Wearable underwater power-assisted propulsion and control system

Abstract

The invention provides a wearable underwater power-assisted propulsion and control system, which comprises a propulsion module, a support module, a control module and an energy module, and specifically adopts a wearable double-propeller design, so that the problem of unbalanced rolling of a single propeller is solved, and two hands are liberated, so that the operation is more flexible; by means of the exoskeleton supporting module, the weight of the booster and other devices can be dispersed to the legs and the belly, the boosting supporting effect can be achieved even in the land environment, and the fatigue feeling of a wearer is reduced. Meanwhile, a manual control mode and an automatic control mode are integrated, operation is convenient and flexible, the navigational speed and the navigational direction can be automatically controlled through the posture and navigation sensor in the automatic mode, and the operation requirement and dependence on a wearer are reduced. The amphibious robot has the following beneficial effects that the amphibious robot has the characteristics of self-balancing type double propulsion modules, a wearable exoskeleton supporting structure, a self-adaptive two-way control mode, amphibious assistance and the like.

Description

Technical Field

[0001] The present invention relates to the field of underwater power-assisting equipment, and in particular to a wearable underwater power-assisting propulsion and control system. Background Art

[0002] As the scope of underwater operations continues to expand, the difficulty and complexity of divers performing underwater tasks are also increasing. Traditional diving methods are often limited by divers' physical strength, underwater visibility, and the complexity of the underwater environment. Therefore, it is particularly important to develop a device that can assist divers in working efficiently and safely underwater. Underwater boosters came into being. By providing additional propulsion, it helps divers move faster underwater, while reducing physical exertion and improving work efficiency.

[0003] At present, underwater boosters are mainly used for frogmen's underwater combat, and are mainly divided into dry underwater vehicles, wet underwater vehicles and handheld individual boosters. Among them, wet underwater vehicles include the US Navy's MK-VIII MOD1, Italy's underwater vehicle CosMos CE2F, the SEAL SDV designed by Sweden's DCE AB, and Germany's Gabler SDV; dry underwater vehicles include the US's Advanced SEAL Delivery System and Sweden's Sea Dagger. These frogmen's boosters are all multi-person boosters, which are relatively large in size, inconvenient to transport and recover, and are also not conducive to frogmen's individual combat. Therefore, the navies of various countries began to develop small frogman carriers suitable for single and double soldiers. Currently, the most widely used ones include the MK-7 / MK-8 series produced by Farallon of the United States, the UV-18 / UV-26 / UV-42 developed by Submerge, the DV series of Tekna, the Mako of Oceanic, the SEABOB Shadow 730 and DIVEJET414 underwater carriers of Rotinor of Germany, and the Protei-5 frogman carrier of Russia. However, these single-soldier boosters still have the following problems:

[0004] First, they are large and inconvenient to carry. Most commonly used underwater vehicles require a special mother ship or deployment and recovery system, and small vehicles also require at least 2-3 people to drag. Only the single-person booster is designed to be carried by one person, but the weight is generally more than ten kilograms, which seriously affects the carrying capacity of other equipment for a single soldier; at the same time, the current boosters only consider the underwater use environment, but no corresponding weight reduction measures are taken for the land environment before launching and after landing, which puts too much burden on the user before launching.

[0005] Second, it is handheld and inflexible. The commonly used handheld boosters require both hands to hold the handle at all times, which restricts both hands and makes it difficult to operate / fight flexibly. At the same time, due to size limitations, handheld boosters all use a single thruster structure, which will generate a rolling torque, resulting in the need for additional balancing torque during operation, which further reduces flexibility.

[0006] Third, there are few functions and low intelligence. Currently, the commonly used individual boosters only have boosting functions, and underwater navigation and positioning require additional systems. That is, when a single soldier moves over long distances, he needs to operate the navigation system and the booster at the same time, which is inefficient and complicated to operate.

[0007] Fourth, the human-machine coupling design is not fully considered. Currently, underwater combat and operations require carrying a large number of tools and life support systems, with a total weight of up to dozens of kilograms, but they are mainly weighed on shoulders; the booster is also used as a separate equipment, without good coupling with humans, causing discomfort and other problems.

[0008] Therefore, on the basis of fully considering the principle of ergonomics, an integrated, lightweight and amphibious wearable underwater booster is provided, which has important application prospects in underwater search and rescue, underwater detection, underwater scientific research, underwater photography, diving and other entertainment and recreation fields. Summary of the invention

[0009] The present invention provides a wearable underwater power-assisted propulsion and control system, which has the characteristics of a self-balancing dual propulsion module, a wearable exoskeleton support structure, an adaptive dual-path control mode, and amphibious power assistance. Specifically, the wearable dual-thruster design solves the roll imbalance problem of a single thruster, making it more convenient and comfortable to carry, freeing both hands, and making the operation more flexible; through the exoskeleton support module designed based on ergonomics, the weight of the booster and other equipment can be distributed to the legs and abdomen, and a power-assisted support effect can be generated even in a land environment, reducing the wearer's fatigue. At the same time, both manual and automatic control modes are integrated. In the manual mode, a knob-type speed regulator is used to steplessly adjust the thrust of the propulsion system, which is convenient and flexible to operate. In the automatic mode, attitude and navigation sensors are used to automatically control the speed and heading, reducing the operating requirements and dependence on the wearer.

[0010] In order to solve the above technical problems, the embodiment of the present application provides a wearable underwater power-assisted propulsion and control system, which is characterized in that it includes a propulsion module, a support module, a control module and an energy module. The propulsion module includes a left-hand propeller and a right-hand propeller. Each propeller includes a sealed cabin, a protective mesh cover, a fairing, a propeller and a watertight socket. A motor and a driver are arranged in the sealed cabin. The output shaft of the motor is connected to the propeller after passing through a dynamic sealing assembly. The end of the sealed cabin close to the propeller is a conical structure, which is connected to the fairing on the side through a support rod. A protective mesh cover is arranged between the fairing and the sealed cabin. The fairing and the propeller are coaxially installed, and the rotation directions of the propellers on the left-hand propeller and the right-hand propeller are different. The driver is arranged at the end of the sealed cabin away from the propeller, and is fixedly connected to the shell of the sealed cabin through a heat sink. The output end of the driver is connected to the motor through a wire, and the input end is connected to the control module through a watertight socket.

[0011] The support module comprises a left leg support frame, a right leg support frame and a waist support frame. A group of fixing rings are respectively provided in the middle of the left leg support frame and the right leg support frame. The fixing rings are provided with a quick-lock buckle device. The diameter of the fixing ring matches the outer diameter of the sealed motor. A threaded hole fixedly connected to the left leg support frame and the right leg support frame is provided on the other side. Flexible straps fitting the legs are provided at the upper and lower ends of the left leg support frame and the right leg support frame. The upper ends of the left leg support frame and the right leg support frame are connected to the waist support frame through a spherical coupling. The waist support frame is fitted The semi-circular structure of the human waist structure has a flexible abdominal strap on the side close to the abdomen, a rigid storage plate is provided on the back, the storage plate is connected to the waist support frame through a pin shaft, a spring is provided at the connection between the waist support frame and the left leg support frame and the right leg support frame, the upper end surface of the storage plate is provided with a fixing interface matching the gas cylinder frame, an inverted triangle controller fixing plate is provided on both sides of the waist support frame, a fixing hole fixedly connected to the control module is provided on the surface of the controller fixing plate, and the lower end of the controller fixing plate is connected to the left leg support frame and the right leg support frame through a spherical coupling;

[0012] The control module includes an information processor, a speed regulator, a status display, a power controller and a posture sensor. The external interface of the information processor is connected to the propulsion module and the energy module respectively through a watertight cable, and communicates with each other through a digital communication interface. The internal interface is connected to the speed regulator, the status display, the power controller and the posture sensor respectively through a pin connector, and communicates with each other; the speed regulator is a knob-type stepless regulator, and the voltage signals corresponding to different positions are transmitted to the information processor and then converted into corresponding digital signals, and sent to the drivers in the left-hand propeller and the right-hand propeller through a watertight cable to control the motor to rotate. At the same time, the driver transmits the running status signal of the motor to the information processor for storage and control. The information processor is provided with a speed closed-loop control algorithm, and the speed of the left-hand propeller and the right-hand propeller is controlled to remain consistent according to the speed signal returned by the driver; the power controller is provided with a power switch module and a power monitoring module, and It is connected to the power management system in the energy module, the power switch module is connected to the external mechanical switch, and the power monitoring module is connected to the power display screen on the status display; the status display is also provided with a status indicator light to display the status of the propulsion module; the posture sensor includes a gyroscope, an inertial navigation and a pressure sensor, and is connected to the information processor, the information processor is provided with an attitude adaptation and automatic navigation algorithm, wherein the input signal of the attitude adaptation algorithm is the heading signal of the gyroscope, and the output signal is the three-dimensional speed signal of the motor, and the adaptive adjustment of the navigation attitude is controlled by the differential speed control of the left-hand propeller and the right-hand propeller; the input signal of the automatic navigation algorithm is the target position coordinate, and at the same time, according to the real-time navigation information of the inertial navigation and the information processor, the rotation speed of the left-hand propeller and the right-hand propeller is controlled, and then the navigation speed and heading are automatically controlled; the pressure sensor is connected to the overpressure alarm in the status display after signal processing by the information processor;

[0013] The energy module includes a power management system, a battery pack and a power sealed cabin. The positive and negative poles of the battery pack are connected to the power management system, and the power management system is connected to the control module. The power sealed cabin is a cylindrical structure with a power socket at both ends, which are respectively connected to the watertight sockets on the sealed cabins of the left-hand propeller and the right-hand propeller through watertight cables; a charging socket is provided on the end face of one end of the power sealed cabin, and a communication socket is provided on the end face of the other end.

[0014] As a preferred embodiment of the present solution, the structures of the various components in the support module meet the requirements of ergonomics, the inner surfaces of the rigid fixed components are provided with flexible pads, the rigid components are made of carbon fiber, and the fixed connections use embedded metal connectors.

[0015] As a preferred embodiment of the present solution, the communication mode of the external interface of the information processor adopts the CAN communication protocol.

[0016] As a preferred embodiment of the present scheme, the rotation direction of the propeller in the left-handed propeller when generating positive thrust is clockwise, and the rotation direction of the propeller in the right-handed propeller when generating positive thrust is counterclockwise.

[0017] As a preferred embodiment of the present solution, the control module includes two modes: manual control and automatic control, wherein the default state is manual control, and the priority of manual control is higher than that of automatic control.

[0018] As a preferred embodiment of the present solution, the number of cores of the power socket, the charging socket and the communication socket are different.

[0019] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0020] The present invention provides a wearable underwater power-assisted propulsion and control system, which has the characteristics of a self-balancing dual propulsion module, a wearable exoskeleton support structure, an adaptive dual-path control mode, and amphibious power assistance. Specifically, the wearable dual-thruster design solves the roll imbalance problem of a single thruster, making it more convenient and comfortable to carry, freeing both hands, and making the operation more flexible; through the exoskeleton support module designed based on ergonomics, the weight of the booster and other equipment can be distributed to the legs and abdomen, and a power-assisted support effect can be generated even in a land environment, reducing the wearer's fatigue. At the same time, both manual and automatic control modes are integrated. In the manual mode, a knob-type speed regulator is used to steplessly adjust the thrust of the propulsion system, which is convenient and flexible to operate. In the automatic mode, attitude and navigation sensors are used to automatically control the speed and heading, reducing the operating requirements and dependence on the wearer. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0022] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application;

[0023] Figure 2 is a schematic diagram of the propulsion module structure of an embodiment of the present application;

[0024] Figure 3is a schematic diagram of the structure of a sealed cabin in a propulsion module in an embodiment of the present application;

[0025] Figure 4 is a schematic diagram of the support module structure of an embodiment of the present application;

[0026] Figure 5 is a schematic diagram of the control module structure of an embodiment of the present application;

[0027] Figure 6 is a schematic diagram of the external mechanical structure of the control module of an embodiment of the present application;

[0028] Figure 7 is a schematic diagram of the energy module structure of an embodiment of the present application;

[0029] Figure 1-Figure 7 In: 1. Propulsion module, 1-1. Left-hand propeller, 1-2. Right-hand propeller, 1-3. Sealed cabin, 1-4. Protective net cover, 1-5. Fairing, 1-6. Propeller, 1-7. Watertight socket, 1-8. Motor, 1-9. Driver, 1-10. Dynamic seal assembly, 1-11. Support rod, 1-12. Heat sink, 2. Support module, 2-1. Left leg support frame, 2-2. Right leg support frame, 2-3. Waist support frame, 2-4. Fixed ring, 2-5. Flexible strap, 2-6. Ball coupling, 2-7. Abdominal strap, 2-8. Storage board, 2-9. Spring, 2-10. Controller Fixed plate, 3. Control module, 3-1. Information processor, 3-2. Speed ​​regulator, 3-3. Status display, 3-4. Power controller, 3-5. Posture sensor, 3-6. Power switch module, 3-7. Power monitoring module, 3-8. Power display screen, 3-9. Status indicator light, 3-10. Gyroscope, 3-11. Inertial navigation, 3-12. Pressure sensor, 3-13. Pressure alarm, 4. Energy module, 4-1. Power management system, 4-2. Battery pack, 4-3. Power sealed cabin, 4-4. Power socket, 4-5. Charging socket, 4-6. Communication socket, 5. Gas cylinder rack. DETAILED DESCRIPTION

[0030] A wearable underwater power-assisted propulsion and control system, characterized in that it includes a propulsion module 1, a support module 2, a control module 3 and an energy module 4, wherein the propulsion module 1 includes a left-hand propeller 1-1 and a right-hand propeller 1-2, each propeller includes a sealed cabin 1-3, a protective net cover 1-4, a deflector 1-5, a propeller 1-6 and a watertight socket 1-7, a motor 1-8 and a driver 1-9 are arranged in the sealed cabin 1-3, an output shaft of the motor 1-8 is connected to the propeller 1-6 after passing through a dynamic sealing assembly 1-10, and one end of the sealed cabin 1-3 close to the propeller 1-6 is a conical structure, The side surface is connected to the fairing 1-5 through a support rod 1-11, a protective mesh cover 1-4 is provided between the fairing 1-5 and the sealed cabin 1-3, the fairing 1-5 and the propeller 1-6 are coaxially installed, and the rotation directions of the propellers 1-6 on the left-hand propeller 1-1 and the right-hand propeller 1-2 are different; the driver 1-9 is arranged at one end of the sealed cabin 1-3 away from the propeller 1-6, and is fixedly connected to the outer shell of the sealed cabin 1-3 through a heat sink 1-12, the output end of the driver 1-9 is connected to the motor 1-8 through a wire, and the input end is connected to the control module 3 through a watertight socket 1-7;

[0031] The support module 2 includes a left leg support frame 2-1, a right leg support frame 2-2 and a waist support frame 2-3. A group of fixing rings 2-4 are respectively provided in the middle of the left leg support frame 2-1 and the right leg support frame 2-2. The fixing ring 2-4 is provided with a quick-lock buckle device. The diameter of the fixing ring 2-4 matches the outer diameter of the sealed motor 1-3. The other side is provided with a threaded hole fixedly connected to the left leg support frame 2-1 and the right leg support frame 2-2. The upper and lower ends of the left leg support frame 2-1 and the right leg support frame 2-2 are provided with flexible straps 2-5 that fit the legs. The upper ends of the left leg support frame 2-1 and the right leg support frame 2-2 are connected to the waist support frame 2-3 through a spherical coupling 2-6; the waist support frame 2-3 It is a semi-circular structure that fits the waist structure of the human body. The side close to the abdomen is a flexible abdominal strap 2-7, and the back is provided with a rigid storage plate 2-8. The storage plate 2-8 is connected to the waist support frame 2-3 through a pin shaft. A spring 2-9 is provided at the connection between the waist support frame 2-3 and the left leg support frame 2-1 and the right leg support frame 2-2. The upper end surface of the storage plate 2-8 is provided with a fixing interface matching the gas cylinder rack 5. Inverted triangle controller fixing plates 2-10 are provided on both sides of the waist support frame 2-3. Fixing holes fixedly connected to the control module 3 are provided on the surface of the controller fixing plate 2-10. The lower end of the controller fixing plate 2-10 is connected to the left leg support frame 2-1 and the right leg support frame 2-2 through a spherical coupling 2-6;

[0032] The control module 3 includes an information processor 3-1, a speed regulator 3-2, a status display 3-3, a power controller 3-4 and a posture sensor 3-5. The external interface of the information processor 3-1 is connected to the propulsion module 1 and the energy module 4 respectively through a watertight cable, and communicates with each other through a digital communication interface. The internal interface is connected to the speed regulator 3-2, the status display 3-3, the power controller 3-4 and the posture sensor 3-5 respectively through a pin connector, and communicates with each other; the speed regulator 3-2 is a knob-type stepless regulator, and the voltage signals corresponding to different positions are transmitted to the information processor 3-1 is converted into a corresponding digital signal and sent to the driver 1-9 in the left-hand propeller 1-1 and the right-hand propeller 1-2 through a watertight cable to control the motor 1-8 to rotate. At the same time, the driver 1-9 transmits the operating status signal of the motor 1-8 to the information processor 3-1 for storage and control. The information processor 3-1 is provided with a speed closed-loop control algorithm. According to the speed signal returned by the driver 1-9, the speed of the left-hand propeller 1-1 and the right-hand propeller 1-2 is controlled to be consistent; the power controller 3-4 is provided with a power switch module 3-6 and a power monitoring module 3-7, and is connected with the energy The power management system 4-1 in the source module 4 is connected, the power switch module 3-6 is connected to the external mechanical switch, and the power monitoring module 3-7 is connected to the power display screen 3-8 on the status display 3-3; the status display 3-3 is also provided with a status indicator light 3-9 to display the status of the propulsion module 1; the posture sensor 3-5 includes a gyroscope 3-10, an inertial navigation 3-11 and a pressure sensor 3-12, and is connected to the information processor 3-1, and the information processor 3-1 is provided with an attitude adaptation and automatic navigation algorithm, wherein the input signal of the attitude adaptation algorithm is the gyroscope 3 -10 heading signal, the output signal is the three-dimensional speed signal of the motor 1-8, and the adaptive adjustment of the navigation attitude is controlled by the differential speed of the left-hand propeller 1-1 and the right-hand propeller 1-2; the input signal of the automatic navigation algorithm is the target position coordinate, and at the same time, according to the real-time navigation information of the inertial navigation 3-11 and the information processor 3-1, the speed of the left-hand propeller 1-1 and the right-hand propeller 1-2 is controlled, and then the navigation speed and heading are automatically controlled; the pressure sensor 3-12 is connected to the overpressure alarm 3-13 in the status display 3-4 after signal processing by the information processor 3-1;

[0033] The energy module 4 includes a power management system 4-1, a battery pack 4-2 and a power sealed cabin 4-3. The positive and negative poles of the battery pack 4-2 are connected to the power management system 4-1, and the power management system 4-1 is connected to the control module 3. The power sealed cabin 4-3 is a cylindrical structure, and a power socket 4-4 is provided at both ends, which are respectively connected to the watertight sockets on the sealed cabins 1-3 of the left-hand propeller 1-1 and the right-hand propeller 1-2 through watertight cables; a charging socket 4-5 is provided on the end face of one end of the power sealed cabin 4-3, and a communication socket 4-6 is provided on the end face of the other end.

[0034] Among them, in actual application, it is characterized in that the structure of each component in the support module 2 meets the requirements of ergonomics, the inner surface of the rigid fixed component is provided with a flexible pad, the material of the rigid component is carbon fiber, and the fixed connection uses an embedded metal connector, which improves the wearer's comfort and reduces the overall weight while ensuring the overall strength.

[0035] Among them, in actual application, it is characterized in that the communication method of the external interface of the information processor 3-1 adopts the CAN communication protocol. The CAN communication method has the characteristics of strong anti-interference and good scalability. The CAN communication method can be used to make each component into an independent module, thereby realizing a modular design. Different modules can be easily replaced at any time, or new functional modules can be added.

[0036] Among them, in actual application, it is characterized in that the rotation direction of the propeller 1-6 in the left-hand propeller 1-1 when generating positive thrust is clockwise, and the rotation direction of the propeller 1-6 in the right-hand propeller 1-2 when generating positive thrust is counterclockwise. When moving underwater at high speed, people's legs are naturally separated. Therefore, when using the above-mentioned rotation direction, the torque generated by the propeller 1-6 is toward the outside of the legs, which is suitable for the natural state of the human body, and avoids the reaction torque generated by the propeller 1-6 that causes the legs to tighten, thereby causing discomfort to the user.

[0037] Among them, in actual application, it is characterized in that the control module 3 includes two modes of manual control and automatic control, wherein the default state is manual control, and the priority of manual control is higher than that of automatic control. Manual control is that the wearer adjusts the speed by adjusting the knob, adjusts the direction according to his own judgment and the prompt of the navigation system, and performs emergency avoidance and other operations; in the automatic control mode, the control module 3 will plan the path according to the set speed and target coordinates, and automatically adjust and control the propulsion module 1, but in the automatic control mode, the manual control mode can also intervene at any time, and give priority to replacing the instructions issued by the automatic control mode, which can improve the safety of movement.

[0038] Among them, in actual application, it is characterized in that the number of cores of the power socket 4-4, the charging socket 4-5 and the communication socket 4-6 are different, which can effectively prevent wrong insertion and avoid damage to the equipment due to wrong insertion of cables.

[0039] How it works

[0040] Fix the left-handed propeller 1-1 to the left leg support frame 2-2 with bolts through the fixing ring 2-4, and fix the right-handed propeller 1-2 to the right leg support frame 2-3 with bolts through the fixing ring 2-4, then fix the support module to the wearer through the flexible strap 2-5 and the abdominal strap 2-7, and fix the gas cylinder to the wearer's back through the gas cylinder holder 5.

[0041] The control module 3 and the energy module 4 are fixed to the support module 1 by bolts through the storage plate 2-8 and the controller fixing plate 2-10, and the power socket 4-4 is connected to the left-rotating propeller 1-1 and the right-rotating propeller 1-2 respectively by watertight cables. At the same time, the control module 3 and the energy module 4 are connected by watertight cables.

[0042] The drivers 1-9, information processor 3-1, speed regulator 3-2, status display 3-3, power controller 3-4, and posture sensor 3-5 of the two motors 1-8 are connected to realize overall control.

[0043] According to the status display 3-3 and the motor speed, the speed is adjusted through the speed closed-loop algorithm to ensure the correct underwater posture of the wearer. At the same time, the speed regulator 3-2 can be used to achieve stepless speed regulation to control the thrust of the propulsion module 1. Different gears can also be set. The parameters in each gear include the speed of the motor 1-8 of the propulsion module 1, the current and voltage of the energy module 4. The higher the speed of the motor 1-8, the greater the current, the greater the voltage, the faster the power consumption, the greater the thrust, and the faster the propulsion speed.

[0044] The power monitoring module 3-7 will monitor the remaining power of the battery pack 4-2 at any time. When the power is too low to meet the wearer's return power requirement, the power display screen 3-8 and the status indicator light 3-9 will sound an alarm to remind the wearer. When the wearer dives too deep into the water, the deep water pressure will cause damage to the human body. When the pressure sensor 3-12 senses that the pressure is higher than the safe value, it will feedback to the wearer through the pressure alarm 3-13 and reduce the speed of the motor 1-8 so that the human body can achieve positive buoyancy to ensure the wearer's safety.

[0045] At the same time, the information processor 3-1 is provided with a speed closed-loop control program, and the posture sensor 3-5 includes a gyroscope 3-10, an inertial navigation 3-11 and a pressure sensor 3-12, and is connected to the information processor 3-1. The information processor 3-1 is provided with an attitude adaptation and automatic navigation algorithm, and two control methods are provided, namely manual control and automatic control. The wearer can use the speed regulator 3-2 to control the speed. When the wearer's hand leaves the control speed regulator 3-2 for a period of time, the wearer's posture state is judged to determine whether the wearer is in a cruising state and automatically switches to the automatic control mode. However, the manual control mode has a higher priority than the automatic control, and the automatic control mode can be interrupted at any time. When the motor 1-8 is blocked, the speed feedback signal is too small, but the current does not match it, and the information processor 3-1 will command the motor 1-8 to stop rotating to prevent the motor from burning due to excessive current, and the status indicator 3-9 will flash a red light alarm.

[0046] The above description is only a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technician familiar with the profession can make some changes or modifications to equivalent embodiments of equivalent changes using the technical contents disclosed above without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the scope of the technical solution of the present invention.

Claims

1. A wearable underwater power propulsion and control system, characterized in that: The invention comprises a propulsion module (1), a support module (2), a control module (3) and an energy module (4); the propulsion module (1) comprises a left-hand propeller (1-1) and a right-hand propeller (1-2); each propeller comprises a sealed cabin (1-3), a protective net cover (1-4), a deflector (1-5), a propeller (1-6) and a watertight socket (1-7); a motor (1-8) and a driver (1-9) are arranged in the sealed cabin (1-3); an output shaft of the motor (1-8) is connected to the propeller (1-6) through a dynamic sealing assembly (1-10); one end of the sealed cabin (1-3) close to the propeller (1-6) is a conical structure; a support rod (1-10) is provided on the side of the sealed cabin (1-3) to connect the propeller (1-6) and the propeller (1-6) to the sealed cabin (1-3); 11) is connected to the fairing (1-5), a protective mesh cover (1-4) is provided between the fairing (1-5) and the sealed cabin (1-3), the fairing (1-5) and the propeller (1-6) are coaxially mounted, and the propellers (1-6) on the left-hand propeller (1-1) and the right-hand propeller (1-2) have different rotation directions; the driver (1-9) is arranged at one end of the sealed cabin (1-3) away from the propeller (1-6), and is fixedly connected to the outer shell of the sealed cabin (1-3) through a heat sink (1-12), the output end of the driver (1-9) is connected to the motor (1-8) through a wire, and the input end is connected to the control module (3) through a watertight socket (1-7); The support module (2) comprises a left leg support frame (2-1), a right leg support frame (2-2) and a waist support frame (2-3), wherein a group of fixing rings (2-4) are respectively arranged in the middle of the left leg support frame (2-1) and the right leg support frame (2-2), and the fixing rings (2-4) are provided with a quick-lock buckle device, the diameter of the fixing ring (2-4) matches the outer diameter of the sealed cabin (1-3) of the propulsion module (2), and the other side is provided with a threaded hole fixedly connected to the left leg support frame (2-1) and the right leg support frame (2-2), and the upper and lower ends of the left leg support frame (2-1) and the right leg support frame (2-2) are provided with flexible straps (2-5) that fit the legs, and the upper ends of the left leg support frame (2-1) and the right leg support frame (2-2) are connected to the waist support frame (2-3) through a spherical coupling (2-6); the waist support frame (2-3) is a semi-circular structure that fits the waist structure of the human body, and a flexible abdominal strap (2-7) is provided on the side close to the abdomen. A rigid storage plate (2-8) is provided on the back. The storage plate (2-8) is connected to the waist support frame (2-3) through a pin shaft. A spring (2-9) is provided at the connection between the waist support frame (2-3) and the left leg support frame (2-1) and the right leg support frame (2-2). The upper end surface of the storage plate (2-8) is provided with a fixing interface that matches the gas cylinder frame (5). Inverted triangle controller fixing plates (2-10) are provided on both sides of the waist support frame (2-3). A fixing hole that is fixedly connected to the control module (3) is provided on the surface of the controller fixing plate (2-10). The lower end of the controller fixing plate (2-10) is connected to the left leg support frame (2-1) and the right leg support frame (2-2) through a spherical coupling (2-6); The control module (3) comprises an information processor (3-1), a speed regulator (3-2), a status display (3-3), a power controller (3-4) and a posture sensor (3-5); the external interface of the information processor (3-1) is connected to the propulsion module (1) and the energy module (4) respectively through a watertight cable, and communicates with each other through a digital communication interface; the internal interface is connected to the speed regulator (3-2), the status display (3-3), the power controller (3-4) and the posture sensor (3-5) respectively through a pin connector, and communicates with each other; the speed regulator (3-2) is a knob-type stepless regulator, and voltage signals corresponding to different positions are transmitted to the information processor (3-1) is converted into a corresponding digital signal and sent to the driver (1-9) in the left-hand propeller (1-1) and the right-hand propeller (1-2) through a watertight cable to control the motor (1-8) to rotate. At the same time, the driver (1-9) transmits the running status signal of the motor (1-8) to the information processor (3-1) for storage and control. The information processor (3-1) is provided with a speed closed-loop control algorithm. According to the speed signal returned by the driver (1-9), the speed of the left-hand propeller (1-1) and the right-hand propeller (1-2) are controlled to be consistent. The power controller (3-4) is provided with a power switch module (3-6) and a power monitoring module (3-7), and The power switch module (3-6) is connected to the power management system (4-1) in the energy module (4), the power switch module (3-6) is connected to the external mechanical switch, and the power monitoring module (3-7) is connected to the power display screen (3-8) on the status display (3-3); the status display (3-3) is also provided with a status indicator light (3-9) to display the status of the propulsion module (1); the posture sensor (3-5) includes a gyroscope (3-10), an inertial navigation (3-11) and a pressure sensor (3-12), and is connected to the information processor (3-1), and the information processor (3-1) is provided with a posture adaptation and automatic navigation algorithm, wherein the input signal of the posture adaptation algorithm is The heading signal of the gyroscope (3-10) is an output signal of a three-dimensional rotation speed signal of the motor (1-8), and the differential speed of the left-hand propeller (1-1) and the right-hand propeller (1-2) is used to control the adaptive adjustment of the navigation attitude; the input signal of the automatic navigation algorithm is the target position coordinate, and the rotation speed of the left-hand propeller (1-1) and the right-hand propeller (1-2) is controlled according to the real-time navigation information of the inertial navigation (3-11) and the information processor (3-1), thereby automatically controlling the navigation speed and heading; the pressure sensor (3-12) is connected to the overpressure alarm (3-13) in the status display (3-4) after signal processing by the information processor (3-1); The energy module (4) comprises a power management system (4-1), a battery pack (4-2) and a power sealed cabin (4-3); the positive and negative electrodes of the battery pack (4-2) are connected to the power management system (4-1); the power management system (4-1) is connected to the control module (3); the power sealed cabin (4-3) is a cylindrical structure, and is provided with a power socket (4-4) at both ends, respectively connected to the watertight sockets on the sealed cabins (1-3) of the left-hand propeller (1-1) and the right-hand propeller (1-2) through watertight cables; a charging socket (4-5) is provided on the end surface of one end of the power sealed cabin (4-3), and a communication socket (4-6) is provided on the end surface of the other end.

2. A wearable underwater power propulsion and control system according to claim 1, characterized in that: The structures of the various components in the support module (2) meet the requirements of ergonomics. The inner surfaces of the rigid fixed components are provided with flexible pads. The rigid components are made of carbon fiber, and the fixed connections use embedded metal connectors.

3. A wearable underwater power propulsion and control system according to claim 1, characterized in that: The communication mode of the external interface of the information processor (3-1) adopts the CAN communication protocol.

4. A wearable underwater power propulsion and control system according to claim 1, characterized in that: The rotation direction of the propeller (1-6) in the left-handed propeller (1-1) when generating positive thrust is clockwise, and the rotation direction of the propeller (1-6) in the right-handed propeller (1-2) when generating positive thrust is counterclockwise.

5. A wearable underwater power propulsion and control system according to claim 1, characterized in that: The control module (3) includes two modes: manual control and automatic control, wherein the default state is manual control, and the priority of manual control is higher than that of automatic control.

6. A wearable underwater power propulsion and control system according to claim 1, characterized in that: The power socket (4-4), the charging socket (4-5) and the communication socket (4-6) have different numbers of cores.

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