A multi-beam mounting frame suitable for seabed front and back detection

Abstract

The application relates to the technical field of multi-beam detection, and discloses a multi-beam mounting rack suitable for front and back detection of seabed, which comprises a main frame, a supporting and leveling mechanism arranged at the lower part of the main frame, detection mechanisms symmetrically connected to the main frame, an emergency fixing mechanism connected to the main frame, and a hoisting mechanism connected to the main frame. The hoisting mechanism can realize real-time detection of the position of the pipeline on the seabed, can provide the position of the seabed target (the pipeline on the seabed) in real time, can adjust the position of the seabed riprap, can guide the riprap position and the riprap dam type in real time, and can realize adjustment of the corresponding angle direction during detection, thereby expanding the detection range. The multi-beam mounting rack can realize protection of the corresponding detection components, prevent the detection components from being damaged, can fix the whole equipment on the seabed in the case of severe sea conditions on the seabed, and prevent the equipment from being damaged due to the impact caused by the sea conditions.

Description

Technical Field

[0001] This invention belongs to the field of multibeam detection technology, specifically a multibeam mounting frame suitable for forward and backward seabed detection. Background Technology

[0002] Multibeam echo sounding is a core seabed exploration technology in the field of surveying and mapping. By simultaneously transmitting acoustic waves over a wide sector and receiving them through multiple channels, it can efficiently and accurately acquire seabed topography, geomorphology, and shallow geological data. The system mainly consists of a multibeam acoustic system, a data acquisition and processing system, and peripheral equipment such as attitude sensors. With its advantages of wide detection range, high data accuracy, and high operational efficiency, it has been widely used in various fields such as marine exploration, underwater archaeology, waterway management, and seabed engineering construction, providing reliable basic data support for various seabed operations.

[0003] Seabed rock dumping is a key construction procedure in marine engineering, waterway regulation, and protection of seabed structures. It is mainly used for slope protection after waterway dredging, reinforcement of cross-sea bridge and submarine pipeline foundations, artificial island construction, and repair of seabed structures. The quality of the rock dumping operation directly determines the stability, safety, and service life of subsequent projects. Therefore, precise control of the seabed rock dumping process and real-time monitoring of the rock dumping effect are crucial.

[0004] Currently, in actual operation, seabed rock-dropping systems face two major technical challenges due to the complex seabed environment (such as water current disturbance, seabed silt cover, and water scattering interference) and operational characteristics. These challenges severely restrict the accuracy and efficiency of rock-dropping operations, making it difficult to meet the requirements of high-standard engineering operations. Firstly, there is the challenge of accurately detecting the target area on the seabed. Before rock-dropping operations, it is necessary to clearly define key information such as the specific location of the target area, topographic relief, distribution of existing structures, and silt thickness. Based on this information, the landing point, quantity, and trajectory of the rocks must be planned to avoid them deviating from the target area or becoming unstable due to insufficient terrain adaptability. This detection task is mainly completed by the front probe equipped with the system. The front probe relies on the principles of multibeam echo sounding to transmit acoustic signals in real time and receive reflected signals from the seabed. After preliminary data processing, it obtains basic topographic and environmental data of the target area on the seabed, providing core data support for the early planning and real-time guidance of rock-dropping operations. However, the detection accuracy of the front probe is easily affected by seabed water interference and complex terrain. It is necessary to ensure the authenticity and integrity of the data to lay the foundation for subsequent operations.

[0005] Secondly, there is the challenge of real-time detection and accurate evaluation of the rock-throwing effect. After the rock-throwing operation is completed, it is necessary to promptly detect the shape, thickness, coverage, and uniformity of the rock pile to determine whether it meets the design standards. If there are problems such as insufficient rock-throwing, uneven accumulation, deviation from the target, or local collapse, supplementary rock-throwing operations must be carried out in a timely manner to avoid leaving potential engineering safety hazards. This detection task is mainly undertaken by the rear probe equipped with the system. The rear probe works in conjunction with the front probe to conduct a second all-round detection of the rock-throwing area after the rock-throwing operation, collecting seabed topography and accumulation data after the rock-throwing. However, relying solely on the detection data of the rear probe cannot accurately determine the difference between the rock-throwing effect and the target requirements. It is necessary to accurately match and compare the data collected by the rear probe after the rock-throwing with the seabed target area data collected by the front probe before the rock-throwing. Through data difference calculation, topographic shape comparison, and other methods, it is necessary to clarify whether the thickness of the rock pile meets the standard, whether the coverage is comprehensive, and whether there are any problems such as deviation from the target area. In this way, an accurate evaluation of the rock-throwing effect can be achieved, providing reliable data support for real-time adjustment and supplementary rock-throwing control, ensuring that the quality of the rock-throwing operation meets the engineering requirements.

[0006] In summary, the coordinated detection and accurate data matching of the front and rear probes are key to solving the current operational pain points of seabed rock-dropping systems and improving the quality and efficiency of rock-dropping operations. However, in the existing technology, the data matching accuracy and coordinated working stability of the front and rear probes still need to be improved, which is difficult to fully meet the precise control requirements of rock-dropping operations in complex seabed environments. Therefore, in response to the above two core difficulties, it is urgent to optimize the detection and data processing schemes and improve the technical system of seabed rock-dropping systems. Summary of the Invention

[0007] In view of the above situation and to overcome the defects of the prior art, the present invention provides a multi-beam mounting frame suitable for seabed forward and backward detection, which effectively solves the problems mentioned in the background art.

[0008] To achieve the above objectives, the present invention provides the following technical solution: a multibeam mounting frame suitable for seabed forward and backward detection, comprising a main frame, a support and leveling mechanism at the lower part of the main frame, detection mechanisms symmetrically connected to the main frame, an emergency fixing mechanism connected to the main frame, a hoisting mechanism connected to the main frame, a deployment and recovery mechanism connected to the main frame, a direction adjustment mechanism connected to the main frame, and an angle adjustment mechanism connected to the lower part of the main frame; The support and leveling mechanism is used to support and level the main frame on the seabed; the detection mechanism is used to perform multi-beam detection on the seabed; the emergency fixing mechanism is used to fix the main frame in case of severe sea conditions; the hoisting mechanism is used to hoist the main frame for easy lowering into the sea; the deployment and recovery mechanism is used to deploy and recover the AUV used for underwater detection; the direction adjustment mechanism is used to adjust the direction of the main frame; and the angle adjustment mechanism is used to adjust the angle of the main frame during the descent.

[0009] Preferably, the main frame includes upper and lower rectangular frame plates, which are connected by rectangular rods located at the four corners. Several crossbars connect adjacent rectangular rods. Several upper partition plates are connected to one end of the upper rectangular frame plate, and an upper polygonal frame is connected to the other end of the upper partition plate. Several lower partition plates are connected to one end of the lower rectangular frame plate, and a lower polygonal frame is connected to the other end of the lower partition plate. The number of lower partition plates is the same as that of the upper partition plates, and they are installed vertically and vertically. Several frame connecting rods connect the lower polygonal frame and the upper polygonal frame. The upper partition plate separates the upper polygonal frame and the rectangular frame plate into different shapes. An upper mesh plate is installed between the upper partition plates. The upper mesh plate is adapted to different shapes for installation. The lower partition separates the lower polygonal frame and the rectangular frame plate into different shapes, and a lower mesh plate is installed between the lower partitions. The lower mesh plate is adapted to different shapes for installation.

[0010] Preferably, the detection mechanism includes connecting blocks symmetrically mounted on the lower polygonal frame. A brake gear shaft is rotatably connected to the connecting blocks, extending into a brake cavity located within the connecting blocks. A brake gear is fixedly mounted on the outer surface of the brake gear shaft, and brake teeth are inserted into the brake gear. The brake teeth are fixedly mounted on one end of a brake electric push rod, and the other end of the brake electric push rod is fixedly mounted on the end wall of the brake cavity. A detection frame is fixedly mounted on the outer surface of the brake gear shaft, and a detection mounting plate is mounted on the detection frame. A three-dimensional multibeam inertial navigation system with PHINS+DVL is mounted on the detection mounting plate. Multiple... The detector frame is equipped with a signal acquisition and transmission device and a protective net. A hydraulic rod lower connector is symmetrically fixed to the detector frame. One end of a hydraulic rod is hinged to the lower connector, and the other end of the hydraulic rod is hinged to an upper connector. The upper connector is fixedly installed on the lower part of the upper polygonal frame. A hydraulic cylinder is mounted on the lower polygonal frame, and an oil pump is mounted on the cylinder. A three-way pipe is mounted on the oil pump, and different oil pipes are connected to one end of the three-way pipe. The other end of the oil pipes is connected to the hydraulic rod. A protective cover is mounted on the cylinder, enclosing the oil pump and the three-way pipe. The oil pipes pass through the protective cover.

[0011] Preferably, the supporting leveling mechanism includes a connecting frame evenly installed on the lower part of the lower polygonal frame, an annular base frame fixedly connected to the lower end of the connecting frame, a plurality of leveling electric cylinders evenly fixedly connected to the annular base frame, the moving end of the leveling electric cylinder penetrating to the bottom of the annular base frame, and a leveling plate connected to the moving end of the leveling electric cylinder.

[0012] Preferably, the emergency fixing mechanism includes a fixing cylinder fixedly installed on the rectangular frame plate, a fixing disk fixedly installed inside the fixing cylinder, a fixing gear cavity provided inside the fixing disk, a fixing telescopic shaft rotatably connected through the end wall of the fixing gear cavity, a driving gear fixedly installed on the outer surface of the fixing telescopic shaft, the driving gear meshing with a driven gear, the driven gear fixedly installed on the outer surface of a fixing screw, the fixing screw rotatably connected through the end wall of the fixing disk, the lower end of the fixing screw rotatably connected to a fixing screw mounting plate fixed inside the fixing cylinder, the fixing telescopic shaft being poweredly connected to an emergency fixing motor fixedly installed inside the fixing disk, a fixing rotating cylinder fixedly installed on the outer surface of the fixing telescopic shaft, a spiral plate mirror-symmetrically provided on the outer surface of the fixing rotating cylinder, and a fixing drill bit fixedly connected to the lower part of the fixing rotating cylinder; The fixed telescopic shaft is telescopic, and the fixed rotating cylinder is installed on the outer surface of the fixed telescopic shaft.

[0013] Preferably, the deployment and retrieval mechanism is symmetrically arranged. The deployment and retrieval mechanism includes a deployment fixing frame connecting plate fixedly connected between the frame connecting rods. A deployment fixing frame is installed between the deployment fixing frame connecting plate and the crossbar. The deployment fixing frame is provided with a cross slide groove. An electric lead screw is rotatably connected to the end wall of the cross slide groove. A cross slide plate is threaded onto the outer surface of the electric lead screw. The cross slide plate is slidably connected inside the electric lead screw. A deployment gear cavity is provided inside the outer end of the cross slide plate. A deployment drive gear shaft is rotatably connected between the end walls of the deployment gear cavity. The wheel axle is powered by a rotary motor fixedly installed inside the cross slide plate. A placement drive gear is fixedly installed on the outer surface of the placement drive gear shaft. The placement drive gear and the placement driven gear are meshed together. The placement driven gear is fixedly installed on the outer surface of the placement driven gear shaft. The placement driven gear shaft is rotatably installed through the end wall of the placement gear cavity. A rotating plate is fixedly connected to the lower end of the placement driven gear shaft. The rotating plate is rotatably connected to the cross slide plate. A locking assembly is provided between the cross slide plate and the rotating plate. A gripping assembly is provided on the rotating plate. The gripping assembly includes symmetrically arranged gripping grooves on the side wall of the rotating plate. A gripping electric shaft is rotatably connected between the end walls of the gripping grooves. The gripping electric shaft is poweredly connected to a gripping motor fixedly installed in the rotating plate. A plurality of gripping claws are fixedly connected to the outer surface of the gripping electric shaft. The gripping claws are connected to each other by a plurality of stabilizing rods. Electromagnets are installed on the stabilizing rods between adjacent gripping claws. The locking assembly includes stabilizing grooves evenly distributed on the cross slide plate, the stabilizing grooves extending into the rotating plate, the bottom wall of the stabilizing groove being spherical, a stabilizing ball head rod slidably connected between the end walls of the stabilizing groove, a stabilizing spring being engaged between the stabilizing ball head rod and the top wall of the stabilizing groove, and the lower head of the stabilizing ball head rod being machined into a spherical shape and engaged into the stabilizing groove on the rotating plate.

[0014] Preferably, the direction adjustment mechanism includes an upper pusher seat connected to the lower part of the upper partition plate, a lower pusher seat fixedly connected to the lower partition plate below the upper pusher seat, and a lower pusher installed on the lower pusher seat.

[0015] Preferably, the hoisting mechanism includes a hoisting cable connector mounted on the upper partition plate, a hoisting cable connected to the hoisting cable connector, a hoisting plate mounted on the crossbar and the lower partition plate, a hoisting cable hanger connected to the top of the hoisting plate, the hoisting cable hanger connected to the hoisting cable, and a bottom connector for the hoisting cable connected to the placement and fixing frame, the hoisting cable being connected to the bottom connector.

[0016] Preferably, the angle adjustment mechanism includes angle adjustment thrusters evenly installed on the lower part of the lower partition plate. Preferably, a battery is installed on the lower partition plate on the lower side of the hoisting plate, a control box base is installed on the rectangular rod and the frame connecting rod, and a control box is installed on the control box base.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention provides a multibeam mount suitable for seabed forward and backward detection, which can realize real-time detection of the location of seabed pipelines, provide the location of seabed targets (seabed pipelines) in real time, facilitate the adjustment of the position of seabed rock dumps, provide real-time guidance on the position of rock dumps and rock dump dams, and realize the corresponding angle and direction adjustment during detection, thereby expanding the detection range.

[0018] 2. This invention provides a multibeam mount suitable for seabed front and rear detection, which can protect the corresponding detection components and prevent damage to them. It can also fix the entire device to the seabed in the event of violent sea conditions, preventing damage to the device due to the impact of sea conditions. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0020] In the attached diagram: Figure 1 This is a schematic diagram of the first direction structure of a multibeam mount suitable for seabed forward and backward detection in this invention; Figure 2 This is a schematic diagram of the second direction structure of a multibeam mount suitable for seabed forward and backward detection in this invention; Figure 3 This is a schematic diagram of a third-dimensional structure of a multibeam mount suitable for seabed forward and backward detection in this invention; Figure 4 This is a schematic diagram of the fourth direction structure of a multibeam mount suitable for seabed forward and backward detection in this invention; Figure 5 This is a schematic diagram of the fifth direction structure of a multibeam mount suitable for seabed forward and backward detection in this invention; Figure 6 This is a schematic diagram of the first disassembled structure of a multibeam mount suitable for seabed forward and backward detection in this invention; Figure 7 This is a schematic diagram of the second split structure of a multibeam mount suitable for seabed forward and backward detection in this invention; Figure 8This is a schematic diagram of a first partial cross-sectional structure of a multibeam mount suitable for seabed forward and backward detection in this invention; Figure 9 This is a schematic diagram of a second partial cross-sectional structure of a multibeam mount suitable for seabed forward and backward detection in this invention; Figure 10 This is a schematic diagram of a third partial cross-sectional structure of a multibeam mount suitable for seabed forward and backward detection in this invention; Figure 11 for Figure 7 Enlarged structural diagram at point A; Figure 12 for Figure 10 A magnified structural diagram at point B in the middle.

[0021] In the diagram: 1-Rectangular frame plate, 2-Lifting cable, 3-Fixing cylinder, 4-Upper polygonal frame, 5-Frame connecting rod, 6-Lower polygonal frame, 7-Upper mesh plate, 8-Lifting cable connector, 9-Hydraulic rod, 10-Hydraulic rod lower connector, 11-Protective net, 12-Oil cylinder, 13-Protective cover, 14-Connecting block, 15-Annular base frame, 16-Leveling electric cylinder, 17-Monitoring probe, 18-Detection frame, 19-Oil pipe, 20-Hydraulic rod upper connector, 21-Leveling plate, 22- 23-Angle Adjustable Thruster, 24-Connecting Frame, 25-Fixed Drill Bit, 26-Crossbar, 28-Lifting Plate, 29-Lifting Cable Splice, 30-Lower Thruster Seat, 31-Lower Thruster, 32-Deployment Fixing Frame, 33-Brake Electric Push Rod, 34-Brake Gear, 35-Brake Gear, 36-Brake Gear Shaft, 37-Deployment Fixing Frame Connecting Plate, 38-Cross Slide Plate, 39-Rotating Plate, 40-Detection Mounting Plate, 41-Three-Dimensional Multibeam, 42-PHIN S+DVL inertial navigation system, 43-multibeam, 44-oil pump, 45-teep pipe, 46-fixed disc, 47-fixed gear cavity, 48-drive gear, 49-driven gear, 50-fixed lead screw, 51-fixed nut plate, 52-fixed drum, 53-fixed telescopic shaft, 54-spiral plate, 57-battery, 58-brake cavity, 59-AUV body, 60-gear cavity placement, 61-driven gear placement, 62-drive gear placement, 63-drive gear shaft placement, 64 - Laying out the driven gear shaft, 65- Control box, 66- Control box base, 67- Clamping slot, 68- Clamping electric rotating shaft, 69- Gripping gripper, 70- Electromagnet, 71- Stabilizing rod, 72- Stabilizing groove, 73- Stabilizing spring, 74- Stabilizing ball head rod, 75- Rectangular rod, 76- Lower partition plate, 77- Lower mesh plate, 78- Upper partition plate, 79- Signal acquisition and transmission device, 80- Fixed lead screw mounting plate, 81- Electric lead screw, 82- Bottom connector of hoisting cable, 83- Cross slide groove. Detailed Implementation

[0022] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0023] like Figure 1-12 As shown, the present invention provides a multibeam mounting frame suitable for seabed forward and backward detection, including a main frame, a support and leveling mechanism at the lower part of the main frame, detection mechanisms symmetrically connected to the main frame, an emergency fixing mechanism connected to the main frame, a hoisting mechanism connected to the main frame, a deployment and recovery mechanism connected to the main frame, a direction adjustment mechanism connected to the main frame, and an angle adjustment mechanism connected to the lower part of the main frame. The support and leveling mechanism is used to support and level the main frame on the seabed; the detection mechanism is used to perform multi-beam detection on the seabed; the emergency fixing mechanism is used to fix the main frame in case of severe sea conditions; the hoisting mechanism is used to hoist the main frame for easy lowering into the sea; the deployment and recovery mechanism is used to deploy and recover the AUV used for underwater detection; the direction adjustment mechanism is used to adjust the direction of the main frame; and the angle adjustment mechanism is used to adjust the angle of the main frame during the descent.

[0024] Advantageously, the main frame includes upper and lower rectangular frame plates 1, which are connected by rectangular rods 75 located at the four corners. Several crossbars 26 are connected between adjacent rectangular rods 75 to form a rectangular mesh frame. Several upper partition plates 78 are connected to one end of the upper rectangular frame plate 1, and an upper polygonal frame 4 is connected to the other end of the upper partition plates 78. Several lower partition plates 76 are connected to one end of the lower rectangular frame plate 1, and a lower polygonal frame 6 is connected to the other end of the lower partition plates 76. The number of lower partition plates 76 is the same as that of the upper partition plates 78, and they are installed vertically and vertically. Several frame connecting rods 5 are connected between the lower polygonal frame 6 and the upper polygonal frame 4. The upper partition plate 78 divides the upper polygonal frame 4 and the rectangular frame plate 1 into different shapes. An upper mesh plate 7 is installed between the upper partition plates 78. The upper mesh plate 7 is adapted to different shapes for installation. The upper mesh plate 7 is not installed within the rectangle enclosed by the upper partition plates 78, so that the hoisting cable 2 can pass through. The lower partition 76 divides the lower polygonal frame 6 and the rectangular frame plate 1 into different shapes. A lower mesh plate 77 is installed between the lower partitions 76, and the lower mesh plate 77 is adapted to different shapes for installation.

[0025] Advantageously, the detection mechanism includes connecting blocks 14 symmetrically mounted on the lower polygonal frame 6. A brake gear shaft 36 is rotatably connected to the connecting blocks 14. The brake gear shaft 36 extends into a brake cavity 58 located within the connecting blocks 14. A brake gear 35 is fixedly mounted on the outer surface of the brake gear shaft 36. A brake tooth 34 is inserted into the brake gear 35. The brake tooth 34 is fixedly mounted on one end of a brake electric push rod 33. The other end of the brake electric push rod 33 is fixedly mounted on the end wall of the brake cavity 58. A detection frame 18 is fixedly mounted on the outer surface of the brake gear shaft 36. A detection mounting plate 40 is mounted on the detection frame 18. A three-dimensional multibeam 41 and a PHINS+DVL inertial navigation system 42 are mounted on the detection mounting plate 40. A multibeam 43 is mounted on the detection mounting plate 40. The detection frame 18 is equipped with a signal acquisition and transmission device 79 and a protective net 11. A hydraulic rod lower connector 10 is symmetrically fixed to the detection frame 18. One end of a hydraulic rod 9 is hinged to the lower connector 10, and the other end of the hydraulic rod 9 is hinged to an upper connector 20. The upper connector 20 is fixedly installed on the lower part of the upper polygonal frame 4. A hydraulic cylinder 12 is installed on the lower polygonal frame 6. An oil pump 44 is installed on the hydraulic cylinder 12. A three-way pipe 45 is installed on the oil pump 44. Different oil pipes 19 are connected to one end of each three-way pipe 45. The other end of each oil pipe 19 is connected to the hydraulic rod 9. A protective cover 13 is installed on the hydraulic cylinder 12, enclosing the oil pump 44 and the three-way pipe 45 inside. The oil pipes 19 pass through the protective cover 13. During operation, before being hoisted into the seabed, the detection frame 18 is in a retracted, vertical position. Upon reaching the designated position, the oil pump 44 is activated to draw hydraulic oil from the cylinder 12. This hydraulic oil then flows through the pump 44 into the three-way pipe 45, and through the oil pipe 19 into the hydraulic rod 9, causing the hydraulic rod 9 to extend. This extends the lower connecting block 10 of the hydraulic rod, thereby moving the detection frame 18 to its designated position. The multi-beam 43 at the front then performs multi-beam detection, and the three-dimensional... The multi-beam 41 performs three-dimensional multi-beam detection. The PHINS+DVL inertial navigation system 42 can provide real-time parameters such as the position, heading, attitude, speed, and heave of the overall device and measure the corresponding parameters. The signal acquisition and transmission unit 79 collects and transmits the detected data. After the detection frame 18 reaches the corresponding position, the brake electric push rod 33 is energized to push the brake tooth 34 to move. The brake tooth 34 is inserted into the brake gear 35, thereby braking the brake gear shaft 36 and thus braking the detection frame 18.

[0026] Advantageously, the supporting leveling mechanism includes a connecting frame 24 evenly installed on the lower part of the lower polygonal frame 6, an annular base frame 15 fixedly connected to the lower end of the connecting frame 24, a plurality of leveling electric cylinders 16 evenly fixedly connected to the annular base frame 15, the moving end of the leveling electric cylinder 16 penetrating to the bottom of the annular base frame 15, and a leveling plate 21 connected to the moving end of the leveling electric cylinder 16; During operation, after reaching the seabed, the data acquired by the PHINS+DVL inertial navigation system 42 is transmitted to the control processor. After processing, the control processor sends a signal to the corresponding leveling electric cylinder 16, causing the corresponding leveling electric cylinder 16 to extend. The leveling plate 21 is supported on the seabed, thereby lifting the annular base frame 15 and leveling the annular base frame 15, thus achieving overall leveling.

[0027] Advantageously, the emergency fixing mechanism includes a fixing cylinder 3 fixedly installed on the rectangular frame plate 1, a fixing disk 46 fixedly installed inside the fixing cylinder 3, a fixing gear cavity 47 provided inside the fixing disk 46, a fixing telescopic shaft 53 rotatably connected through the end wall of the fixing gear cavity 47, a driving gear 48 fixedly installed on the outer surface of the fixing telescopic shaft 53, the driving gear 48 meshing with a driven gear 49, the driven gear 49 fixedly installed on the outer surface of the fixing screw 50, the fixing screw 50 rotatably connected through the end wall of the fixing disk 46, the lower end of the fixing screw 50 rotatably connected to a fixing screw mounting plate 80 fixed inside the fixing cylinder 3, the fixing telescopic shaft 53 being poweredly connected to an emergency fixing motor fixedly installed inside the fixing disk 46, a fixing rotating cylinder 52 fixedly installed on the outer surface of the fixing telescopic shaft 53, a spiral plate 54 mirror-symmetrically provided on the outer surface of the fixing rotating cylinder 52, and a fixing drill bit 25 fixedly connected to the lower part of the fixing rotating cylinder 52; The fixed telescopic shaft 53 is telescopic, and the fixed rotating cylinder 52 is installed on the outer surface of the fixed telescopic shaft 53; During operation, the emergency fixing motor is activated, which drives the fixed telescopic shaft 53 to rotate, thereby driving the drive gear 48 to rotate. The drive gear 48 meshes with the driven gear 49, thereby driving the fixed lead screw 50 to rotate, which in turn drives the fixed nut plate 51 to move downward, thereby driving the fixed rotating drum 52 to rotate and move downward, thereby driving the fixed drill bit 25 to rotate and move downward, drilling into the seabed. This causes the spiral plate 54 to drill into the seabed. The spiral plate 54 is mirror-symmetrically arranged and drills into the seabed to better prevent detachment and pull-out. It cooperates with the fixed nut plate 51 to lock in place, achieving better emergency fixation.

[0028] Advantageously, the deployment and retrieval mechanism is symmetrically arranged. The deployment and retrieval mechanism includes a deployment fixing frame connecting plate 37 fixedly connected between the frame connecting rods 5. A deployment fixing frame 32 is installed between the deployment fixing frame connecting plate 37 and the crossbar 26. The deployment fixing frame 32 is provided with a cross slide groove 83. An electric lead screw 81 is rotatably connected to the end wall of the cross slide groove 83. A cross slide plate 38 is threadedly connected to the outer surface of the electric lead screw 81. The cross slide plate 38 is slidably connected inside the electric lead screw 81. A deployment gear cavity 60 is provided inside the outer end of the cross slide plate 38. A deployment drive gear shaft 63 is rotatably connected between the end walls of the deployment gear cavity 60. The deployment drive gear... Shaft 63 is powered by a rotary motor fixedly installed inside the cross slide plate 38. A placement drive gear 62 is fixedly installed on the outer surface of the placement drive gear shaft 63. The placement drive gear 62 is meshed with the placement driven gear 61. The placement driven gear 61 is fixedly installed on the outer surface of the placement driven gear shaft 64. The placement driven gear shaft 64 is rotatably installed through the end wall of the placement gear cavity 60. A rotating plate 39 is fixedly connected to the lower end of the placement driven gear shaft 64. The rotating plate 39 is rotatably connected to the cross slide plate 38. A locking assembly is provided between the cross slide plate 38 and the rotating plate 39. A gripping assembly is provided on the rotating plate 39. The gripping assembly includes symmetrically arranged gripping grooves 67 on the side wall of the rotating plate 39. A gripping electric shaft 68 is rotatably connected between the end walls of the gripping grooves 67. The gripping electric shaft 68 is poweredly connected to a gripping motor fixedly installed in the rotating plate 39. A plurality of gripping claws 69 are fixedly connected to the outer surface of the gripping electric shaft 68. The gripping claws 69 are connected to each other by a plurality of stabilizing rods 71. Electromagnets 70 are installed on the stabilizing rods 71 ​​between adjacent gripping claws 69. The locking assembly includes stabilizing grooves 72 evenly distributed on the cross slide plate 38. The stabilizing grooves 72 extend into the rotating plate 39. The bottom wall of the stabilizing groove 72 is spherical. A stabilizing ball head rod 74 is slidably connected between the end walls of the stabilizing groove 72. A stabilizing spring 73 is engaged between the stabilizing ball head rod 74 and the top wall of the stabilizing groove 72. The lower head of the stabilizing ball head rod 74 is machined into a spherical shape and engages with the stabilizing groove 72 on the rotating plate 39, ensuring the stability of the rotating plate 39 and preventing wobbling. The lower mesh plate 77 is provided with an electrically adjustable support platform to provide lower support for the AUV body 59, further increasing stability. When the AUV body 59 is released, the support platform retracts and descends. After retraction, the support platform rises to provide support. During operation, the electric lead screw 81 is energized, causing it to rotate and push the cross slide plate 38 outward, thereby driving the rotating plate 39 to move. When the cross slide plate 38 reaches its limit position, the rotary motor is activated, driving the deployment drive gear shaft 63 to rotate, which in turn drives the deployment drive gear 62 to rotate. The deployment drive gear 62 meshes with the deployment driven gear 61, thereby driving the deployment driven gear shaft 64 to rotate, which in turn drives the rotating plate 39 to rotate, and ultimately drives the AUV body 59 to rotate. When the AUV body 59 is moved to the outside and rotated to the outside, the electromagnet 70 is de-energized, releasing its adsorption on the surface of the AUV body 59. The gripping motor is then activated, which drives the clamping electric shaft 68 to rotate, thereby driving the gripping claw 69 to rotate and releasing its grip on the AUV body 59. When retrieving the AUV body 59, the above release process can be reversed. The monitoring probe 17 monitors the position of the AUV body 59 and sends signals in a timely manner to facilitate better retrieval.

[0029] Advantageously, the direction adjustment mechanism includes an upper pusher seat 22 connected to the lower part of the upper partition plate 78, a lower pusher seat 30 fixedly connected to the lower partition plate 76 on the lower side of the upper pusher seat 22, and a lower pusher 31 installed on the lower pusher seat 30; During operation, the upper pusher seat 22 and the lower pusher 31 are activated to generate a corresponding thrust, which interacts with the water body to achieve a certain rotation adjustment of the whole, thereby achieving adjustment of direction and position.

[0030] Advantageously, the hoisting mechanism includes a hoisting cable connector 8 installed on the upper partition plate 78, a hoisting cable 2 connected to the hoisting cable connector 8, a hoisting plate 28 installed on the crossbar 26 and the lower partition plate 76, a hoisting cable hanger 29 connected to the top of the hoisting plate 28, the hoisting cable 2 connected to the hoisting cable hanger 29, and a hoisting cable bottom connector 82 connected to the placement and fixing frame 32, the hoisting cable 2 connected to the hoisting cable bottom connector 82. During operation, the entire unit is lowered into the water using the hoisting cable 2, thus achieving the hoisting of the entire unit.

[0031] Advantageously, the angle adjustment mechanism includes angle adjustment thrusters 23 evenly installed on the lower part of the lower partition 76; During operation, the corresponding angle adjustment thruster 23 is activated, causing the angle adjustment thruster 23 to move and generate corresponding thrust, thereby adjusting the overall angle tilt and enabling playful adjustments.

[0032] Advantageously, a storage battery 57 is installed on the lower partition 76 on the lower side of the lifting plate 28. The storage battery 57 supplies power to the electrical components in the device. A control box base 66 is installed on the rectangular rod 75 and the frame connecting rod 5. A control box 65 is installed on the control box base 66. The control box 65 is equipped with a control processor. The control processor is connected to the electrical components in the device to control the electrical components.

[0033] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0034] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multibeam mount suitable for seabed forward and backward detection, characterized in that: The system includes a main frame, a support and leveling mechanism at the bottom of the main frame, detection mechanisms symmetrically connected to the main frame, an emergency fixing mechanism connected to the main frame, a hoisting mechanism connected to the main frame, a deployment and retrieval mechanism connected to the main frame, a direction adjustment mechanism connected to the main frame, and an angle adjustment mechanism connected to the bottom of the main frame. The support and leveling mechanism is used to support and level the main frame on the seabed; the detection mechanism is used to perform multi-beam detection on the seabed; the emergency fixing mechanism is used to fix the main frame in case of severe sea conditions; the hoisting mechanism is used to hoist the main frame for easy lowering into the sea; the deployment and recovery mechanism is used to deploy and recover the AUV used for underwater detection; the direction adjustment mechanism is used to adjust the direction of the main frame; and the angle adjustment mechanism is used to adjust the angle of the main frame during the descent.

2. The multibeam mount for seabed forward and backward detection according to claim 1, characterized in that: The main frame includes upper and lower rectangular frame plates (1), which are connected by rectangular rods (75) located at the four corners. Several crossbars (26) are connected between adjacent rectangular rods (75). Several upper partition plates (78) are connected to one end of the upper rectangular frame plate (1), and an upper polygonal frame (4) is connected to the other end of the upper partition plate (78). Several lower partition plates (76) are connected to one end of the lower rectangular frame plate (1), and a lower polygonal frame (6) is connected to the other end of the lower partition plate (76). The number of lower partition plates (76) is the same as that of upper partition plates (78), and they are installed vertically and vertically. Several frame connecting rods (5) are connected between the lower polygonal frame (6) and the upper polygonal frame (4). The upper partition plate (78) divides the upper polygonal frame (4) and the rectangular frame plate (1) into different shapes. An upper mesh plate (7) is installed between the upper partition plates (78). The upper mesh plate (7) is adapted to different shapes for installation. The lower partition (76) divides the lower polygonal frame (6) and the rectangular frame plate (1) into different shapes. A lower mesh plate (77) is installed between the lower partitions (76), and the lower mesh plate (77) is adapted to different shapes for installation.

3. A multibeam mount suitable for seabed forward and backward detection according to claim 2, characterized in that: The detection mechanism includes connecting blocks (14) symmetrically mounted on the lower polygonal frame (6). A brake gear shaft (36) is rotatably connected to the connecting block (14). The brake gear shaft (36) extends into a brake cavity (58) located within the connecting block (14). A brake gear (35) is fixedly mounted on the outer surface of the brake gear shaft (36). A brake tooth (34) is inserted into the brake gear (35). The brake tooth (34) is fixedly mounted on one end of a brake electric push rod (33). The other end of the brake electric push rod (33) is fixedly mounted on the end wall of the brake cavity (58). A detection frame (18) is fixedly mounted on the outer surface of the brake gear shaft (36). A detection mounting plate (40) is mounted on the detection frame (18). A three-dimensional multibeam (41) and a PHINS+DVL inertial navigation system (42) are mounted on the detection mounting plate (40). A multibeam (43) is mounted on the detection mounting plate (40). A signal acquisition and transmission device (79) is installed on the (18) detector frame. A protective net (11) is installed on the (18) detector frame. A hydraulic rod lower connector (10) is symmetrically fixed on the (18) detector frame. One end of a hydraulic rod (9) is hinged to the lower connector (10). The other end of the hydraulic rod (9) is hinged to the upper connector (20) hydraulic rod. The upper connector (20) hydraulic rod is fixedly installed on the lower part of the upper polygonal frame (4). The lower polygonal frame (6) A hydraulic cylinder (12) is installed on the cylinder (12), an oil pump (44) is installed on the oil pump (44), a three-way pipe (45) is installed on the oil pump (44), and different oil pipes (19) are connected to one end of the three-way pipe (45). The other end of the oil pipes (19) is connected to the hydraulic rod (9). A protective cover (13) is installed on the cylinder (12) to enclose the oil pump (44) and the three-way pipe (45). The oil pipes (19) pass through the protective cover (13).

4. A multibeam mount suitable for seabed forward and backward detection according to claim 3, characterized in that: The supporting leveling mechanism includes a connecting frame (24) evenly installed on the lower part of the lower polygonal frame (6). A ring base frame (15) is fixedly connected to the lower end of the connecting frame (24). A plurality of leveling electric cylinders (16) are evenly fixedly connected on the ring base frame (15). The moving end of the leveling electric cylinder (16) extends through to the bottom of the ring base frame (15). The moving end of the leveling electric cylinder (16) is connected to a leveling plate (21).

5. A multibeam mount suitable for seabed forward and backward detection according to claim 4, characterized in that: The emergency fixing mechanism includes a fixing cylinder (3) fixedly installed on the rectangular frame plate (1), a fixing disk (46) fixedly installed inside the fixing cylinder (3), a fixing gear cavity (47) provided inside the fixing disk (46), a fixing telescopic shaft (53) rotatably connected through the end wall of the fixing gear cavity (47), a driving gear (48) fixedly installed on the outer surface of the fixing telescopic shaft (53), the driving gear (48) meshing with a driven gear (49), the driven gear (49) fixedly installed on the outer surface of the fixing screw (50), and the fixing... The lead screw (50) is rotatably connected between the end walls of the fixed disk (46). The lower end of the fixed lead screw (50) is rotatably connected to the fixed lead screw mounting plate (80) fixed in the fixed cylinder (3). The fixed telescopic shaft (53) is powered by the emergency fixed motor fixed in the fixed disk (46). A fixed rotating cylinder (52) is fixedly installed on the outer surface of the fixed telescopic shaft (53). The outer surface of the fixed rotating cylinder (52) is provided with a spiral plate (54) in a mirror symmetrical manner. A fixed drill bit (25) is fixedly connected to the lower part of the fixed rotating cylinder (52). The fixed telescopic shaft (53) is telescopic, and the fixed rotating cylinder (52) is installed on the outer surface of the fixed telescopic shaft (53).

6. A multibeam mount suitable for seabed forward and backward detection according to claim 5, characterized in that: The deployment and retrieval mechanism is symmetrically arranged. The deployment and retrieval mechanism includes a deployment fixing frame connecting plate (37) fixedly connected between the frame connecting rods (5). A deployment fixing frame (32) is installed between the deployment fixing frame connecting plate (37) and the cross rod (26). The deployment fixing frame (32) is provided with a cross slide groove (83). An electric lead screw (81) is rotatably connected to the end wall of the cross slide groove (83). A cross slide plate (38) is threadedly connected to the outer surface of the electric lead screw (81). The cross slide plate (38) is slidably connected inside the electric lead screw (81). A deployment gear cavity (60) is provided inside the outer end of the cross slide plate (38). A deployment drive gear shaft (63) is rotatably connected between the end walls of the deployment gear cavity (60). 63) It is powered by a rotary motor fixedly installed in the cross slide plate (38). A placement drive gear (62) is fixedly installed on the outer surface of the placement drive gear shaft (63). The placement drive gear (62) is meshed with the placement driven gear (61). The placement driven gear (61) is fixedly installed on the outer surface of the placement driven gear shaft (64). The placement driven gear shaft (64) is rotatably installed through the end wall of the placement gear cavity (60). A rotating plate (39) is fixedly connected to the lower end of the placement driven gear shaft (64). The rotating plate (39) is rotatably connected to the cross slide plate (38). A locking assembly is provided between the cross slide plate (38) and the rotating plate (39). A gripping assembly is provided on the rotating plate (39). The gripping assembly includes symmetrically arranged clamping grooves (67) on the side wall of the rotating plate (39). A clamping electric shaft (68) is rotatably connected between the end walls of the clamping grooves (67). The clamping electric shaft (68) is poweredly connected to a gripping motor fixedly installed in the rotating plate (39). A plurality of gripping claws (69) are fixedly connected to the outer surface of the clamping electric shaft (68). The gripping claws (69) are connected to each other by a plurality of stabilizing rods (71). Electromagnets (70) are installed on the stabilizing rods (71) between adjacent gripping claws (69). The locking assembly includes stabilizing grooves (72) evenly distributed on the cross slide plate (38). The stabilizing grooves (72) extend into the rotating plate (39). The bottom wall of the stabilizing groove (72) is spherical. A stabilizing ball head rod (74) is slidably connected between the end walls of the stabilizing groove (72). A stabilizing spring (73) is engaged between the stabilizing ball head rod (74) and the top wall of the stabilizing groove (72). The lower head of the stabilizing ball head rod (74) is machined into a spherical shape and is engaged into the stabilizing groove (72) on the rotating plate (39).

7. A multibeam mount suitable for seabed fore-and-aft detection according to claim 6, characterized in that: The direction adjustment mechanism includes an upper pusher seat (22) connected to the lower part of the upper partition plate (78), a lower pusher seat (30) fixedly connected to the lower partition plate (76) below the upper pusher seat (22), and a lower pusher (31) installed on the lower pusher seat (30).

8. A multibeam mount suitable for seabed forward and backward detection according to claim 7, characterized in that: The hoisting mechanism includes a hoisting cable connector (8) installed on the upper partition plate (78), a hoisting cable (2) connected to the hoisting cable connector (8), a hoisting plate (28) installed on the crossbar (26) and the lower partition plate (76), a hoisting cable hanger (29) connected to the top of the hoisting plate (28), the hoisting cable hanger (29) connected to the hoisting cable (2), a bottom connector (82) connected to the placement and fixing frame (32), and the hoisting cable (2) connected to the bottom connector (82).

9. A multibeam mount suitable for seabed forward and backward detection according to claim 8, characterized in that: The angle adjustment mechanism includes angle adjustment thrusters (23) evenly installed on the lower part of the lower partition (76).

10. A multibeam mount suitable for seabed forward and backward detection according to claim 9, characterized in that: A battery (57) is installed on the lower partition (76) on the lower side of the hoisting plate (28), and a control box base (66) is installed on the rectangular rod (75) and the frame connecting rod (5), and a control box (65) is installed on the control box base (66).

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