binocular vision module provided in an embodiment of the present invention; Figure 13 This is an exploded view of the binoculars rear cover and its connecting parts provided in an embodiment of the present invention. Figure 14 This is a schematic diagram of the scanning fixture provided in an embodiment of the present invention; Figure 15 This is an exploded view of the power module from the oblique front provided in an embodiment of the present invention; Figure 16 This is a rear-view schematic diagram of the power module provided in an embodiment of the present invention; Figure 17 This is a schematic diagram of the structure of the limiting plate provided in an embodiment of the present invention; Figure 18 This is an exploded view of the electronic cabin module provided in an embodiment of the present invention; Figure 19 This is a schematic diagram of the explosion at the oblique front of the electronic compartment cover provided in an embodiment of the present invention; Figure 20 This is a schematic diagram of the explosion at the rear of the electronic compartment cover provided in an embodiment of the present invention; Figure 21 This is a schematic diagram of an explosion from an angle above the electronic compartment base provided in an embodiment of the present invention; Figure 22 This is an exploded view of the lower part of the electronic compartment base provided in an embodiment of the present invention; Figure 23 This is a top-angle view of the electronic cabin module and its mounting bracket provided in an embodiment of the present invention; Figure 24 This is a lower-angled schematic diagram of the electronic cabin module and its fixing bracket provided in an embodiment of the present invention; Figure 25 This is a flowchart of the anchor chain detection method provided in the embodiments of the present invention; Explanation of reference numerals in the attached figures: 1-Instrument buoyancy fixing material; 2-Electronics cabin module; 3-Power supply module; 4-Binocular vision module; 5-Illumination module; 6-Illumination mounting base; 7-Handheld handle; 8-Ultra-short baseline transponder; 9-Anti-loss pull ring; 10-Lens cabin; 101-Transponder mounting slot; 102-Handle connection hole; 103-Pull ring slot; 104-Illumination mounting hole; 105-Vision module mounting bracket; 106-Vision mounting hole; 107-Vision mounting hole; 108-Scanning mounting base plate; 109-Scanning mounting side plate; 110-Scanning mounting extension connecting plate; 111-Front end face of binocular cabin rear cover; 112-Binocular... 113 - Side of the rear cover flange of the hull; 114 - Rear end face of the binocular vision hull; 115 - Cylindrical groove of buoyancy material; 116 - Elliptical cylindrical groove of buoyancy material; 117 - Limiting surface; 120 - Countersunk hole for bracket fixing; 20 - Electronic hull top cover system; 21 - Electronic hull base subsystem; 201 - Electronic hull top cover; 202 - Transparent cover of electronic hull; 203 - Cover of transparent cover of electronic hull; 204 - Touch pressure button; 205 - Display screen; 206 - I-shaped fastener; 207 - Sealing clamp groove; 208 - Display screen mounting hole; 209 - Button fixing hole; 210 - Electronic hull top cover. Cylindrical threaded hole, 211-Electronics cabin base, 212-Attitude sensor, 213-Embedded system development board, 214-Button acquisition board, 215-Depth sensor, 216-Front end face of electronics cabin base, 217-Transmission watertight connector, 218-Power supply watertight connector, 219-Vision watertight connector, 220-Ultra-short baseline watertight connector, 221-Lower side face of electronics cabin base, 222-Lower end of L-shaped fixed bracket, 223-Electronics cabin support body, 224-L-shaped fixed bracket, 225-Bracket support body, 226-Side face of L-shaped fixed bracket, 31-Power supply cabin, 32-Power supply watertight connector 33-Power watertight connector, 34-Lower front surface of power compartment, 35-Upper front surface of power compartment, 36-Rear cylinder of power compartment, 37-Front end of power compartment, 38-Bottom rear end of power compartment, 39-Limiting plate, 391-Limiting mounting hole, 40-Binocular vision compartment fixing plate, 41-Double front cover, 42-Binocular transparent window, 43-Binocular vision compartment, 431-Lens compartment, 44-Rear cover of binocular compartment, 45-Scanning fixture, 46-Scanning component, 47-Binocular watertight connector, 48-Wire threading bolt, 61-Base body, 71-Handle connection hole, 91-Pull ring mounting hole. Detailed Implementation

[0019] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0020] Device Example: See Figures 1 to 9 This figure illustrates a preferred structure of the frogman-controlled underwater binocular imaging device provided in an embodiment of the present invention. As shown, the device includes: an instrument buoyancy support 1, an electronics module 2, a power module 3, a binocular vision module 4, a vision module mounting bracket 105, an illumination module 5, an illumination mounting base 6, a handheld handle 7, an ultra-short baseline transponder 8, and an anti-loss pull ring 9; wherein, The binocular vision module 4 is mounted on the instrument's fixed buoyancy material 1 and is used to scan the anchor chain to be inspected and send the scanning results to the electronic cabin module 2. The electronic cabin module 2 is mounted on the instrument's fixed buoyancy material 1 and is connected to the binocular vision module 3. It is used to receive and display the scanning results of the binocular vision module 4, adjust the position of the instrument's fixed buoyancy material 1 according to the displayed scanning results, adjust the scanning results acquired by the binocular vision module 4, and save and process the adjusted scanning results to obtain the three-dimensional structure and measurement dimensions of the anchor chain to be inspected.

[0021] Specifically, the instrument's fixed buoyancy material 1 serves as the overall support and floating bracket for the device, enabling adjustments to the overall position of the device. The binocular vision module 4 is mounted on the instrument's fixed buoyancy material 1. It scans the anchor chain under test, particularly acquiring images, and sends the scan results to the electronic cabin module 2 for analysis. The electronic cabin module 2 then determines the distance between the binocular vision module 4 and the anchor chain under test. Based on this distance, the position of the instrument's fixed buoyancy material 1 is adjusted, thereby adjusting the position of the binocular vision module 4 to a preset position. Specifically, based on the scan results (images) acquired by the binocular vision module 4, binocular distance measurement is performed to determine the relative positional relationship between the binocular vision module 4 and the anchor chain under test. The binocular vision module 4 is then adjusted based on this current relative positional relationship to move it to the preset position. At this preset position, the anchor chain under test is scanned (image acquisition), and the scanning direction and position can be adjusted according to the scan results until the desired effect is achieved, completing the underwater operation. The electronic cabin module 2 can also save and process the scan results, i.e., the acquired images, to perform dimensional measurements and three-dimensional structural reconstruction of the corroded anchor chain. This facilitates subsequent analysis of the scan results and other relevant data by inspection personnel upon returning to land, allowing for the analysis of problems with the scanned anchor chain and the development of solutions. In this embodiment, a power module 3 is also provided on the instrument's fixed buoyancy material 1 to supply power to components such as the electronic cabin module 2, the binocular vision module 4, and the lighting module 5.

[0022] See also Figure 1 The instrument's fixed buoyancy material 1 is also equipped with an illumination module 5, which provides illumination for the scanning field of the binocular vision module 4; the instrument's fixed buoyancy material 1 is also equipped with an anti-loss pull ring 9, which is used to connect to the testing personnel; the instrument's fixed buoyancy material 1 is also equipped with a hand handle 7; the instrument's fixed buoyancy material 1 is also equipped with an ultra-short baseline transponder 8, which is used to receive the acoustic pulses emitted by the transducer on land to obtain the position information of the instrument's fixed buoyancy material 1.

[0023] Specifically, the underwater binocular imaging device employs independent electronic cabin module 2, power supply module 3, binocular vision module 4, and illumination module 5. These modules, along with the ultra-short baseline transponder 8 and handheld handle 7, are fixedly connected to corresponding positions on the instrument's buoyancy support 1. This integrated installation of all modules on the instrument's buoyancy support 1 facilitates disassembly, maintenance, and parts replacement, while also allowing each module to operate independently. In this embodiment, the ultra-short baseline transponder 8, binocular vision module 4, and power supply module 3 can all be connected to the electronic cabin module 2 for data transmission and control. The illumination module 5 can be an LED light.

[0024] In this embodiment, as Figure 4As shown, a transponder mounting slot 101 is provided on the front side of the instrument's fixed buoyancy material 1, and an ultra-short baseline transponder 8 is installed in the transponder mounting slot 101. Specifically, the transponder mounting slot 101 can be an arc-shaped cuboid slot structure, and the structure of the ultra-short baseline transponder 8 is as follows. Figure 5 As shown, it can be fixedly connected to the lower end face of the transponder mounting slot 101 by bolts, and the connection also allows for disassembly, maintenance, or replacement of parts. Figure 6 As shown, the hand handle 7 may be provided with a handle connection hole 71, which can be a countersunk through hole, such as... Figure 4 As shown, the handle connection hole 102 on the side of the instrument's fixed buoyancy material 1 can be a threaded hole structure. There are two handle connection holes 102 and 71, so that the handle connection hole 71 is threadedly connected to the handle connection hole 102 on the side of the instrument's fixed buoyancy material 1 by two bolts, thereby fixing the hand handle 7 to the side of the instrument's fixed buoyancy material 1. Figure 4 As shown, the instrument's fixed buoyancy material 1 has a pull ring slot 103 on its rear side. An anti-loss pull ring 9 is installed in the pull ring slot 103. The pull ring slot 103 can be a square groove structure, such as... Figure 7 As shown, the anti-loss pull ring 9 is provided with pull ring mounting holes 91. There are four pull ring mounting holes 91. The bottom end of the anti-loss pull ring 9 is fixedly connected to the bottom end face of the pull ring slot 103 by four bolts. The anti-loss pull ring 9 can be connected to the testing personnel by rope to prevent the underwater binocular imaging device from being lost.

[0025] See also Figure 1 A lamp chamber 10 is provided on the front side of the instrument's fixed buoyancy material 1, and the lighting module 5 can be installed inside the lamp chamber 10 via the lighting mounting bracket 6. Specifically, as shown... Figure 8 As shown, the lighting mounting base 6 has four through holes. The lighting module 5 is fixed to the center of the lighting mounting base 6 using bolts and nuts through the four mounting holes at both ends. The lighting mounting base 6 and the lighting module 5 are installed inside the lamp chamber 10. Figure 2 As shown, the lamp chamber 10 has a lighting mounting hole 104 on its side. The lighting mounting hole 104 can be a through hole, such as... Figure 8 As shown, the bottom end of the lighting mounting base 6 is provided with a threaded hole, which can be connected to the lighting mounting hole 104 by two bolts, so that the lighting module 5 is fixed in the lamp chamber 10. In this embodiment, there are two lamp chambers 10, and the two lamp chambers 10 are symmetrically distributed on the left and right sides of the binocular vision module 4, providing sufficient illumination for the field of view in front of the binocular vision module 4. Figure 9 As shown, the lighting mounting base 6 may include two oppositely arranged and detachably connected base bodies, which can be snapped onto and connected to both sides of the lighting module 6.

[0026] In this embodiment, the binocular vision module 4 is mounted on the instrument's buoyancy support 1 via a vision module mounting bracket 105. Specifically, as shown... Figure 1 As shown, the instrument's fixed buoyancy material 1 has a visual mounting hole 107 at its front bottom end, such as... Figure 10 As shown, the binocular vision module mounting bracket 105 has four through holes in the middle as vision mounting holes. These are connected to the binocular vision module 4's binocular vision housing mounting plate 40 via four bolts. Additionally, the binocular vision module mounting bracket 105 has two through holes on each side as mounting holes. Figure 1 As shown, the instrument fixing buoyancy material 1 has visual fixing holes 106 on both sides of the visual mounting hole 107. These can be countersunk holes. In this embodiment, the instrument fixing buoyancy material 1 has two visual fixing holes 106 on each side of the visual mounting hole 107. The binocular vision module fixing bracket 105 is fixedly connected to the two visual fixing holes 106 on the left and right sides of the front end of the instrument fixing buoyancy material 1 by four bolts and four nuts, so that the binocular vision module 4 is fixed in the visual mounting hole 107.

[0027] See Figures 11 to 14 This illustration shows a preferred structure of the binocular vision module provided in an embodiment of the present invention. The binocular vision module 4 includes: a dual front cover 41, a binocular transparent window 42, a binocular vision chamber 43, a binocular chamber rear cover 44, a scanning fixture 45, scanning components 46, a binocular watertight connector 47, and threading bolts 48, etc.; wherein, the binocular chamber rear cover 44 is fastened to the rear side of the binocular vision chamber 43, and a binocular vision mounting cavity is formed between the binocular vision chamber 43 and the binocular vision chamber rear cover 44; two scanning components 46 are disposed in the binocular vision mounting cavity, and two lens compartments 431 are provided on the front side of the binocular vision chamber 43, and the two scanning components 46 are at least partially disposed in the two lens compartments 431 respectively, for scanning the anchor chain to be inspected.

[0028] Specifically, the front ends of the two lens compartments 431 of the binocular vision chamber 43 are provided with binocular transparent windows 42, and double front covers 41 are connected to the two lens compartments 431 of the binocular vision chamber 43. These covers are used to press the binocular transparent windows 42 against the front ends of the lens compartments 431, thereby achieving a seal between the two lens compartments 431 of the binocular vision chamber 43. The binocular transparent windows 42 overlap with the front ends of the lens compartments 431, and the inner surface of the double front covers 41 is threadedly connected to the outer surface of the lens compartments 431, pressing the binocular transparent windows 42 against the front ends of the lens compartments 431. Simultaneously, the O-rings in the sealing grooves on the front ends of the lens compartments 431 are compressed, solving the sealing problem of the two lens compartments 431. The rear cover 44 of the binocular chamber is provided with a scanning fixture 45 for supporting and fixing the scanning element 46; wherein, as shown... Figure 13As shown, each side of the scanning component 46 has two threaded holes evenly distributed. The scanning component 46 is fixedly connected to the corresponding through holes of the scanning fixing base plate 108 and scanning fixing side plate 109 of the scanning fixing frame 45 by bolts. Then, the through hole of the scanning fixing extension connecting plate 110 of the scanning fixing frame 45 is fixedly connected to the threaded hole of the front end face 111 of the binocular cabin rear cover 44 by bolts. Both the flange side 112 of the binocular cabin rear cover and the rear end face 113 of the binocular vision cabin have sealing grooves. O-rings are installed in the sealing grooves. The flange side 112 of the binocular cabin rear cover is embedded inside the binocular vision cabin 43. The binocular cabin rear cover 44 and the binocular vision cabin 43 are sealed together by bolts and nuts. The design of the two sealing grooves increases the overall sealing performance of the binocular vision module 4. At the same time, the two scanning components 46 are also embedded inside the lens compartment 431. The design of the lens compartment 431 reduces the internal space of the binocular vision cabin 43 and also reduces the weight of the binocular vision cabin 43. The scanner 46 can be a high-definition camera for image acquisition.

[0029] See also Figure 12 The binocular pod rear cover 44 is also equipped with a threaded bolt 48 for guiding the lead wire of the lighting module 5 into the binocular vision mounting cavity; the binocular pod rear cover 44 is also equipped with a binocular watertight connector 47 for leading out the lead wires of the scanning element 46 and the lighting module 5 and connecting them to the electronic cabin module 2. Specifically, the rear end face 114 of the binocular pod rear cover is designed with four through holes. Two binocular watertight connectors 47 are sealed and fixedly connected to the two middle through holes, and two threaded bolts 48 are sealed and fixedly connected to the through holes on the left and right sides. The wires at the tail end of each lighting module 5 enter the binocular pod rear cover 44 through each threaded bolt 48. Finally, the wires of one scanning element 46 and one lighting module 5 are simultaneously connected to one binocular watertight connector 47, so that the two scanning elements 46 and the two lighting modules 5 are led out through the two binocular watertight connectors 47 and connected to the electronic cabin module 2, reducing the number of watertight connectors in the electronic cabin module 2 and reducing the risk of seawater entering the electronic cabin module 2.

[0030] See Figures 15 to 17 The figure illustrates a preferred structure of the power module provided in an embodiment of the present invention. As shown, the power module 3 includes: a power compartment 31, a power sealing cover 32 and a power watertight connector 33 disposed on the power compartment 31; wherein, the power compartment 31 contains an integrated cylindrical lithium battery, and the lead wire of the lithium battery is connected to the wire of the power watertight connector 33; the power module 3 is embedded in the power locking groove on the instrument fixing buoyancy material 1, and the instrument fixing buoyancy material 1 is also provided with a detachable limiting plate 39 for limiting and locking the power module 3 into the power locking groove.

[0031] Specifically, the power compartment 31 houses an integrated cylindrical lithium battery. The battery leads are connected to the wires of the power watertight connector 33. The power watertight connector 33 is then sealed and fixed to the through-hole on the lower front surface 34 of the power compartment. Finally, the power sealing cover 32 is fixed to the upper front surface 35 of the power compartment using bolts, compressing the O-ring seal in the sealing groove on the upper front surface 35 of the power compartment, thus solving the sealing problem of the power compartment 31. The rear cylindrical body 36 of the power compartment is inserted into the cylindrical groove 115 of the buoyancy material, while the front end 37 of the power compartment is embedded in the elliptical cylindrical groove 116 of the buoyancy material. The bottom surface 38 of the rear end of the power compartment contacts the bottom surface of the cylindrical groove 115 of the buoyancy material, providing inward limiting for the power compartment 31. Then, a limiting plate 39 is used to limit the power compartment 31 outward. For example... Figure 17 As shown, the small round end of the limiting plate 39 is provided with a limiting mounting hole 391. The limiting mounting hole 391 can be a through hole. The limiting plate 39 is fixed on the limiting surface 117 by a bolt, so that the large round end of the limiting plate 39 presses on the power sealing cover 32 in the power module 3, preventing the power module 3 from sliding outward and playing an outward limiting role for the power module 3. In addition, the power module 3 can be disassembled and replaced at any time. When the power module 3 is without power, a spare power module 3 can be replaced at any time without affecting the underwater operation of the underwater binocular imaging device.

[0032] See Figures 18 to 20 The figure illustrates a preferred structure of the electronic cabin module provided in an embodiment of the present invention. As shown, the electronic cabin module 2 includes: an electronic cabin base 211 and an electronic cabin cover 201; wherein, the electronic cabin base 211 is provided with an attitude sensor 212, an embedded system development board 213, a button acquisition board 214, a depth sensor 215, and a watertight connector; the electronic cabin cover 201 is connected to the electronic cabin base 211, and the electronic cabin cover 201 is provided with a display screen 205, which is connected to the embedded system development board 213 and is used to display the upper-level interface for program development within the embedded system development board 213.

[0033] Specifically, the electronic cabin cover 201 and the display screen 205 can form the electronic cabin cover system 20; the electronic cabin base 211, attitude sensor 212, embedded system development board 213, button acquisition board 214, depth sensor 215 and watertight connector can form the electronic cabin base subsystem 21.

[0034] See also Figure 19The electronic compartment cover 201 is provided with a display screen mounting hole 208 for mounting a display screen 205. Furthermore, the electronic compartment cover 201 has an electronic compartment transparent cover 202 for covering the display screen mounting hole 208, and an electronic compartment transparent cover pressure cover 203 for pressing the electronic compartment transparent cover 202 into the display screen mounting hole 208. The electronic compartment cover 201 also has a touch pressure button 204 for connecting to a button acquisition board 214, so as to control the upper interface on the display screen 205 and the underwater binocular imaging device through the button acquisition board 214.

[0035] Specifically, the electronic cabin cover system 20 includes an electronic cabin cover 201, an electronic cabin transparent cover 202, an electronic cabin transparent cover pressure cap 203, a touch pressure button 204, a display screen 205, and an I-shaped fastener 206. The display screen mounting hole 208 can be a rectangular tube. The inner wall of the electronic cabin cover 201, i.e., the wall facing the electronic cabin base 211, has sealing grooves 207 around the display screen mounting hole 208. The sealing grooves 207 can be rectangular recesses. The lower end face of the electronic cabin transparent cover 202 coincides with the lower end face of the sealing groove 207. The electronic cabin transparent cover pressure cap 203 is fixed to the upper end face of the sealing groove 207 by bolts, pressing the electronic cabin transparent cover 202 onto the lower end face of the sealing groove 207, thus pressing the O-ring seal in the sealing groove on the lower end face of the sealing groove 207, solving the sealing problem of the display screen mounting hole 208. The electronic compartment cover 201 has button mounting holes 209, which can be circular countersunk through holes. The touch pressure button 204 is embedded in the button mounting hole 209 and can be fixed with bolts. For example, there are three button mounting holes 209 on each of the left and right sides of the electronic compartment cover 201. The touch pressure button 204 is embedded in the button mounting hole 209 and fixed to the electronic compartment cover 201 with bolts. The touch pressure button 204 itself has a sealing groove and an O-ring, solving the sealing problem between the touch pressure button 204 and the electronic compartment cover 201. The display screen 205 has mounting holes at its four corners. The display screen 205 can be a 6-inch display screen, or other sizes; this embodiment does not impose any limitations on it. Figure 20 As shown, the display screen 205 can be fixedly mounted on the electronic compartment cover 201 by means of I-shaped fasteners 206; the display screen 205 and the two I-shaped fasteners 206 can be fixedly connected by bolts and nuts, and the two I-shaped fasteners 206 can be fixedly connected to the cylindrical threaded holes 210 of the electronic compartment cover by bolts, so that the display screen 205 is embedded in the display screen mounting hole 208, and the observer can see the content on the display screen 205 through the transparent cover 202 of the electronic compartment.

[0036] See also Figures 21 to 24The electronic cabin base subsystem 21 includes an electronic cabin base 211, an attitude sensor 212, an embedded system development board 213, a button acquisition board 214, a depth sensor 215, and various sizes of watertight connectors. The embedded system development board 213 has fixing through holes at its four corners, which are bolted to the corresponding cylindrical threaded holes in the center of the electronic cabin base 211. Similarly, the attitude sensor 212 and the button acquisition board 214 also have fixing through holes at their four corners, which are bolted to the corresponding cylindrical threaded holes on the left and right sides of the electronic cabin base 211. Sensor 215 is sealed and fixedly connected to the through hole of the front end face 216 of the electronic cabin base by a nut. The watertight connector may include: transmission watertight connector 217, power supply watertight connector 218, vision watertight connector 219 and ultra-short baseline watertight connector 220. Transmission watertight connector 217 is also sealed and fixedly connected to the through hole of the front end face 216 of the electronic cabin base. One power supply watertight connector 218, two vision watertight connectors 219 and one ultra-short baseline watertight connector 220 are respectively sealed and fixedly connected to the through hole on the lower end face 221 of the side of the electronic cabin base.

[0037] In the electronics module 2, all watertight connectors, as well as the depth sensor 215, attitude sensor 212, touch pressure button 204, and display screen 205, are connected to the embedded system development board 213. The depth sensor 215, attitude sensor 212, touch pressure button 204, and display screen 205 are all installed within the electronics module 2 for easy connection to the embedded system development board 213, and also facilitate operation of the embedded system development board by maintenance personnel. In the electronics module base subsystem 21, the depth sensor 215 connects to the I / O interface on the embedded system development board 213, and the watertight connector 217 connects to the USB interface on the embedded system development board 213. On land, the watertight connector 217 allows for both writing and importing programs into the embedded system development board 213, and also for extracting underwater data from the embedded system development board 213. The collected data is connected to the power interface on the embedded system development board 213 via the power supply watertight connector 218, and to the I / O interface on the embedded system development board 213 via two vision watertight connectors 219. The ultra-short baseline watertight connector 220 is also connected to the I / O interface on the embedded system development board 213. In the electronic cabin module 2, the display screen 205 is connected to the HDMI interface on the embedded system development board 213 to display the host computer interface for programming development. Six touch pressure buttons 204 are connected to the button acquisition board 214, which is connected to the I / O interface on the embedded system development board 213 to operate the host computer interface on the 6-inch display screen 205.

[0038] See also Figure 23 and Figure 24In the electronic cabin module 2, the electronic cabin upper cover system 20 and the electronic cabin base subsystem 21 are fixedly connected together by bolts and nuts. After the two subsystems are connected, the O-ring seal in the sealing groove on the upper surface of the electronic cabin base 211 is compressed, solving the sealing problem between the two subsystems. The lower end 222 of the L-shaped fixing bracket contacts the left and right fixing ends of the electronic cabin module 2. Simultaneously, the fixing holes on the left and right sides of the electronic cabin module 2 are fixedly connected to the through holes of the lower end 222 of the L-shaped fixing bracket by bolts and nuts. End 222 provides support for the electronic cabin module 2, and then the electronic cabin module 2 is embedded into the instrument fixing buoyancy material 1. The lower end face 221 of the electronic cabin base sits on the electronic cabin support body 223 of the instrument fixing buoyancy material 1. At the same time, two L-shaped fixing brackets 224 sit on the bracket support body 225. Then, the through hole on the side 226 of the L-shaped fixing bracket is fixedly connected to the bracket fixing countersunk hole 120 on the side of the instrument fixing buoyancy material 1 by bolts and nuts, thus solving the problem of fixing the electronic cabin module 2 to the instrument fixing buoyancy material 1.

[0039] In this embodiment, the host computer interface has binocular ranging and binocular 3D scanning reconstruction functions. There are six touch pressure buttons, used to control the activation and deactivation of the underwater binocular imaging device, the binocular ranging function, and the binocular 3D scanning reconstruction function. Specifically, the host computer interface mainly includes ultra-short baseline positioning information, depth and temperature information, brightness adjustment function for the illumination module 5, binocular ranging function, and binocular 3D scanning reconstruction function.

[0040] The connections and related functions between the various systems are as follows: The tail wire of the ultra-short baseline transponder 8 is connected to the ultra-short baseline watertight connector 220 on the lower side face 221 of the electronic cabin base; the two binocular watertight connectors 47 of the binocular vision module 4 are connected to the vision watertight connector 219 on the lower side face 221 of the electronic cabin base via a double-ended connecting cable; the power watertight connector 33 in the power module 3 is connected to the power supply watertight connector 218 on the lower side face 221 of the electronic cabin base via a double-ended connecting cable; on land, the embedded system development board 213 is used to write the corresponding programs for each system via the transmission watertight connector 217, forming a host computer interface displayed on the display screen 205. The host computer interface mainly includes ultra-short baseline positioning information. The system includes information on depth and temperature, brightness adjustment function of lighting module 5, binocular ranging function, and binocular 3D scanning reconstruction function. The specific location of the underwater binocular imaging device is determined by sending and receiving acoustic pulses between the land-based transmitter transducer and the ultra-short baseline transponder 8. This allows for timely location and rescue in case of underwater accidents or loss of the underwater binocular imaging device. The wires of the two lighting modules 5 are integrated into the binocular vision cabin 43 and, together with the wires of the two scanning components 46, are introduced into the electronic cabin module 2 through the binocular watertight connector 47, reducing the number of connectors in the electronic cabin module 2. Then, two of the six touch pressure buttons 204 control the power on and off of the entire system, and four buttons are used to control the operation of the display screen 205.

[0041] In summary, the frogman-controlled underwater binocular imaging device provided in this embodiment uses a fixed buoyancy material as the overall support and load-bearing structure of the device. This allows the device to move towards the anchor chain to be inspected. The binocular vision module scans the anchor chain around it and sends the scan results to the electronic cabin module. The electronic cabin module adjusts the position of the fixed buoyancy material based on the displayed scan results, thereby adjusting the scan results acquired by the binocular vision module. The adjusted scan results are then saved and processed to obtain the three-dimensional structure and measured dimensions of the anchor chain. In particular, it can... The scanning direction and position are adjusted based on the scanning results until the desired effect is achieved, completing the underwater work. Simultaneously, the scanning results and other sensor information are automatically saved. The corroded anchor chain is dimensionally measured and its three-dimensional structure reconstructed. Upon returning to land, inspection personnel retrieve the scanning results and other relevant data from the embedded system development board via a watertight connector. Subsequent analysis identifies problems with the scanned anchor chain and develops solutions to address the technical challenges of periodically inspecting anchor chains. This overcomes the problems mentioned in the background art, such as visual or instrumental inspection of anchor chains retrieved to a platform, or inspection using underwater ROVs. Furthermore, this device also offers the following advantages: 1. The device is assembled into a complete structure by connecting multiple independent systems and instrument fixing buoyancy materials. The device has a compact structure, a high degree of modularity, and is relatively convenient for installation, disassembly and maintenance. Any part can be disassembled and replaced at any time.

[0042] 2. Each independent system in this device can operate as a standalone unit or be used in conjunction with other devices, exhibiting a degree of versatility and a wide range of applications. For example, the power module can supply power to other devices. Furthermore, the design of the electronic compartment module enhances the ease of operation of the embedded system development board, making underwater work more convenient for testing personnel.

[0043] 3. The display screen, touch pressure button, embedded system development board, attitude and depth sensors are all installed inside the electronic compartment, which reduces the number of connectors and machining parts for connecting the above instruments to the electronic compartment, thereby reducing costs. At the same time, installing the display screen and touch pressure button inside the electronic compartment improves the ease of operation of the embedded system development board and allows for real-time observation of the detection status.

[0044] Method Implementation Examples: See Figure 25 The figure shows a flowchart of the anchor chain detection method provided in this embodiment of the invention. This anchor chain detection method uses the aforementioned device to detect the anchor chain. As shown in the figure, the anchor chain detection method includes the following steps: Step S1: Test each module of the underwater binocular imaging device to check whether each module is working properly.

[0045] Specifically, the testing personnel operated the touch pressure button to turn on the power to the entire system and tested whether each system was working properly.

[0046] Step S2: If all modules are working normally, control the underwater binocular imaging device to be launched into the water, and control the underwater binocular imaging device to dive to a preset depth based on the depth information of the underwater binocular imaging device.

[0047] Specifically, hold the handle with both hands, lower the underwater binocular imaging device into the water, dive to the expected depth based on the depth information displayed on the 6-inch screen, activate the binocular ranging function by operating the touch pressure button, and move to the expected position based on the distance measured between the scanning device and the anchor chain.

[0048] Step S3: Control the binocular vision module of the underwater binocular imaging device to obtain the distance between the binocular vision module and the anchor chain to be detected, and adjust the position of the underwater binocular imaging device to move it to the preset position.

[0049] Specifically, the operation of the touch pressure button (204) activates the binocular ranging function, and moves to the expected position based on the distance measured between the scanned part (46) and the anchor chain.

[0050] Step S4: Control the binocular vision module of the underwater binocular imaging device to scan the anchor chain to be inspected, and perform size measurement and three-dimensional structure reconstruction of the anchor chain to be inspected based on the scanned structure.

[0051] Specifically, the operator continues to operate the touch pressure button to activate the binocular 3D scanning reconstruction function, performing dimensional measurements and 3D structural reconstruction on the corroded anchor chain. The scanning direction and position are adjusted according to the scanning results displayed on the 6-inch screen until the scanning results achieve the expected effect and the underwater work is completed. At the same time, the scanning results and other sensor information are automatically saved to the embedded system development board. When the inspection personnel return to land, they can extract the scanning results and other relevant data from the embedded system development board through the watertight connector. The subsequent analysis will identify any problems with the scanned anchor chain and develop solutions.

[0052] In summary, the anchor chain inspection method provided in this embodiment uses a fixed buoyancy material as the overall support and load-bearing support of the device. This allows the device to move towards the anchor chain to be inspected. A binocular vision module scans the anchor chain around it, and the scan results are sent to an electronic module. The electronic module adjusts the position of the fixed buoyancy material based on the displayed scan results, thereby adjusting the scan results acquired by the binocular vision module. The adjusted scan results are then saved and processed to obtain the three-dimensional structure and measured dimensions of the anchor chain. Specifically, the scanning direction and position can be adjusted based on the scan results until the desired effect is achieved, completing the underwater work. Simultaneously, the scan results and other sensor information are automatically saved. The dimensions of corroded anchor chains are measured and their three-dimensional structure reconstructed. Upon returning to land, the inspection personnel retrieve the scan results and other relevant data from the embedded system development board via a watertight connector. Subsequent analysis of the scanned anchor chain reveals any problems, and solutions are developed to address the technical challenges of periodically inspecting anchor chains. This overcomes the problems mentioned in the background art, such as visual or instrumental inspection of anchor chains retrieved to a platform, and inspection by underwater ROVs.

[0053] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc., which indicate the direction or positional relationship, are based on the direction or positional relationship shown in the drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0054] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0055] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A frogman-controlled underwater binocular imaging device, characterized in that, include: The instrument is fixed with buoyancy material; A binocular vision module is mounted on the instrument's fixed buoyancy material and is used to scan the anchor chain to be tested and send the scanning results to the electronic cabin module. An electronic cabin module is mounted on the instrument's fixed buoyancy material and is connected to the binocular vision module. The electronic cabin module receives and displays the scanning results from the binocular vision module, adjusts the position of the instrument's fixed buoyancy material based on the displayed scanning results, adjusts the scanning results acquired by the binocular vision module, and saves and processes the adjusted scanning results to obtain the three-dimensional structure and measurement dimensions of the anchor chain to be inspected.

2. The underwater binocular imaging device controlled by a frogman according to claim 1, characterized in that, The electronic cabin module includes: An electronic cabin base, on which an attitude sensor, an embedded system development board, a button acquisition board, a depth sensor, and a watertight connector are mounted; The electronic cabin cover is connected to the electronic cabin base, and the electronic cabin cover is equipped with a display screen, which is connected to the embedded system development board and is used to display the upper interface for program development within the embedded system development board.

3. The frogman-controlled underwater binocular imaging device according to claim 2, characterized in that, The electronic compartment cover is provided with a display screen mounting hole for mounting the display screen, and the electronic compartment cover is provided with an electronic compartment transparent cover for covering the display screen mounting hole and an electronic compartment transparent cover pressure cover for pressing the electronic compartment transparent cover into the display screen mounting hole. The electronic cabin cover is also equipped with a touch pressure button for connecting to the button acquisition board, so as to control the upper interface on the display screen and the underwater binocular imaging device through the button acquisition board. The host computer interface has binocular ranging function and binocular 3D scanning reconstruction function. There are six touch pressure buttons, which are used to control the opening and closing of the underwater binocular imaging device, the opening and closing of the binocular ranging function, and the opening and closing of the binocular 3D scanning reconstruction function, respectively.

4. The frogman-controlled underwater binocular imaging device according to any one of claims 1 to 3, characterized in that, The binocular vision module includes: Binocular vision cabin; A binocular cabin rear cover is fastened to the rear side of the binocular vision cabin, and a binocular vision mounting cavity is formed between the binocular vision cabin and the binocular cabin rear cover; Two scanning elements are disposed within the binocular vision mounting cavity, and two lens compartments are provided on the front side of the binocular vision housing. The two scanning elements are at least partially disposed within the two lens compartments respectively, for scanning the anchor chain to be inspected.

5. The frogman-controlled underwater binocular imaging device according to claim 4, characterized in that, The binoculars are equipped with a scanning mounting bracket on the rear cover for supporting and fixing the scanned components. The binocular cabin rear cover is also equipped with a wire threading bolt for guiding the lead wire of the lighting module into the binocular vision mounting cavity. The binocular cabin rear cover is also equipped with a binocular watertight connector for leading out the leads of the scanning component and the lighting module and connecting them to the electronic cabin module.

6. The frogman-controlled underwater binocular imaging device according to claim 4, characterized in that, The front end of the two lens compartments of the binocular vision cabin is provided with a binocular transparent window, and the two lens compartments of the binocular vision cabin are connected with a double front cover, which is used to press the binocular transparent window into the front end of the lens compartment to achieve the sealing of the two lens compartments of the binocular vision cabin. The lower end of the binocular vision cabin is equipped with a vision module fixing bracket.

7. The frogman-controlled underwater binocular imaging device according to any one of claims 1 to 3, characterized in that, The instrument is also equipped with an illumination module on its fixed buoyancy material, which provides illumination for the field of view scanned by the binocular vision module. The instrument is also equipped with an anti-loss pull ring on its fixed buoyancy material for connecting to the testing personnel; The instrument is also equipped with a hand handle on its fixed buoyancy material; The instrument's fixed buoyancy material is also equipped with an ultra-short baseline transponder, which is used to receive acoustic pulses emitted by the transducer on land to obtain the position information of the instrument's fixed buoyancy material.

8. The frogman-controlled underwater binocular imaging device according to claim 7, characterized in that, The instrument has a lamp chamber on the front side of the fixed buoyancy material, and the lighting module is installed inside the lamp chamber via a lighting mounting bracket. The instrument has a pull ring slot on the rear side of the fixed buoyancy material, and the anti-loss pull ring is installed in the pull ring slot; The instrument has a transponder mounting slot on the front side of the fixed buoyancy material, and the ultra-short baseline transponder is installed in the transponder mounting slot.

9. The frogman-controlled underwater binocular imaging device according to any one of claims 1 to 3, characterized in that, The instrument's fixed buoyancy material is also equipped with a power module, which includes: a power supply compartment, a power supply sealing cover and a power supply watertight connector disposed on the power supply compartment; wherein... The power compartment contains an integrated cylindrical lithium battery, and the lead wires of the lithium battery are connected to the wires of the power watertight connector. The power module is embedded in the power securing groove on the instrument's fixed buoyancy material, and the instrument's fixed buoyancy material is also provided with a detachable limiting plate for limiting and securing the power module into the power securing groove.

10. A method for detecting anchor chains, characterized in that, The underwater binocular imaging device operated by a frogman as described in any one of claims 1 to 9 includes the following steps: The underwater binocular imaging device was tested for each module to ensure that each module was functioning properly. If all modules are working properly, control the underwater binocular imaging device to be launched into the water, and control the underwater binocular imaging device to dive to a preset depth based on the depth information of the underwater binocular imaging device; Control the binocular vision module of the underwater binocular imaging device to obtain the distance between the binocular vision module and the anchor chain to be detected, and adjust the position of the underwater binocular imaging device to move it to a preset position; The binocular vision module of the underwater binocular imaging device is controlled to scan the anchor chain to be inspected, and the size measurement and three-dimensional structure reconstruction of the anchor chain to be inspected are performed based on the scanned structure.

Images