A low energy submersible

Abstract

The present invention discloses a low-energy submersible, comprising a submersible shell, a breathing water storage bag, a breathing channel and a buoy; the breathing water storage bag is arranged in the submersible shell; a communication module is arranged at the buoy, the communication module is electrically connected to the control module of the submersible shell through a cable, and the communication module is used to receive a control signal sent by a remote control end or send a video signal and a feedback signal acquired by the submersible shell. The low-energy submersible of the present invention arranges a water storage bag in a sealed body, so that the buoyancy of the breathing storage bag device can be changed by injecting water into the water storage bag or pumping water from the water storage bag, thereby controlling the machine equipped with the breathing storage bag device to float or sink or suspend in the water, so as to realize static shooting and static sampling; and a communication antenna is arranged at the buoy, so as to achieve a better communication effect.

Description

Technical Field

[0001] The invention relates to the technical field of underwater robots, and in particular to a low-energy-consuming submersible. Background Art

[0002] At present, the way underwater robots or drones on the market dive is through the propeller thrusters designed on both sides of the main body, which push the robot downwards through the high-speed propeller reverse thrust. However, the disadvantage of this method is that it consumes electricity continuously. During the entire diving shooting process, the propellers have to work all the time. This will have an adverse effect on the motor due to the pulse of the power supply and the confrontation with the buoyancy. At the same time, it will have a certain performance impact on the motor and the power supply (diving principle - propeller reverse thrust, against buoyancy, kill 3,000 enemies, lose 2,000 of your own, 1,000 is useful work, and wastes energy). It is forced to dive, and it feels more laborious when diving, and there are splashes of water around.

[0003] Due to the diving principle, the underwater robot cannot float in the water. When the propeller is stopped, the robot will immediately float upward due to the lack of downward thrust. And because the propeller is started for a long time and used for the main power supply, it will cause pulses to the shooting and front and rear propellers, so when the video signal is transmitted, there will be a screen distortion phenomenon. The counteraction between recoil and buoyancy. It is impossible to achieve suspension, let alone float, suspend and dive naturally.

[0004] The power consumption is relatively fast. Since the propeller is moving during the entire process of starting the machine, it continuously consumes the power of the power supply, so long-term navigation cannot be achieved.

[0005] And the underwater drones currently on the market cannot achieve underwater static shooting. Due to the design principle of the propeller, the underwater drone needs to continuously start the propeller to dive, so the robot can be seen moving continuously during the whole process, which makes it impossible to achieve static shooting (cannot achieve static shooting).

[0006] And the videos shot are generally wired transmission videos. The underwater robots on the market have realized underwater monitoring, but they need to drag a communication line to connect with the remote control on the shore, and wireless transmission cannot communicate effectively in the more complex underwater environment.

[0007] The propulsion method of underwater robots or drones on the market is to glide in the water through propeller thrusters designed on both sides of the main body, using solid-state motors. The cost of solid-state motors is relatively high and not suitable for long-term use. Solid-state motors mainly process the circuit of the back conductor to achieve external insulation. However, reasonable heat dissipation is required during work. In addition, there are many propellers distributed, which requires serious waste of electricity.

[0008] Underwater robots use solid-state motor propellers to turn left and right, so an underwater drone has several solid-state motor propellers, which is not only expensive, but also has poor safety performance. The power consumption is relatively fast. Since the propeller is in motion during the entire process of starting the machine, it continuously consumes power from the power supply, so it is impossible to sail for a long time. The circuit design is an integrated design, without independent system separation control. When one of the propellers of such an integrated circuit is short-circuited, the mainboard will have a fatal impact. Summary of the invention

[0009] In order to overcome the deficiencies of the prior art, the object of the present invention is to provide a low-energy consumption submersible, which can solve the technical problem of excessive energy consumption of the submersible.

[0010] The purpose of the present invention is achieved by the following technical solutions:

[0011] A low-energy submersible, comprising a submersible shell, a breathing water storage bag, a breathing channel and a buoy; the breathing water storage bag is arranged in the submersible shell; a communication module is arranged at the buoy, the communication module is electrically connected to a control module of the submersible shell through a cable, and the communication module is used to receive a control signal sent by a remote control terminal or send a video signal and a feedback signal obtained by the submersible shell;

[0012] The breathing water storage bag includes a sealing body and a water storage bag, a breathing space is arranged between the sealing body and the water storage bag, a water through port and a breathing port are arranged on the sealing body, the water through port is used to allow water to enter the water storage bag through the water through port or to draw water from the water storage bag through the water through port, the breathing port is used to discharge the gas in the breathing space or allow the outside air to enter, the volume change of the water storage bag is inversely proportional to the volume change of the breathing space, one end of the breathing channel is connected to the breathing port, and the other end of the breathing channel is connected to the bottom of the buoy so that the air in the breathing space is exchanged with the air on the top of the buoy.

[0013] Furthermore, it also includes a propulsion device, which is installed on the submersible shell, and includes a mounting plate, a first propeller and a second propeller, wherein the first propeller is horizontally arranged on the mounting plate, and the second propeller is vertically arranged on the mounting plate;

[0014] The first propeller includes a first motor and a first waterproof shell, and the second propeller includes a second motor and a second waterproof shell. The first motor is arranged in the first waterproof shell, and the driving shaft of the first propeller extends to the outside of the first waterproof shell through the first through hole of the first waterproof shell, and the power cord of the first motor extends to the outside of the first waterproof shell through the second through hole of the first waterproof shell to be electrically connected to the control module; the second motor is arranged in the second waterproof shell, and the driving shaft of the second propeller extends to the outside of the second waterproof shell through the first through hole of the second waterproof shell, and the power cord of the second motor extends to the outside of the second waterproof shell through the second through hole of the second waterproof shell to be electrically connected to the control module.

[0015] Furthermore, two rotating fixing mechanisms are provided on the mounting plate, and both rotating fixing mechanisms are provided with driven wheels and paddles, a driving wheel is provided on the driving shaft of the first propeller, and the driving wheel is meshed with both driven wheels, and a paddle is also provided on the driving shaft of the second propeller; a propeller balance cover is provided on the mounting plate, and there are two propeller balance covers, and the paddles are provided inside the cover body of the propeller balance cover.

[0016] Furthermore, the first motor is connected to the driving shaft of the first propeller through a first coupling, and the second motor is connected to the driving shaft of the second propeller through a second coupling.

[0017] Furthermore, the cable is arranged in a breathing channel, and a solenoid valve is arranged on the breathing channel, and the solenoid valve is used to control whether the air in the submersible shell is connected with the outside world.

[0018] Furthermore, it also includes a water pump, which is used to allow water to enter the water storage bag through the water inlet or to pump water from the water storage bag.

[0019] Furthermore, it also includes a multi-way pipeline, and the water pump includes an inlet pump and a water outlet pump, the water pipeline of the multi-way pipeline is connected to the water port, the inlet pump is communicated with the water pipeline through the inlet pipeline of the multi-way pipeline, and the outlet pump is communicated with the water pipeline through the outlet pipeline of the multi-way pipeline. The inlet pipeline is provided with an inlet valve, and the inlet valve is used to control the on-off of the inlet pipeline. The outlet pipeline is provided with an outlet valve, and the outlet valve is used to control the on-off of the outlet pipeline.

[0020] Furthermore, the number of the breathing water storage bags is two, and the two breathing water storage bags are connected to the water inlet pipe and the water outlet pipe through the water pipe of the multi-way pipe.

[0021] Furthermore, a 2.4G communication module and a 5.8G communication module are arranged in the shell of the submersible, and the communication module is a communication antenna. Both the 2.4G communication module and the 5.8G communication module are electrically connected to the control module, and the 2.4G communication module and the 5.8G communication module are connected to the communication antenna through cables.

[0022] Furthermore, a pressure sensor electrically connected to the control module is provided in the submersible shell, and the pressure sensor is used to detect the pressure inside the submersible shell.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The low-energy submersible of the present invention arranges a water bag in a sealed body so that the buoyancy of the breathing bag device can be changed by injecting water into the water bag or pumping water out of the water bag, thereby controlling the machine equipped with the breathing bag device to float or sink or suspend in the water, thereby realizing static shooting and static sampling; and by arranging a communication antenna at a buoy, the video signal captured by the submersible body is sent to a remote controller, or a control signal transmitted by the remote controller is received to control the working state of the submersible body, thereby achieving a better communication effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a first structural diagram of the low-energy submersible of this embodiment;

[0026] Figure 2 is a second structural diagram of the low-energy submersible of this embodiment;

[0027] Figure 3 It is an exploded schematic diagram of the buoy of the low-energy submersible of this embodiment;

[0028] Figure 4 This is a schematic diagram of the structure of the breathing bag of the low-energy submersible of this embodiment;

[0029] Figure 5 It is a structural schematic diagram of a propulsion device of a low-energy submersible of this embodiment;

[0030] Figure 6 is a schematic diagram of the exploded structure of the first propeller of the propulsion device of this embodiment;

[0031] Figure 7 is a circuit diagram of the low energy consumption submersible of this embodiment;

[0032] Figure 8 This is a circuit schematic diagram of the drive control module of the low-energy submersible of this embodiment.

[0033] Figure numerals: 1. Submersible shell; 2. Buoy; 21. Buoy upper cover; 22. Buoy lower cover; 23. Buoy waterproof ring; 24. Quick connector; 3. Breathing channel; 4. Communication antenna; 5. Visual skylight; 6. Propulsion device; 61. First thruster; 62. Second thruster; 63. Thruster balance cover; 64. Driven wheel; 65. Driving wheel; 66. First coupling; 7. Camera; 8. Breathing water storage bag. DETAILED DESCRIPTION

[0034] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form a new embodiment.

[0035] like Figure 1 and Figure 2 As shown, this embodiment provides a low-energy submersible, including a submersible shell 1, a breathing water storage bag 8, a breathing channel 3 and a buoy 2; the breathing water storage bag 8 is arranged in the submersible shell 1; a communication module is arranged at the buoy 2, and the communication module is electrically connected to the control module of the submersible shell 1 through a cable, and the communication module is used to receive a control signal sent by a remote control terminal or send a video signal and a feedback signal obtained by the submersible shell; Figure 3 As shown, the buoy 2 provided in this embodiment includes a buoy upper cover 21, a buoy lower cover 22, a buoy waterproof ring 23 and a quick connector 24, and the quick connector 24 is used to enable the buoy 2 to be quickly connected to the breathing channel 3.

[0036] like Figure 4 As shown, the breathing water storage bag 8 provided in this embodiment includes a sealing body and a water storage bag, a breathing space is provided between the sealing body and the water storage bag, a water inlet and a breathing port are provided on the sealing body, the water inlet is used to allow water to enter the water storage bag through the water inlet or to pump water from the water storage bag through the water inlet, the main purpose of the water inlet here is to inlet or outlet water, and there are many ways of inlet or storage of water, one is to directly use a self-distributed water pump to perform the corresponding operation, or to inject or pump water manually, and also to directly introduce water from other places into the water storage bag 1 through a water pipe; this form can be diverse. The water inlet here can also be designed as two water inlets, one for water inlet and the other for water outlet, and these methods are all within the protection scope required by the present invention.

[0037] The breathing port is used to discharge the gas in the breathing space or allow the outside air to enter. The volume change of the water storage bag is inversely proportional to the volume change of the breathing space. One end of the breathing channel is connected to the breathing port, and the other end of the breathing channel is connected to the bottom of the buoy so that the air in the breathing space is exchanged with the air on the top of the buoy. In this embodiment, the breathing channel 3 is integrated with the cable, which can realize the breathing function and the waterproof protection of the cable. When making a selection, the breathing channel 3 is preferably made of waterproof material.

[0038] Wherein, the water storage bag is a soft water storage bag. The water storage bag is a rubber water storage bag or a silicone water storage bag. The sealing body is a plastic sealing body or a metal sealing body. In this embodiment, the water storage bag must be a soft water storage bag. If it is not a soft water storage bag with a changeable shape, there is no way to well implement the breathing storage bag device described in this embodiment. When it is a hard water storage bag, such as a plastic water storage bag, since the plastic water storage bag is fixed (cannot shrink or expand), even if water cannot enter, the water storage bag will not have any volume change, and the air in the breathing space will not be discharged. When it is a soft water storage bag, due to the injection of water into the water storage bag, the volume of the corresponding water storage bag increases and expands, and it breathes like a lung. Since the volume of the sealing body is fixed, and the water storage bag and the breathing space together constitute the internal space of the sealing body, when the volume occupied by the water storage bag increases, the volume of the corresponding breathing space decreases. The internal gas is discharged through the air outlet to achieve the purpose of water storage.

[0039] And because the breathing space is connected to the outside through the breathing port, when the breathing space becomes smaller, it can discharge the air in the breathing space to the outside of the sealed body. According to Archimedes' principle, Ffloat = Gdischarge = ρliquid gVdischarge, so it can be known that by changing the amount of water in the breathing bag device, the buoyancy of the breathing bag device can be controlled, and then the buoyancy of the breathing bag device can be changed, so that the machine equipped with the breathing bag device can float or sink. In addition to the above structure, this embodiment also provides a water pump and a multi-way pipeline, the water pump includes an inlet pump and a water outlet pump, the multi-way pipeline water pipeline is connected to the water outlet, the inlet pump is connected to the water pipeline through the inlet pipeline of the multi-way pipeline, and the outlet pump is connected to the water pipeline through the outlet pipeline of the multi-way pipeline. A water inlet valve is arranged on the water inlet pipeline, and the water inlet valve is used to control the on and off of the water inlet pipeline. A water outlet valve is arranged on the water outlet pipeline, and the water outlet valve is used to control the on and off of the water outlet pipeline. The number of the breathing water storage bags is two, and the two breathing water storage bags are connected to the water inlet pipe and the water outlet pipe through the water pipe of the multi-way pipe. Compared with the first embodiment, the present embodiment mainly increases the water pump and the number of breathing water storage bags. By increasing the water pump, the automatic control of water inlet or water outlet can be solved. By setting different numbers of breathing water storage bags, different buoyancy ranges can be set, so that it can be more widely used.

[0040] Under normal circumstances, the buoy 2 floats on the water surface, which makes it naturally have the advantage of exchanging air with the outside world. By combining the buoy 2 with the breathing water storage bag 8 and designing a solenoid valve in the pipeline, the solenoid valve will be activated when the pressure is too high to open the breathing connection with the outside, so that the breathing water storage bag 8 can discharge the air in its breathing space through the breathing channel 3 and the buoy 2. When designing, the buoy 2 can be designed in different forms, but these forms are intended to adapt to different environments, so these different designs also fall within the scope of protection required by the present invention.

[0041] The technical feature of the breathing system of this design is that the diving method of the body equipped with the breathing bag device is based on the physical principle. The breathing bags designed on the left and right sides of the body are connected to the two breathing bags on the left and right sides through the Y-shaped three-way by two water inlet and outlet pumps inside the body to form a seal. This structure is equivalent to the human lung sac. The outside of the breathing bag is sealed and fixed by two outer shells, and a breathable cavity is formed inside. The two breathing bags are inside the breathing body to form a breathable bag. When it is necessary to dive, start the water inlet pump. Since the breathing bag is sealed, its breathing is mainly circulated internally with the main body cavity. When the internal pressure is too high, the system opens the breathing pipe leading to the external buoy to realize gas supply and prevent internal gas blockage from causing the system to stop working. The solenoid valve on the breathing pipe leading to the buoy will only be started when there is uneven pressure. Normally, the breathing air bag and the main body are circulated internally. The breathing bag is in an exhaust state before working. After the water inlet pump is started, the breathing bag will be continuously filled with water. The pressure will push the air in the sealed breathing bag shell into the main body through the exhaust port to replenish the air pressure used by the water pump, so that the internal air pressure circulates. The design of connecting the breathing bag to the inside of the main body and designing a sealed shell on the outside is to distinguish it from existing submarine devices. In real submarines, water is taken in into the water tank, while ours is taken in into the breathing bag. Our breathing bag is called a lung because it is made of silicone. The water bag made of silicone has an advantage that it can breathe. If it is made of hard material, it cannot complete the breathing function, and there is no way to achieve the effect required by this embodiment.

[0042] The submarine equipped with the breathing bag device has a balanced suspension function. When diving, when the gravity is greater than the buoyancy, the underwater robot will sink. Drainage and water intake are achieved through water inlet and outlet control. When suspension is required, the water intake or drainage motor is controlled to achieve suspension. Use the breathing bag to breathe, achieve buoyancy and diving, sink silently, dive without pressure, and rationally use the physical principle of buoyancy to reduce energy consumption. The air outlet is directly connected to the main body, and can achieve circulation with the main shell. When the system detects insufficient pressure, the solenoid valve is activated to open the breathing duct for external ventilation. The deeper the water, the greater the pressure. If the main body is always connected to the outside world, then when the equipment reaches the deepest point, it will be squeezed. Therefore, in order to better protect the system, it is necessary to control external breathing through a solenoid valve.

[0043] like Figure 5 and Figure 6As shown, this embodiment provides a waterproof three-axis propeller propulsion device, including a mounting plate, a first propeller 61 and a second propeller 62, wherein the first propeller 61 is horizontally arranged on the mounting plate, and the second propeller 62 is vertically arranged on the mounting plate; the structure of the mounting plate here can be designed accordingly according to the actual use scenario, and its main function is to carry the first propeller 61 and the second propeller 62, and the mounting plate here can be a separate plate designed by itself, or can be directly a corresponding structure on the submersible shell 1;

[0044] The first propeller 61 includes a first motor and a first waterproof shell, and the second propeller 62 includes a second motor and a second waterproof shell. The first motor is arranged in the first waterproof shell, and the driving shaft of the first propeller extends to the outside of the first waterproof shell through the first through hole of the first waterproof shell, and the power cord of the first motor extends to the outside of the first waterproof shell through the second through hole of the first waterproof shell to be electrically connected to the control module; the second motor is arranged in the second waterproof shell, and the driving shaft of the second propeller extends to the outside of the second waterproof shell through the first through hole of the second waterproof shell, and the power cord of the second motor extends to the outside of the second waterproof shell through the second through hole of the second waterproof shell to be electrically connected to the control module.

[0045] When setting the propeller, a single propeller or a double propeller may be used. First, the single propeller is described. The driving shaft of the first propeller and the driving shaft of the second propeller are both fixedly provided with paddles. The paddles are used to drive the propulsion device forward and backward or turn left and right when rotating. The paddles provided at the first propeller 61 are preferably in the form of propellers, which can provide stronger thrust.

[0046] However, the most preferred form is to adopt a double propeller, as described below, two rotating fixing mechanisms are provided on the mounting plate, and both rotating fixing mechanisms are provided with driven wheels 64 and paddles, a driving wheel 65 is provided on the driving shaft of the first propeller, and the driving wheel 65 is meshed with both driven wheels 64, and a paddle is also provided on the driving shaft of the second propeller.

[0047] The mounting plate is provided with a propeller balancing cover 63, the number of which is two, and the paddle is provided inside the cover of the propeller balancing cover 63. In this way, more concentrated force can be used for propulsion during propulsion.

[0048] A waterproof piston is provided on the driving shaft of the second propeller. A waterproof pipe ring is provided on the driving shaft of the first propeller. Silicone tubes are provided at the second through hole of the first propeller and the second through hole of the second propeller. They are used for corresponding waterproofing to prevent external water from entering the motor and causing certain damage. The first motor is connected to the driving shaft of the first propeller through the first coupling 66, and the second motor is connected to the driving shaft of the second propeller through the second coupling.

[0049] The specific implementation principle of this embodiment is as follows:

[0050] The three-axis thruster adopts a waterproof design, and drives two alternating driven wheels through the active wheel to realize the driven structure of gear-to-wheel. A waterproof structure is designed on the motor output kinetic energy shaft. These structures include waterproof pipe rings, waterproof O-rings, waterproof ring shafts and other components.

[0051] In order to better absorb the heat generated by the motor and support long-term operation of the motor, a coupling made of metal aluminum is designed between the motor and the rotating shaft. The coupling conducts the heat energy of the motor and is then connected to the outside gear through a docking metal shaft. The metal shaft is surrounded by a waterproof structure with waterproof glue inside the waterproof structure. Since the metal shaft is connected to the gear outside the sealing shell and the gear is exposed to water, the heat energy of the metal shaft is cooled by water, and the cooling temperature also directly buffers the temperature of the internal motor through the shaft.

[0052] In addition, the outside of the sealed shell is in direct contact with water, which can extract heat energy from the shell. The threading hole designed in the propulsion shell is covered with a silicone tube, and the inside is a feeder line. The line is connected to the inside of the host, and the silicone tube is directly covered on the outside, so that there is no possibility of water ingress due to the power feeding of the propeller. Two parallel guide vortices are designed on the outside of the propeller, so that when the propeller is working, the drainage is kept in a straight line to guide the drainage, so that the underwater robot can travel in a straight line. The propeller can move forward and backward, and a drainage port is designed at the rear of the guide vortex. The underwater robot realizes the principle of self-rotation, which is a rotating structure designed on the propeller. When the underwater robot needs to shoot 360° at rest, the second propeller is selected to realize the left and right rotation function. When the rotation function is started, the paddling starts, and the underwater robot will realize the central body rotation due to the center of gravity. The camera can be rotated 360° horizontally.

[0053] like Figure 7 and Figure 8As shown, the submersible of this embodiment includes a 2.4G communication module and a 5.8G communication module, which are communication antennas. Both the 2.4G communication module and the 5.8G communication module are electrically connected to the control module, and the 2.4G communication module and the 5.8G communication module are connected to the communication antenna through cables. That is, only the communication antenna is set at the buoy, and then the other wireless communication modules are integrated on the circuit board of the submersible body. This form is easier to manufacture, and the communication is more stable during the overall operation; therefore, the second method is preferably adopted for implementation.

[0054] The submersible body in this embodiment also includes an inlet pump and an outlet pump, and the inlet pump and the outlet pump are both electrically connected to the control module, and the control module is used to control the working status of the inlet pump and the outlet pump to control the lifting and lowering of the submersible body. The submersible body also includes a pressure sensor electrically connected to the control module, and the pressure sensor is arranged in the submersible body, and the pressure sensor is used to detect the pressure inside the submersible body. The submersible body also includes forward and backward propulsion motors and left and right rotation motors, and the control module is used to control the working status of the forward propulsion motor and the left and right rotation motors. The purpose of the above modules is to control the operating status of the submersible body, and can control the submersible body to move forward or backward, rotate to the left or right, or rise or sink.

[0055] The submersible body also includes a GPS module electrically connected to the control module, and the GPS module is used to locate the submersible body. The GPS here is mainly used to obtain the current position status of the submersible body.

[0056] The submersible body also includes a power supply module electrically connected to the control module. The power supply module is a 2600mh power supply, and the number of the 2600mh power supplies is four. The submersible body also includes a power detection module electrically connected to the control module, the power detection module is used to detect the remaining power of the power supply, and the control module is used to determine whether the remaining power is less than a preset threshold. If so, the submersible body is controlled to surface. The ultra-long working power supply is designed with four power supplies with a capacity of 2600mh on the circuit inside the robot, with a total capacity of 10400hm, which can support the robot's long-term underwater navigation and shooting. Due to the differences in the diving and forward modes involved in this embodiment, not too much electricity will be consumed during diving.

[0057] In this embodiment, buoy communication is implemented. The SAM antenna designed inside the buoy is directly connected to the underwater robot mainboard through a wire to achieve wireless transmission on the water surface. In a special water environment, we can place the receiving circuit module on the buoy and conduct point-to-point shore communication through the surface buoy. The communication modes include 2.4G radio (host control circuit) and 5.8G wireless transmission of image and video signals. Underwater communication has always been a defect, and this embodiment is designed to control the receiving module to directly transmit signals through the buoy to achieve resonance of surface communication and underwater operations.

[0058] like Figure 8 As shown, K1-K2-J1 is used to control the left and right LED lights L1 and L2, K3-K4-J2 is used to control the forward rotation of the thruster M1, K5-K6-J3 is used to control the reverse rotation of the thruster M1, and the 5.0V low-voltage control J3 optical coupler relay is turned on to control the forward thruster to work backward. At this time, the circuit is reversed and the forward circuit is in the closed state.

[0059] K7-K8-J4 is used to control the left turn M2. After the 5.0V low-voltage control J4 optical coupler relay is turned on, the rotary paddle propeller is controlled to work to the left. At this time, the robot rotates to the left, and the right turn circuit is in the closed state. K9-K10-J5 is used to control the right turn M2. After the 5.0V low-voltage control J4 optical coupler relay is turned on, the rotary paddle propeller is controlled to work to the right. At this time, the robot rotates to the right, and the left turn circuit is in the closed state. K11-K12-J6 is used to control the water inlet pump M3, K13-K14-J7 is used to control the drainage pump M4, and K15-K16-J8 is used for reserved control.

[0060] The system is controlled by the PLC system, which transmits 5.8G video signals to the remote control end or receives 2.4G wireless control signals from the remote control end through the communication antenna. When the corresponding control signal is received, the PLC control module will perform data analysis on the received control signal to understand the control requirements.

[0061] When the LED light needs to be turned on, a control signal is sent from the PLC to control the working state of L1 and L2, and the output current is 5.0V, which controls the working state of L1 and L2 by controlling J1. Similarly, the control methods of J2, J3, J4, J5, J6, J7 and J8 are the same as that of J1.

[0062] The corresponding control is realized by analogy. When the system detects that the battery is insufficient, it will automatically start the floating mode. At this time, the PLC directly drives the drainage motor to float. After floating to the surface, it communicates point-to-point with the wireless control on the shore. Through GPS positioning detection and identification, the submersible robot automatically returns to the wireless remote control. During the whole process, wireless shooting can be carried out, and then the 5.8G video wireless transmission can be used to control it on the remote control display. You can choose to take pictures and record videos, and transmit them through 5.8G wireless wifi. The video is transmitted through the wireless wifi module designed on the submersible body. Point-to-point transmission is carried out through the water buoy SAM antenna. Both 2.4G wireless communication and 5.8G wireless wifi signals communicate directly with the shore remote control through the SAM signal antenna and realize wireless control.

[0063] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. A low-energy submersible, characterized in that: It includes a submersible shell, a breathing water storage bag, a breathing channel and a buoy; the breathing water storage bag is arranged in the submersible shell; a communication module is arranged at the buoy, the communication module is electrically connected to the control module of the submersible shell through a cable, and the communication module is used to receive a control signal sent by a remote control terminal or send a video signal and a feedback signal obtained by the submersible shell; The breathing water storage bag comprises a sealing body and a water storage bag, a breathing space is arranged between the sealing body and the water storage bag, a water inlet and a breathing port are arranged on the sealing body, the water inlet is used to allow water to enter the water storage bag through the water inlet or to draw water from the water storage bag through the water inlet, the breathing port is used to discharge gas in the breathing space or allow external air to enter, the volume change of the water storage bag is inversely proportional to the volume change of the breathing space, one end of the breathing channel is connected to the breathing port, and the other end of the breathing channel is connected to the bottom of the buoy so that the air in the breathing space is exchanged with the air on the top of the buoy; The cable is arranged in the breathing channel, and a solenoid valve is arranged on the breathing channel, and the solenoid valve is used to control whether the air in the submersible shell is connected with the outside world; Also included is a water pump, which is used to allow water to enter the water storage bag through the water opening or to pump water from the water storage bag; It also includes a multi-way pipeline, and the water pump includes an inlet pump and a water outlet pump, the water pipe of the multi-way pipeline is connected to the water port, the inlet pump is communicated with the water pipe through the inlet pipe of the multi-way pipeline, the outlet pump is communicated with the water pipe through the outlet pipe of the multi-way pipeline, the inlet pipe is provided with an inlet valve, the inlet valve is used to control the on and off of the inlet pipe, the outlet pipe is provided with an outlet valve, the outlet valve is used to control the on and off of the outlet pipe; Also included is a propulsion device, the propulsion device is installed on the submersible shell, the propulsion device includes a mounting plate, a first propeller and a second propeller, the first propeller is horizontally arranged on the mounting plate, and the second propeller is vertically arranged on the mounting plate; The first propeller includes a first motor and a first waterproof shell, and the second propeller includes a second motor and a second waterproof shell, the first motor is arranged in the first waterproof shell, and the driving shaft of the first propeller extends to the outside of the first waterproof shell through the first through hole of the first waterproof shell, and the power line of the first motor extends to the outside of the first waterproof shell through the second through hole of the first waterproof shell to be electrically connected to the control module; the second motor is arranged in the second waterproof shell, and the driving shaft of the second propeller extends to the outside of the second waterproof shell through the first through hole of the second waterproof shell, and the power line of the second motor extends to the outside of the second waterproof shell through the second through hole of the second waterproof shell to be electrically connected to the control module; Two rotating fixing mechanisms are arranged on the mounting plate, and both rotating fixing mechanisms are provided with driven wheels and paddles, a driving wheel is arranged on the driving shaft of the first propeller, and the driving wheel is meshed with the two driven wheels, and a paddle is also arranged on the driving shaft of the second propeller; a propeller balancing cover is arranged on the mounting plate, the number of the propeller balancing covers is two, and the paddles are arranged in the cover body of the propeller balancing cover; two parallel guide vortices are also designed outside the propeller, and a drainage port is arranged at the rear of the parallel guide vortex; The first motor is connected to the driving shaft of the first propeller through a first coupling, and the second motor is connected to the driving shaft of the second propeller through a second coupling; A waterproof piston is arranged on the driving shaft of the second propeller; a waterproof tube ring is arranged on the driving shaft of the first propeller; and silicone tubes are arranged at the second through hole of the first propeller and the second through hole of the second propeller.

2. The low-energy submersible as claimed in claim 1, characterized in that: The number of the breathing water storage bags is two, and the two breathing water storage bags are connected with the water inlet pipe and the water outlet pipe through the water pipe of the multi-pass pipe.

3. The low-energy submersible according to claim 2, characterized in that: A 2.4G communication module and a 5.8G communication module are arranged in the shell of the submersible, and the communication modules are communication antennas. Both the 2.4G communication module and the 5.8G communication module are electrically connected to the control module, and the 2.4G communication module and the 5.8G communication module are connected to the communication antennas via cables.

4. The low-energy submersible according to claim 3, characterized in that: A pressure sensor electrically connected to the control module is arranged inside the submersible shell, and the pressure sensor is used to detect the pressure inside the submersible shell.

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