Underwater hyper-redundant robotic sea eel

Abstract

The present invention relates to an underwater hyper-redundant robotic sea eel, comprising a control compartment, two flexible joints, a battery compartment and a functional compartment. The control compartment is connected to a side of the battery compartment by means of one flexible joint, and the functional compartment is connected to the other side of the battery compartment by means of the other flexible joint. The control compartment and the functional compartment comprise propellers that are equal in quantity and are evenly distributed. When the underwater hyper-redundant robotic sea eel is in a straightened state, each propeller of the control compartment has a corresponding propeller of the functional compartment, for which two propellers the connecting line is parallel to the central axis of the underwater hyper-redundant robotic sea eel. The rotation direction of each propeller of the control compartment is opposite to that of an adjacent propeller of the control compartment and that of the corresponding propeller of the functional compartment. Compared with the prior art, the present invention has the advantages of multiple dimensions of motion, a small turning radius, high trafficability, and high stability.

Description

An underwater super-redundant robot eel TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to an underwater super-redundant robot eel. BACKGROUND

[0002] With the development of seabed resource exploration, seabed facility maintenance and marine scientific research, the demand for underwater robots is gradually increasing. Underwater robots are mainly divided into two categories: remotely operated underwater vehicles (ROVs) and autonomous underwater vehicles (AUVs), both of which belong to single rigid systems. ROVs usually have six degrees of freedom of motion, but their large size and umbilical cable often limit their mobility in narrow spaces, making it difficult for them to pass through complex and narrow areas. Although AUVs are more streamlined and are not restricted by umbilical cables, most AUVs do not have complete six degrees of freedom of motion, which limits their mobility in complex and narrow areas.

[0003] However, traditional snake eel-shaped AUV robots often use a simulated biological serpentine motion mode, which limits their ability to pass through narrow underwater spaces to some extent. In addition, this serpentine motion gait also faces the problem of being unable to maintain a fixed position when working underwater, which to some extent reduces its potential for performing delicate operations. SUMMARY

[0004] The purpose of the present application is to overcome the deficiencies of the prior art, such as poor passability, low motion flexibility and poor stability, and to provide an underwater super-redundant robot eel.

[0005] The purpose of the present application can be achieved by the following technical solutions:

[0006] An underwater super-redundant robot eel includes a control bin, two flexible joints, a battery bin and a function bin. The control bin is connected to one side of the battery bin through a flexible joint, and the function bin is connected to the other side of the battery bin through another flexible joint. The control bin and the function bin each include an equal number of uniformly distributed thrusters, and the total number of thrusters is 4n, where n is greater than or equal to 2. In the straightened state, each thruster of the control bin has a corresponding thruster of the function bin with a line parallel to the central axis of the underwater super-redundant robot eel, and the paddle direction of each thruster of the control bin is opposite to the paddle direction of the adjacent thruster on the control bin and the paddle direction of the corresponding thruster of the function bin.

[0007] Further, the motion direction of the flexible joint includes stretching, bending and twisting.

[0008] Further, the angle between the thrust direction of each thruster of the control cabin and the axial direction of the control cabin is 45 degrees, and the angle between the thrust direction of each thruster of the function cabin and the axial direction of the function cabin is 45 degrees.

[0009] Further, the axial direction component of the thrust of each thruster of the control cabin is consistent, and the axial direction component of the thrust of each thruster of the function cabin is consistent.

[0010] Further, the battery cabin includes a plurality of connecting arms, which are evenly distributed at both ends of the battery cabin, and are used to connect the battery cabin and the flexible joint

[0011] Further, the battery cabin includes a Doppler log, which is installed at the center of the inner bottom of the battery cabin.

[0012] Further, the control cabin further includes a working tool and a rotary stepping motor, the working tool is arranged at the end of the control cabin or the function cabin away from the flexible joint, and the working tool is connected through the rotary stepping motor.

[0013] Further, the working tool is equipped with a plurality of cameras, each camera is symmetrically distributed with respect to the axis of the working tool, the angle between each camera and the axis of the working tool is 30 degrees, and the total angle of view field of each camera is at least 180 degrees.

[0014] Further, the control cabin includes a control cabin working tool, a control cabin lighting lamp, a control cabin camera, a control cabin head cabin body, a control cabin head cabin body end cover, a control cabin core cabin body front buoyancy block, a control cabin core cabin body front connecting arm, a control cabin circular watertight connector, a control cabin right-angled watertight connector, a control cabin core cabin body front end cover, a control cabin core cabin body instrument mounting plate, a control cabin core cabin body buoyancy shell, a control cabin core cabin body, a control cabin core cabin body rear end cover, a control cabin core cabin body rear buoyancy block, a control cabin core cabin body rear connecting arm, a control cabin head cabin body circuit board, a control cabin circuit board, a control cabin thruster driving circuit board and a main controller.

[0015] Specific splicing way is: the front end of the control warehouse core cabin body is provided with control warehouse core cabin body front end cover, through the control cabin core cabin body front connecting arm connects the control warehouse head cabin body control warehouse head cabin body end cover; the rear end of the control warehouse core cabin body is provided with control warehouse core cabin body rear end cover, through the control warehouse core cabin body rear connecting arm connects flexible joint, each control warehouse thruster is fixed on the control warehouse core cabin body rear connecting arm; The inside of the control warehouse core cabin body is provided with control cabin circuit board, control warehouse thruster drive circuit board and main controller, the main controller sends control signal to each thruster through control cabin circuit board and through control warehouse thruster drive circuit board; The outer wall of the control warehouse core cabin body is control warehouse core cabin body instrument mounting plate, the core cabin body buoyancy shell is installed and fixed through the control warehouse core cabin body instrument mounting plate; The outer surface of the control warehouse head cabin body away from the control warehouse head cabin body end cover side is provided with control warehouse operation tool, control warehouse illuminating lamp and control warehouse camera are arranged around control warehouse operation tool, control warehouse head cabin body is internally provided with control warehouse head cabin body circuit board; The control warehouse core cabin body front buoyancy block is installed and fixed through the control warehouse head cabin body end cover, control cabin core cabin body front connecting arm and control warehouse core cabin body front end cover; The control warehouse core cabin body rear buoyancy block is installed and fixed through the control warehouse core cabin body rear end cover, control warehouse core cabin body rear connecting arm and flexible joint; Control warehouse circular watertight connector is installed at the center of control warehouse head cabin body end cover, control warehouse core cabin body front end cover and control warehouse core cabin body rear end cover respectively; Control warehouse right angle watertight connector is installed on control warehouse core cabin body front end cover.

[0016] Further, the battery compartment includes a battery cabin connecting arm, a battery cabin two-end buoyancy block, a battery compartment right angle watertight connector, a battery cabin front end cover, a battery cabin buoyancy shell, a battery cabin instrument mounting plate, a battery cabin body, a Doppler log, a battery cabin rear end cover, a depth sensor, a plurality of battery compartment circular watertight connectors, a battery cabin circuit board and a power battery pack.

[0017] Specific connection mode is: the two ends of the battery cabin body are battery cabin front end cover and battery cabin rear end cover respectively, battery compartment connecting arms are uniformly arranged on the outer ring parts of the battery cabin front end cover and the battery cabin rear end cover, the flexible joints at the front and rear ends are connected through the battery compartment connecting arms, and the battery compartment buoyancy blocks are installed and fixed, connection holes are arranged at the center parts of the battery cabin front end cover and the battery cabin rear end cover, the battery compartment circular watertight connectors are installed and fixed in the connection holes, the battery compartment right angle watertight connector 303 is also arranged on the battery cabin front end cover, the outer wall of the battery cabin body is the battery cabin instrument mounting plate, the battery cabin buoyancy shell is installed and fixed through the battery cabin instrument mounting plate, the Doppler log is installed at the central part of the inner bottom of the battery cabin body, the depth sensor is arranged in the battery cabin front end cover, the battery cabin circuit board is arranged in the battery cabin body, and the battery cabin circuit board is connected with the power battery pack.

[0018] Compared with the prior art, the present application has the following beneficial effects:

[0019] 1) The present application adopts modular design and is divided into multiple cabin bodies. Through regularly and uniformly distributed propellers and flexible joints, the underwater super-redundant machine eel of the present application can realize stretching and contracting movement along the central axis and twisting movement around the central axis in addition to realizing front, rear, left, right, up and down six movement dimensions, thereby realizing super-redundant movement of the machine eel. The present application can expand the movement dimensions of the machine eel, effectively reduce the turning radius, improve the passability in narrow water areas, and enhance the stability of underwater operation.

[0020] 2) The rotary stepper motor is adopted to drive the mechanical arm, further increasing the rotatable parts of the machine eel and increasing the flexibility of underwater operation. BRIEF DESCRIPTION OF DRAWINGS

[0021] Fig. 1 is a structural composition schematic diagram of the new underwater super-redundant multifunctional machine eel in a straight state of the flexible joint;

[0022] Fig. 2 is a structural composition schematic diagram of the new underwater super-redundant multifunctional machine eel in a bent state of the flexible joint;

[0023] Fig. 3 is a front angle structural composition schematic diagram of the control cabin;

[0024] Fig. 4 is a back angle structural composition schematic diagram of the control cabin;

[0025] Fig. 5 is a cross-sectional structural schematic diagram of the control cabin;

[0026] Fig. 6 is a front angle structural composition schematic diagram of the battery cabin;

[0027] Fig. 7 is a back angle structural composition schematic diagram of the battery cabin;

[0028] Fig. 8 is a cross-sectional structural schematic diagram of the battery cabin;

[0029] Fig. 9 is a front angle structural composition schematic diagram of the function cabin;

[0030] Fig. 10 is a back angle structural composition schematic diagram of the function cabin;

[0031] Fig. 11 is a cross-sectional structural schematic diagram of the function cabin;

[0032] Fig. 12 is a propeller layout schematic diagram of the new underwater super-redundant multifunctional machine eel;

[0033] Fig. 13 is a two-end camera distribution schematic diagram of the new underwater super-redundant multifunctional machine eel.

[0034] Marked in the figure: 1, control cabin, 101, control cabin operation tool, 102, control cabin light, 103, control cabin camera, 104, control cabin head cabin body, 105, control cabin head cabin body end cover, 106, control cabin core cabin body front buoyancy block, 107, control cabin core cabin body front connecting arm, 108, control cabin round watertight connector, 109, control cabin right angle watertight connector, 110, control cabin core cabin body front end cover, 111, control cabin core cabin body instrument mounting plate, 112, control cabin core cabin body buoyancy shell, 113, control cabin core cabin body, 114, control cabin core cabin body rear end cover, 1151, control cabin first propeller, 1152, control cabin second propeller, 1153, control cabin third propeller, 1154, control cabin fourth propeller, 116, control cabin core cabin body rear buoyancy block, 117, control cabin core cabin body rear connecting arm, 118, control cabin head cabin body circuit board, 119, control cabin circuit board, 120, control cabin propeller drive circuit board, 121, main controller, 2, flexible joint, 3, battery cabin, 301, battery cabin connecting arm, 302, battery cabin two end buoyancy block, 303, battery cabin right angle watertight connector, 304, battery cabin front end cover, 305, battery cabin buoyancy shell, 306, battery cabin instrument mounting plate, 307, battery cabin body, 308, Doppler log, 309, battery cabin rear end cover, 310, depth sensor, 311, battery cabin round watertight connector, 312, battery cabin circuit board, 313, power battery pack, 4, function cabin, 401, function cabin operation tool, 402, function cabin light, 403, function cabin camera, 404, function cabin head cabin body, 405, function cabin head cabin body end cover, 406, function cabin core cabin body front buoyancy block, 407, function cabin core cabin body front connecting arm, 408, function cabin round watertight connector, 409, function cabin right angle watertight connector, 410, function cabin core cabin body front end cover, 411, function cabin core cabin body instrument mounting plate, 412, function cabin core cabin body buoyancy shell, 413, function cabin core cabin body, 414, function cabin core cabin body rear end cover, 4151, function cabin first propeller, 4152, function cabin second propeller, 4153, function cabin third propeller, 4154, function cabin fourth propeller, 416, function cabin core cabin body rear buoyancy block, 417, function cabin core cabin body rear connecting arm, 418, function cabin head cabin body circuit board, 419, function cabin circuit board, 420, function cabin propeller drive circuit board. DETAILED DESCRIPTION

[0035] The application will be described in greater detail below with reference to the drawings and specific embodiments. The embodiments are implemented on the premise of the technical solution of the application, and detailed implementation and specific operation processes are given, but the protection scope of the application is not limited to the following embodiments.

[0036] It should be noted that like reference numerals and characters refer to like elements throughout the following figures and description, and that, unless otherwise indicated, like elements in two or more figures are not necessarily drawn to scale.

[0037] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship when the product of the application is usually placed, and are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application.

[0038] It should be noted that the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can include one or more of the features explicitly or implicitly. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0039] In addition, the terms "horizontal", "vertical", and the like do not mean that the components must be absolutely horizontal or vertical, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0040] Example 1

[0041] As shown in FIGS. 1 and 2, the present application is an underwater super-redundant machine eel, comprising a control bin 1, two flexible joints 2, a battery bin 3 and a function bin 4, the control bin 1 is connected to one side of the battery bin 3 through the flexible joint 2, the function bin 4 is connected to the other side of the battery bin 3 through the other flexible joint 2, the control bin 1 and the function bin 4 each have four uniformly distributed propellers, in the straightened state of the underwater super-redundant machine eel, each propeller of the control bin has a line of the corresponding propeller of the function bin parallel to the central axis of the underwater super-redundant machine eel, and the thrust direction of each propeller of the control bin is opposite to the thrust direction of the adjacent propeller on the control bin and the thrust direction of the corresponding propeller of the function bin.

[0042] The flexible joint 2 is a flexible connecting component, and the motion directions that the flexible joint 2 can realize include stretching, bending and twisting.

[0043] The control cabin 1 comprises a control cabin first propeller 1151, a control cabin second propeller 1152, a control cabin third propeller 1153 and a control cabin fourth propeller 1154, and the function cabin 4 comprises a function cabin first propeller 4151, a function cabin second propeller 4152, a function cabin third propeller 4153 and a function cabin fourth propeller 4154 correspondingly.

[0044] As shown in Figure 12, an optional propeller installation mode is that the control cabin first propeller 1151, the control cabin third propeller 1153, the function cabin second propeller 4152 and the function cabin fourth propeller 4154 are forward-thrust installation, and the control cabin second propeller 1152, the control cabin fourth propeller 1154, the function cabin first propeller 4151 and the function cabin third propeller 4153 are reverse-thrust installation.

[0045] Another optional propeller installation mode is that the control cabin first propeller 1151, the control cabin third propeller 1153, the function cabin second propeller 4152 and the function cabin fourth propeller 4154 are reverse-thrust installation, and the control cabin second propeller 1152, the control cabin fourth propeller 1154, the function cabin first propeller 4151 and the function cabin third propeller 4153 are forward-thrust installation.

[0046] The underwater super-redundant machine sea eel of the present application can realize stretching and contraction along the central axis and torsion movement around the central axis in addition to the six movement dimensions of front, back, left, right, up and down, and has eight propellers symmetrically installed at a certain angle, so that the present application has omnidirectional thrust and improves the thrust-to-weight ratio in each direction, has better controllability and stability during underwater operation, and improves the passability in narrow areas.

[0047] The functions and structures of the cabins in the present application are as follows:

[0048] The control cabin 1 is located at one end of the machine sea eel and is the control center of the machine sea eel, used for the movement control of the machine sea eel as a whole and the corresponding data processing; the function cabin 4 is located at the other end of the machine sea eel, and has a reserved space for expanding the functions of the machine sea eel; the battery cabin 3 is located in the middle of the machine sea eel, used for power supply of the whole machine sea eel and communication switching function; the flexible joint 2 is used for bending the angle of the machine sea eel and switching the power supply and communication between the cabin bodies.

[0049] As shown in FIG. 3, FIG. 4 and FIG. 5, the control cabin 1 further comprises a control cabin operation tool 101, two control cabin illuminating lamps 102, two control cabin cameras 103, a control cabin head cabin body 104, a control cabin head cabin body end cover 105, a control cabin core cabin body front buoyancy block 106, a control cabin core cabin body front connecting arm 107, a control cabin circular watertight connector 108, a control cabin right-angled watertight connector 109, a control cabin core cabin body front end cover 110, four control cabin core cabin body instrument mounting plates 111, four control cabin core cabin body buoyancy shells 112, a control cabin core cabin body 113, a control cabin core cabin body rear end cover 114, four control cabin core cabin body rear buoyancy blocks 116, four control cabin core cabin body rear connecting arms 117, a control cabin head cabin body circuit board 118, a control cabin circuit board 119, a control cabin thruster driving circuit board 120 and a main controller 121.

[0050] A specific splicing mode is that the front end of the control cabin core cabin body 113 is provided with the control cabin core cabin body front end cover 110, and the control cabin head cabin body end cover 105 of the control cabin head cabin body 104 is connected through the control cabin core cabin body front connecting arm 107; the rear end of the control cabin core cabin body 113 is provided with the control cabin core cabin body rear end cover 114, and the flexible joint 2 is connected through the control cabin core cabin body rear connecting arm 117, and each control cabin thruster is fixed on the control cabin core cabin body rear connecting arm 117; the inside of the control cabin core cabin body 113 is provided with the control cabin circuit board 119, the control cabin thruster driving circuit board 120 and the main controller 121, the main controller 121 sends control signals to each thruster through the control cabin circuit board 119 and through the control cabin thruster driving circuit board 120; the outer wall of the control cabin core cabin body 113 is the control cabin core cabin body instrument mounting plate 111, and the core cabin body buoyancy shell 112 is installed and fixed through the control cabin core cabin body instrument mounting plate 111; the outer surface center of the side of the control cabin head cabin body 104 away from the control cabin head cabin body end cover 105 is provided with the control cabin operation tool 101, the control cabin illuminating lamp 102 and the control cabin camera 103 are arranged around the control cabin operation tool 101, and the inside of the control cabin head cabin body 104 is provided with the control cabin head cabin body circuit board 118; the control cabin core cabin body front buoyancy block 106 is installed and fixed through the control cabin head cabin body end cover 105, the control cabin core cabin body front connecting arm 107 and the control cabin core cabin body front end cover 110; the control cabin core cabin body rear buoyancy block 116 is installed and fixed through the control cabin core cabin body rear end cover 114, the control cabin core cabin body rear connecting arm 117 and the flexible joint 2; the control cabin circular watertight connector 108 is respectively installed at the center part of the control cabin head cabin body end cover 105, the control cabin core cabin body front end cover 110 and the control cabin core cabin body rear end cover 114, and is used for providing a power supply and a communication interface; the control cabin right-angled watertight connector 109 is installed on the control cabin core cabin body front end cover 110, and is used for providing an expansion interface of a large external hanging device.

[0051] The control cabin head cabin body 104 is located at the end of the control cabin 1 away from the flexible joint 2, used to withstand seawater pressure, fix external equipment and protect the parts inside the cabin.

[0052] The control cabin operation tool 101 is located at the front end of the outer surface of the control cabin head cabin body 104, used to realize the grabbing of objects, and its base is connected with the control cabin head cabin body 104 through a rotary stepping motor, which can drive the operation tool 101 to rotate, increasing the working degree of freedom of the operation tool 101.

[0053] As shown in Figure 13, it is a schematic diagram of the camera distribution of the application, the control cabin camera 103 is symmetrically distributed on the left and right sides of the control cabin operation tool 101, and is arranged on the outer surface of the control cabin head cabin body 104. The angle between the facing direction of each camera and the axis direction of the control cabin 1 is 30°, the field of view angle of a single camera is 120°, and the total field of view angle is 180°. The camera is mainly used for underwater visual imaging and navigation positioning.

[0054] The two control cabin illuminating lamps 102 are symmetrically distributed on the upper and lower sides of the control cabin operation tool 101, and are arranged on the outer surface of the control cabin head cabin body 104, i.e. are arranged at intervals with the control cabin camera 102. The angle between the center line direction of the irradiation angle of each control cabin illuminating lamp 102 and the axis direction of the control cabin 1 is 30°, and the irradiation angle of a single illuminating lamp 102 is 120°. The illuminating lamp 102 is used to provide illumination for the underwater environment, facilitating the shooting of the camera.

[0055] The control cabin head cabin body end cover 105 is installed on the back of the control cabin head cabin body 104, and a plurality of wiring holes are formed in the center part for installing the control cabin control cabin circular watertight connector 108. The outer ring part is provided with evenly distributed fixing points of the control cabin core cabin body front connecting arm 107.

[0056] The control cabin core cabin body front buoyancy block 106 is used to provide buoyancy and protect the control cabin circular watertight connector 108 and the control cabin right-angle watertight connector 109 in the middle.

[0057] The fixing points of the control cabin core cabin body front connecting arm 107 are evenly distributed on the outer ring part of the control cabin head cabin body end cover 105 and the outer ring part of the control cabin core cabin body front end cover 110 opposite to each other, mainly used for connecting the head cabin body 104 and the core cabin body 113 and providing mounting points for the control cabin core cabin body front buoyancy block 106.

[0058] The control cabin circular watertight connector 108 is respectively installed on the control cabin head cabin body end cover 105, the control cabin core cabin body front end cover 110 and the control cabin core cabin body rear end cover 114, fixed through the reserved wiring holes, used to provide power supply and communication interface.

[0059] The control cabin right angle watertight connector 109 is installed on the control cabin core cabin body front end cover 110, which is used to provide an expansion interface for large external devices.

[0060] The control cabin core cabin body front end cover 110 is provided with a plurality of wiring holes in the center for installing the control cabin circular watertight connector 108 and the control cabin right angle watertight connector 109, and the outer ring is uniformly provided with the fixing points of the control cabin core cabin body front connecting arm 107.

[0061] The control cabin core cabin body instrument mounting plate 111 is used to provide the mounting points of external instruments and the mounting points of the control cabin core cabin body buoyancy shell 112, and can also enhance the structural strength of the control cabin core cabin body 113.

[0062] The control cabin core cabin body buoyancy shell 112 is used to provide buoyancy and protect the core cabin body 113.

[0063] The control cabin core cabin body 113 is used to withstand seawater pressure and protect the components in the cabin.

[0064] The control cabin core cabin body rear end cover 114 is installed at the back of the core cabin body 113, and the center is provided with a plurality of wiring holes for installing the control cabin circular watertight connector 108.

[0065] The control cabin core cabin body rear buoyancy block 116 is used to provide buoyancy and protect the control cabin watertight connector 108 in the middle.

[0066] The control cabin core cabin body rear connecting arm 117 is used to connect the control cabin head cabin body 104 and the flexible joint 2, and provide mounting points for the control cabin core cabin body rear buoyancy block 116.

[0067] The control cabin head cabin body circuit board 118 includes camera circuit, lighting lamp circuit, interface expansion circuit and corresponding peripheral control circuit.

[0068] The control cabin circuit board 119 includes main controller support circuit, slave controller circuit, interface expansion circuit and corresponding peripheral control circuit.

[0069] The control cabin thruster drive circuit board 120 is used to receive the control signal of the main controller 121 and provide drive for each control cabin thruster.

[0070] The main controller 121 is used for the motion control of the whole machine and the data processing of various sensing devices.

[0071] As shown in FIG. 6, FIG. 7 and FIG. 8, the battery compartment 3 further comprises 8 battery cabin connecting arms 301, 8 battery cabin two-end buoyancy blocks 302, a battery compartment right-angle watertight connector 303, a battery cabin front end cover 304, 4 battery cabin buoyancy shells 305, 4 battery cabin instrument mounting plates 306, a battery cabin body 307, a Doppler log 308, a battery cabin rear end cover 309, a depth sensor 310, a plurality of battery compartment circular watertight connectors 311, a battery cabin circuit board 312 and a power battery pack 313.

[0072] A specific connection mode is that the two ends of the battery cabin body 307 are respectively the battery cabin front end cover 304 and the battery cabin rear end cover 309, the outer ring parts of the battery cabin front end cover 304 and the battery cabin rear end cover 309 are uniformly provided with the battery compartment connecting arms 301, the battery compartment connecting arms 301 are respectively connected to the flexible joints 2 at the front and rear ends, and the battery compartment buoyancy blocks 302 are installed and fixed, the center parts of the battery cabin front end cover 304 and the battery cabin rear end cover 309 are provided with connecting holes, the battery compartment circular watertight connectors 311 are installed and fixed in the connecting holes, the battery cabin front end cover 304 is further provided with a connecting hole connected to the battery compartment right-angle watertight connector 303, the outer wall of the battery cabin body 307 is the battery cabin instrument mounting plate 306, the battery cabin buoyancy shells 305 are installed and fixed through the battery cabin instrument mounting plate 306, the central part of the inner bottom of the battery cabin body 307 is installed with the Doppler log 308, the battery cabin front end cover 304 is internally provided with the depth sensor 310, the battery cabin body 307 is internally provided with the battery cabin circuit board 312, the battery cabin circuit board 312 is connected to the power battery pack 313 and connected to the control cabin circuit board 119.

[0073] The battery cabin connecting arms 301 are used to connect the battery compartment 3 and the flexible joints 2 at the two ends and provide installation points for the battery compartment two-end buoyancy blocks 302.

[0074] The battery compartment two-end buoyancy blocks 302 are used to provide buoyancy and protect the battery compartment right-angle watertight connector 303, the battery compartment circular watertight connector 311 and the depth sensor 310.

[0075] The battery compartment right-angle watertight connector 303 is installed on the battery cabin front end cover 304 and is used to provide an expansion interface of a large external device and can be used as a power supply, communication and debugging interface of the entire machine.

[0076] The battery cabin front end cover 304 is used to install the battery compartment right-angle watertight connector 303, the battery compartment circular watertight connector 311 and the depth sensor 310.

[0077] The battery cabin buoyancy shells 305 are used to provide buoyancy and protect the battery cabin body 307.

[0078] The battery compartment instrument mounting plate 306 is used to provide mounting points for external instrument devices and the battery compartment buoyancy housing 305, while enhancing the structure of the battery compartment body 307.

[0079] The battery compartment body 307 is used to withstand seawater pressure and protect the components inside the compartment.

[0080] The Doppler log 308 is used to measure the relative motion speed, distance, and attitude of the machine eel.

[0081] The battery compartment rear end cover 309 is installed on the back of the battery compartment body 307, with multiple wiring holes on the top for installing the water-tight connectors 311.

[0082] The depth sensor 310 is installed on the battery compartment front end cover 304, used to measure the depth of the machine eel underwater.

[0083] The circular water-tight connectors 311 are installed on the battery compartment front end cover 304 and the battery compartment rear end cover 309, used to provide power supply and communication interfaces.

[0084] The battery compartment circuit board 312 is installed inside the battery compartment body 307, mainly including battery management circuit, carrier wave communication switching circuit, slave controller circuit, interface expansion circuit, and corresponding peripheral control circuit.

[0085] The power battery pack 313 is installed inside the battery compartment body 307, mainly used to provide power for the entire machine eel.

[0086] As shown in FIG. 9, FIG. 10, and FIG. 11, the functional compartment 4 further includes a functional compartment functional compartment operation tool 401, two functional compartment illuminating lamps 402, two functional compartment cameras 403, a functional compartment functional compartment head compartment body 404, a functional compartment functional compartment head compartment body end cover 405, four functional compartment core compartment body front buoyancy blocks 406, four functional compartment core compartment body front connecting arms 407, multiple functional compartment circular water-tight connectors 408, a functional compartment right-angle water-tight connector 409, a functional compartment core compartment body front end cover 410, four functional compartment core compartment body instrument mounting plates 411, four functional compartment core compartment body buoyancy housings 412, a functional compartment core compartment body 413, a functional compartment core compartment body rear end cover 414, four functional compartment core compartment body rear buoyancy blocks 416, four functional compartment core compartment body rear connecting arms 417, a functional compartment head compartment body circuit board 418, a functional compartment circuit board 419, and a functional compartment thruster drive circuit board 420.

[0087] In this embodiment, the structure of the functional compartment 4 is in a corresponding symmetrical relationship with the structure of the control compartment 1, but since the functional compartment is not provided with a controller, the driving signals of the functional compartment thrusters are sent to the functional compartment thrusters from the main controller 121 through the control compartment thruster driving circuit board 120, the battery compartment circuit board 312, the functional compartment head compartment body circuit board 418, the functional compartment circuit board 419, and the functional compartment thruster driving circuit board 420 in sequence.

[0088] The functional compartment operation tool 401 is located at the front end of the functional compartment 4 and is used to realize the grabbing of objects. The base thereof is provided with a rotary stepping motor which can drive the actuator to rotate, thereby increasing the degree of freedom.

[0089] The functional compartment illuminating lamps 402 are symmetrically distributed on the upper and lower sides of the functional compartment operation tool 401. The included angle between the irradiation direction of each functional compartment illuminating lamp 402 and the axis direction of the functional compartment 4 is 30°, and the irradiation angle of a single functional compartment illuminating lamp 402 is 120°. The functional compartment illuminating lamp 402 is used to provide illumination for the underwater environment.

[0090] The functional compartment head compartment body 404 is located at the head of the entire functional compartment 4 and is mainly used to resist seawater pressure and protect the parts in the compartment.

[0091] The functional compartment head compartment body end cover 405 is installed on the back of the functional compartment head compartment body 404, and a plurality of wiring holes are opened on the upper surface thereof for installing the functional compartment circular watertight connector 408.

[0092] The functional compartment core compartment body front buoyancy block 406 is installed between the functional compartment head compartment body end cover 405 and the functional compartment core compartment body front end cover 410 and is mainly used to provide buoyancy and protect the functional compartment circular watertight connector 408 and the functional compartment right-angle watertight connector 409 in the middle.

[0093] The functional compartment core compartment body front connecting arm 407 is installed between the functional compartment head compartment body end cover 405 and the functional compartment core compartment body front end cover 410 and is mainly used to connect the functional compartment head compartment body 404 and the functional compartment core compartment body 413 and provide a mounting point for the functional compartment core compartment body front buoyancy block 406.

[0094] The functional compartment circular watertight connector 408 is installed on the functional compartment head compartment body end cover 405, the functional compartment core compartment body front end cover 410, and the functional compartment core compartment body rear end cover 414, respectively, and is used to provide a power supply and a communication interface.

[0095] The functional compartment right-angle watertight connector 409 is installed on the functional compartment core compartment body front end cover 410 and is used to provide an expansion interface for large external devices.

[0096] The functional bin core cabin body front end cover 410 is installed on the front of the functional bin core cabin body 413, and a plurality of wiring holes are opened on the upper surface thereof for installing the functional bin water-tight connector 408 and the functional bin right-angle water-tight connector 409.

[0097] The functional bin core cabin body instrument mounting plate 411 is installed on the outer wall of the functional bin core cabin body 413, and is used for providing a mounting point of external instrument equipment and the functional bin core cabin body buoyancy shell 412, and can enhance the structure of the functional bin core cabin body 413.

[0098] The functional bin core cabin body buoyancy shell 412 is installed on the outer wall of the functional bin core cabin body 413, and is used for providing buoyancy and protecting the functional bin core cabin body 413.

[0099] The functional bin core cabin body 413 is located in the middle of the entire functional bin 4, and is mainly used for resisting seawater pressure and protecting the parts in the cabin.

[0100] The functional bin core cabin body rear end cover 414 is installed on the rear of the functional bin core cabin body 413, and a plurality of wiring holes are opened on the upper surface thereof for installing the functional bin round water-tight connector 408.

[0101] The functional bin core cabin body rear buoyancy block 416 is installed at the rear of the functional bin core cabin body rear end cover 414, and is mainly used for providing buoyancy and protecting the functional bin round water-tight connector 408 in the middle.

[0102] The functional bin core cabin body rear connecting arm 417 is installed at the rear of the functional bin core cabin body rear end cover 414, and is mainly used for connecting the functional bin head cabin body 404 and the flexible joint 2 and providing a mounting point for the functional bin core cabin body rear buoyancy block 416.

[0103] The functional bin head cabin body circuit board 418 is installed inside the functional bin head cabin body 404, and mainly includes a camera circuit, a lighting lamp circuit, an interface expansion circuit and a corresponding peripheral control circuit.

[0104] The functional bin circuit board 419 is installed inside the functional bin core cabin body 413, and mainly includes a main controller support circuit, a slave controller circuit, an interface expansion circuit and a corresponding peripheral control circuit.

[0105] The propeller drive circuit board 420 is installed inside the functional bin core cabin body 413, and is mainly used for driving each functional bin propeller.

[0106] The preferred embodiments of the present application have been described above in detail. It should be understood that modifications and variations to the present application can be affected by those skilled in the art without departing from the scope of the application. Accordingly, it is intended that all of the subject matter of the above description and the claims be interpreted to encompass all such modifications and changes.

Claims

1. An underwater super-redundant robotic conger eel, characterized in that: The invention comprises a control chamber (1), two flexible joints (2), a battery chamber (3) and a functional chamber (4), wherein the control chamber (1) is connected to one side of the battery chamber (3) via a flexible joint (2), and the functional chamber (4) is connected to the other side of the battery chamber (3) via another flexible joint (2). The control chamber (1) and the functional chamber (4) both comprise an equal number of evenly distributed propellers, the total number of the propellers being 4n, where n is greater than or equal to 2. When the underwater super-redundant robotic eel is in a straightened state, each propeller of the control chamber has a corresponding propeller of the functional chamber, and the connecting line is parallel to the central axis of the underwater super-redundant robotic eel. The slurry direction of each propeller of the control chamber is opposite to the slurry direction of the propeller adjacent to the control chamber and the slurry direction of the propeller of the corresponding functional chamber.

2. The underwater super-redundant robotic conger eel according to claim 1, characterized in that: The movement directions of the flexible joint (2) include extension, bending and twisting.

3. The underwater super-redundant robotic conger eel according to claim 1, characterized in that: The thrust direction of each propeller of the control compartment forms an angle of 45 degrees with the axial direction of the control compartment (1), and the thrust direction of each propeller of the functional compartment forms an angle of 45 degrees with the axial direction of the functional compartment (4).

4. The underwater super-redundant robotic conger eel according to claim 1, characterized in that: The thrust of each propeller of the control cabin has a consistent component in the axial direction of the control cabin (1), and the thrust of each propeller of the functional cabin has a consistent component in the axial direction of the functional cabin (4).

5. The underwater super-redundant robotic conger eel according to claim 1, characterized in that: The battery compartment (3) comprises a plurality of connecting arms (301), wherein the plurality of connecting arms (301) are evenly distributed at both ends of the battery compartment (3) in equal amounts and are used to connect the battery compartment (3) and the flexible joint (2).

6. The underwater super-redundant robotic conger eel according to claim 1, characterized in that: The battery compartment (3) includes a Doppler odometer (308), which is installed at the center of the inner bottom of the battery compartment (3).

7. The underwater super-redundant robotic conger eel according to claim 1, characterized in that: The control cabin (1) further comprises an operating tool and a rotary stepping motor. The operating tool is arranged at the end of the control cabin (1) or the functional cabin away from the flexible joint (2), and the operating tool is connected via the rotary stepping motor.

8. The underwater super-redundant robotic conger eel according to claim 7, characterized in that: The working tool is equipped with multiple cameras, which are symmetrically distributed around the axis of the working tool. The angle between each camera and the axis of the working tool is 30 degrees, and the total field of view of each camera is at least 180 degrees.

9. The underwater super-redundant robotic conger eel according to claim 1, characterized in that: The control cabin (1) comprises a control cabin operation tool (101), a control cabin lighting lamp (102), a control cabin camera (103), a control cabin head cabin body (104), a control cabin head cabin body end cover (105), a control cabin core cabin body front buoyancy block (106), a control cabin core cabin body front connecting arm (107), a control cabin circular watertight connector (108), a control cabin right-angle watertight connector (109), a control cabin core cabin body front cover (110), a control cabin core cabin body instrument mounting plate (111), a control cabin core cabin body buoyancy shell (112), a control cabin core cabin body (113), a control cabin core cabin body rear cover (114), a control cabin core cabin body rear buoyancy block (116), a control cabin core cabin body rear connecting arm (117), a control cabin head cabin body circuit board (118), a control cabin circuit board (119), a control cabin propeller drive circuit board (120) and a main controller (121); The specific splicing method is as follows: the front end of the control compartment core cabin body (113) is provided with a control compartment core cabin body front end cover (110), which is connected to the control compartment head cabin body end cover (105) of the control compartment head cabin body (104) through the control compartment core cabin body front connecting arm (107); the rear end of the control compartment core cabin body (113) is provided with a control compartment core cabin body rear end cover (114), which is connected to the flexible joint (2) through the control compartment core cabin body rear connecting arm (117), and each control compartment thruster is fixed on the control compartment core cabin body rear connecting arm (117); the control compartment core cabin body is provided with a control compartment core cabin body rear end cover (114), which is connected to the flexible joint (2) through the control compartment core cabin body rear connecting arm (117), and each control compartment thruster is fixed on the control compartment core cabin body rear connecting arm (117); the control compartment core cabin body is provided with a control compartment core cabin body rear end cover (114), which is connected to the flexible joint (2) through the control compartment core cabin body rear connecting arm (117). The interior of the core cabin body (113) is provided with a control cabin circuit board (119), a control cabin propeller driving circuit board (120) and a main controller (121), and the main controller (121) sends a control signal to each propeller through the control cabin circuit board (119) and the control cabin propeller driving circuit board (120); the outer wall of the control cabin core cabin body (113) is a control cabin core cabin body instrument mounting plate (111), and the core cabin body buoyancy shell (112) is installed and fixed through the control cabin core cabin body instrument mounting plate (111); the control cabin core cabin body is provided with a control cabin circuit board (119), a control cabin propeller driving circuit board (120), and a main controller (121) ... A control chamber operating tool (101) is provided at the center of the outer surface of the control chamber head cabin (104) away from the control chamber head cabin end cover (105), and a control chamber lighting lamp (102) and a control chamber camera (103) are arranged around the control chamber operating tool (101). A control chamber head cabin circuit board (118) is provided inside the control chamber head cabin (104); the front buoyancy block (106) of the control chamber core cabin is connected to the control chamber core cabin through the control chamber head cabin end cover (105), the control chamber core cabin front connecting arm (107) and the front end of the control chamber core cabin. The control chamber core cabin rear buoyancy block (116) is installed and fixed through the control chamber core cabin rear end cover (114), the control chamber core cabin rear connecting arm (117) and the flexible joint (2); the control chamber circular watertight connector (108) is respectively installed on the control chamber head cabin end cover (105), the control chamber core cabin front end cover (110) and the center of the control chamber core cabin rear end cover (114); the control chamber right-angle watertight connector (109) is installed on the control chamber core cabin front end cover (110).

10. The underwater super-redundant robotic conger eel according to claim 1, characterized in that: The battery compartment (3) comprises a battery compartment connecting arm (301), buoyancy blocks (302) at both ends of the battery compartment, a battery compartment right-angle watertight connector (303), a battery compartment front end cover (304), a battery compartment buoyancy shell (305), a battery compartment instrument mounting plate (306), a battery compartment body (307), a Doppler speed meter (308), a battery compartment rear end cover (309), a depth sensor (310), a plurality of battery compartment circular watertight connectors (311), a battery compartment circuit board (312) and a power battery pack (313); The specific connection method is as follows: the two ends of the battery compartment body (307) are respectively a battery compartment front cover (304) and a battery compartment rear cover (309); battery compartment connecting arms (301) are evenly provided on the outer ring of the battery compartment front cover (304) and the battery compartment rear cover (309); the flexible joints (2) at the front and rear ends are respectively connected by the battery compartment connecting arms (301); and the battery compartment buoyancy block (302) is installed and fixed; a connecting hole is provided at the center of the battery compartment front cover (304) and the battery compartment rear cover (309); the battery compartment circular watertight connector (311) is installed and fixed in the connecting hole; The front end cover (304) is also provided with a connection hole for connecting the battery compartment right-angle watertight connector 303. The outer wall of the battery compartment body (307) is a battery compartment instrument mounting plate (306). The battery compartment buoyancy shell (305) is installed and fixed through the battery compartment instrument mounting plate (306). A Doppler speed meter (308) is installed at the center of the inner bottom of the battery compartment body (307). A depth sensor (310) is installed inside the battery compartment front end cover (304). A battery compartment circuit board (312) is installed inside the battery compartment body (307). The battery compartment circuit board (312) is connected to the power battery pack (313).

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