A snake eel-shaped light-operation modular underwater autonomous operation and maintenance robot

Abstract

The present invention relates to a snake-eel-shaped lightweight modular underwater autonomous operation and maintenance robot, comprising a robot body, the robot body comprising a plurality of module compartments, the module compartments being fixed to each other by bolts. The module compartments include a mechanical claw tool compartment, a mechanical wrench tool compartment, a power compartment, a battery compartment, an extended battery compartment, and a joint compartment. The mechanical claw tool compartment and the mechanical wrench tool compartment are located at opposite ends of the robot body, and the power compartment, the battery compartment, and the extended battery compartment are located between the mechanical claw tool compartment and the mechanical wrench tool compartment, connected by a joint compartment, which adjusts the relative position of the two connected module compartments. Compared with the prior art, the present invention has the advantages of improving the movement flexibility and stability of the underwater robot, having a wireless charging function, and being able to carry out inspection tasks underwater.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robots, and in particular to a snake-eel-shaped light-operation modular underwater autonomous operation and maintenance robot. Background Art

[0002] In recent years, people have tried to use underwater robots to carry out inspections of marine infrastructure such as subsea oil and gas production systems, subsea observation networks, and offshore wind farms. Existing traditional underwater robots, such as autonomous underwater vehicles and remote-controlled unmanned submersibles, have rigid structures and poor maneuverability and flexibility in complex underwater facilities. They usually do not have the function of underwater charging and cannot meet the requirements of long-term underwater work. Existing underwater bionic robots have improved the movement flexibility of underwater robots to a certain extent, but their ability to fine-tune their own posture and position is low, and they usually do not have operational capabilities. Underwater robots often need to carry different equipment, such as cameras, sonars, mechanical claws, mechanical wrenches, and underwater detection sensors, during underwater infrastructure inspection tasks. Especially when faced with some more complex underwater tasks, existing underwater robots have low adaptability to multi-tasking. Summary of the Invention

[0003] The purpose of the present invention is to provide a snake eel-shaped light-operation modular underwater autonomous operation and maintenance robot in order to overcome the defects of the above-mentioned prior art autonomous underwater robots, such as low flexibility, single function, weak versatility and lack of operation capability.

[0004] The purpose of the present invention can be achieved by the following technical solutions:

[0005] A snake eel-shaped light-operation modular underwater autonomous operation and maintenance robot includes a robot body, the robot body includes a plurality of module cabins, the module cabins are fixed to each other by bolts, the types of the module cabins include a mechanical claw tool cabin, a mechanical wrench tool cabin, a power cabin, a battery cabin, an extended battery cabin and a joint cabin, the mechanical claw tool cabin and the mechanical wrench tool cabin are respectively arranged at both ends of the robot body, the power cabin, the battery cabin and the extended battery cabin are arranged between the mechanical claw tool cabin and the mechanical wrench tool cabin, and are connected by a joint cabin, and the joint cabin adjusts the relative positions of the two connected module cabins.

[0006] The mechanical claw tool cabin is used to shoot underwater videos and grasp objects, and includes a mechanical claw, a first camera, a first lighting lamp, a mechanical claw tool cabin shell and an end cover.

[0007] Furthermore, the number of the first cameras is 2, which are symmetrically distributed on both sides of the mechanical claw; the number of the first lighting lamps is 2, which are symmetrically distributed on both sides of the mechanical claw; and the center line of the first lighting lamps is perpendicular to the center line of the first cameras.

[0008] The mechanical wrench tool cabin is used to shoot underwater videos and check the tightness of bolts, and includes a mechanical wrench, a second camera, a second lighting lamp, a mechanical wrench tool cabin shell and an end cover.

[0009] Furthermore, the number of the second cameras is 2, which are symmetrically distributed on both sides of the mechanical wrench; the number of the second lighting lamps is 2, which are symmetrically distributed on both sides of the mechanical wrench; and the center line of the second lighting lamps is perpendicular to the center line of the second cameras.

[0010] Furthermore, the first camera and the second camera are used to collect underwater videos and underwater visual navigation, the first lighting lamp and the second lighting lamp are used to provide lighting for the underwater environment, and the mechanical claw tool compartment housing and the mechanical wrench tool compartment housing are used to protect the components inside the compartment.

[0011] Furthermore, the end covers of the mechanical claw tool compartment and the mechanical wrench tool compartment are arranged on the back of the mechanical claw and the mechanical wrench.

[0012] The power cabin is used to perform complex calculations and motion control, and at the same time promote the movement of the robot, including a power cabin barrel, end covers are provided at both ends of the power cabin barrel, an antenna, a first thruster and a second thruster are provided on the outside of the power cabin barrel, and a power cabin bracket is provided inside the power cabin barrel. The power cabin bracket is used to support the internal structure of the power cabin and to fix the various components inside the power cabin. The power cabin bracket is connected to the end cover through a flange, and a debugging module, a single-board computer, a serial port expansion module, a counterweight plate, a motion control module and a USB expansion module are provided on the power cabin bracket.

[0013] Furthermore, the number of the first propellers is two, which are arranged on both horizontal sides of the power compartment barrel. The propulsion directions of the two first propellers are consistent and the propulsion directions are perpendicular to the power compartment barrel. The second propellers are arranged on the upper and lower sides of the power compartment barrel away from the first propeller. The propulsion directions of the second propellers are perpendicular to each other and the angle between their respective propulsion directions and the power compartment barrel is 45 degrees.

[0014] Furthermore, the antenna is used for communication between the robot body and the outside world; the debugging module connects the single-board computer and the external computer for debugging the program; the single-board computer is used to calculate complex data; the serial port expansion module is used for subsequent expansion of serial port instruments and equipment, and a certain number of interfaces are reserved; the number of counterweight plates is 2, symmetrically fixed on the power cabin bracket, and is used to adjust the deadweight of the robot body; the motion control module itself has a set of posture sensing systems for solving the posture of the robot body and performing motion control of the robot body at the same time; the USB expansion module is used for subsequent expansion of instruments and equipment with USB interfaces, and a certain number of interfaces are reserved.

[0015] The battery compartment is used to supply power to the entire robot body, including a battery compartment body, end covers are provided at both ends of the battery compartment body, and a battery compartment bracket inside the battery compartment body, the battery compartment bracket is used to support the internal structure of the battery compartment and to fix the various components inside the battery compartment, the battery compartment bracket is connected to the end cover through a flange, and the battery compartment bracket is provided with battery terminal blocks, a power supply management module, a battery, a charging management module and a charging coil.

[0016] Furthermore, the power supply management module is used to regulate the output of DC voltage, which is used to supply power to various electrical devices of the robot body separately; the charging management module is used to manage and control the charging of the battery; the number of the charging coils is 2, which are located at both ends of the battery compartment, respectively, for magnetic coupling with external charging coils, and cooperate with the charging management module to realize wireless charging of the battery.

[0017] The extended battery cabin is used to increase the battery life of the robot body, and includes an extended battery cabin body. The extended battery cabin body is used to protect the components inside the cabin. End covers are provided at both ends of the extended battery cabin body. An extended battery cabin bracket is provided inside the extended battery cabin body. The extended battery cabin bracket is used to support the internal structure of the extended battery cabin and to fix the various components inside the extended battery cabin. The extended battery cabin bracket is connected to the end cover through a flange, and a battery is provided on the extended battery cabin bracket.

[0018] The joint cabin includes a bellows, which is used to protect the components in the cabin and can be bent within a certain range. End covers are provided at both ends of the bellows. The bellows is connected to the end covers through flanges, and a steering gear is provided inside the bellows.

[0019] The end cover is used to connect with other module compartments. A wiring hole is provided in the center of the end cover. A watertight wiring terminal is provided in the wiring hole for power supply and communication.

[0020] When the robot body is running, it is controlled by three main programs and one callable subroutine. The three main programs include a task execution program, a self-power monitoring and processing program, and a self-fault monitoring and processing program; the callable subroutine is specifically a return program, which can be called by the self-power monitoring and processing program and the self-fault monitoring and processing program.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. Compared with the traditional single-body underwater robot, the present invention improves the movement flexibility and passability of the underwater robot by providing a flexible and slender joint cabin to connect other module cabins.

[0023] 2. Compared with traditional single-body underwater robots, the present invention is composed of modular cabins with multiple functions connected to each other. Modular cabins with different functions can be added or reduced as needed, and can be quickly switched in different mission scenarios, with high versatility.

[0024] 3. Compared with traditional autonomous underwater robots, the underwater robot of the present invention has a certain underwater operation capability by providing a mechanical claw tool cabin and a mechanical wrench tool cabin.

[0025] 4. Compared with bionic robots that rely entirely on bionic drive, the underwater robot of the present invention has better controllability and stability during underwater operations because it integrates the traditional propeller drive method.

[0026] 5. Since the underwater robot of the present invention has multiple power compartments and multiple sets of thrusters, the entire robot is highly redundant and can complete highly complex actions.

[0027] 6. The underwater robot of the present invention is provided with a charging coil in the battery compartment, which has the function of wireless charging, so that the robot body has the ability to stay underwater permanently. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the structure of the three-section version of the robot body of the present invention;

[0029] Figure 2 This is a schematic diagram of the structure of the five-section version of the robot body of the present invention;

[0030] Figure 3 This is a schematic diagram of the front structure of the tool cabin of the mechanical claw of the present invention;

[0031] Figure 4 This is a schematic diagram of the reverse structural composition of the tool cabin of the mechanical claw of the present invention;

[0032] Figure 5 This is a schematic diagram of the front structure of the mechanical wrench tool cabin of the present invention;

[0033] Figure 6 This is a schematic diagram of the reverse structural composition of the mechanical wrench tool compartment of the present invention;

[0034] Figure 7 This is a schematic diagram of the external structure of the power cabin of the present invention;

[0035] Figure 8 This is a schematic diagram of the internal top surface structure of the power cabin of the present invention;

[0036] Figure 9 This is a schematic diagram of the internal bottom structure of the power cabin of the present invention;

[0037] Figure 10This is a schematic diagram of the external structure of the battery compartment of the present invention;

[0038] Figure 11 This is a schematic diagram of the internal structure of the battery compartment of the present invention;

[0039] Figure 12 This is a schematic diagram of the structure of the expanded battery compartment of the present invention;

[0040] Figure 13 This is an exploded view of the joint cabin structure of the present invention;

[0041] Figure 14 This is a diagram showing the connection relationship between the components of the three-section version of the robot body of the present invention;

[0042] Figure 15 This is a diagram showing the connection relationship between the components of the five-section version of the robot body of the present invention;

[0043] Figure 16 This is a diagram showing the connection relationship between the components of the five-section robot body in the debugging state of the present invention;

[0044] Figure 17 It is a flowchart of the power monitoring and processing program of the present invention;

[0045] Figure 18 A flowchart of a task execution program of the present invention;

[0046] Figure 19 It is a flowchart of the fault monitoring and handling procedure of the present invention;

[0047] Figure 20 Schematic diagram of the return process of the present invention.

[0048] Reference numerals:

[0049] 1-Robotic claw tool cabin; 1-1-Robotic claw; 1-2-First camera; 1-3-First lighting; 1-4-Robotic claw tool cabin housing; 2-Power cabin; 2-2-Power cabin barrel; 2-3-First thruster; 2-4-Second thruster; 2-6-Power cabin bracket; 2-7-Debug module; 2-8-Single-board computer; 2-9-Serial port expansion module; 2-10-Counterweight plate; 2-11-Motion control module; 2-12USB-expansion module; 2-13-Antenna; 3-Joint cabin; 3-3-Bellows; 3-4-Servo; 4-battery compartment; 4-2-battery compartment body; 4-4-battery compartment bracket; 4-5-battery terminal; 4-6-power management module; 4-8-charging management module; 4-9-charging coil; 5-mechanical wrench tool compartment; 5-1-mechanical wrench; 5-2-second camera; 5-3-second lighting; 5-4-mechanical wrench tool compartment shell; 6-extended battery compartment; 6-2-extended battery compartment body; 6-4-extended battery compartment bracket; 7-end cover; 8-wiring hole; 9-flange; 10-battery. DETAILED DESCRIPTION

[0050] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0051] Example 1

[0052] A snake eel-shaped light-operation modular underwater autonomous operation and maintenance robot includes a robot body, which includes a plurality of module cabins, which are fixed to each other by bolts. The types of module cabins include a mechanical claw tool cabin 1, a mechanical wrench tool cabin 5, a power cabin 2, a battery cabin 4, an extended battery cabin 6 and a joint cabin 3. The mechanical claw tool cabin 1 and the mechanical wrench tool cabin 5 are respectively arranged at both ends of the robot body, and the power cabin 2, the battery cabin 4 and the extended battery cabin 6 are arranged between the mechanical claw tool cabin 1 and the mechanical wrench tool cabin 5, and are connected through the joint cabin 3. The joint cabin 3 adjusts the relative positions of the two connected module cabins.

[0053] In this embodiment, Figure 1 As shown, the robot body is a three-section version, and the module compartments are the mechanical claw tool compartment 1, the power compartment 2, the joint compartment 3, the battery compartment 4, the joint compartment 3, the power compartment 2 and the mechanical wrench tool compartment 5 in sequence.

[0054] like Figure 3 and Figure 4 As shown, the robotic claw tool cabin 1 is used to shoot underwater videos and grasp objects, including a robotic claw 1-1, a first camera 1-2, a first lighting lamp 1-3, a robotic claw tool cabin shell 1-4 and an end cover 7.

[0055] There are two first cameras 1-2, which are symmetrically distributed on both sides of the mechanical claw 1-1. There are two first lighting lamps 1-3, which are symmetrically distributed on both sides of the mechanical claw 1-1. The center line of the first lighting lamps 1-3 is perpendicular to the center line of the first cameras 1-2.

[0056] like Figure 5 and Figure 6 As shown, the mechanical wrench tool cabin 5 is used to shoot underwater videos and the tightness of bolts, and includes a mechanical wrench 5-1, a second camera 5-2, a second lighting lamp 5-3, a mechanical wrench tool cabin shell 5-4 and an end cover 7.

[0057] There are two second cameras 5-2, which are symmetrically distributed on both sides of the mechanical wrench 5-1. There are two second lighting lamps 5-3, which are symmetrically distributed on both sides of the mechanical wrench 5-1. The center line of the second lighting lamps 5-3 is perpendicular to the center line of the second cameras 5-2.

[0058] The first camera 1-2 and the second camera 5-2 are used to collect underwater videos and underwater visual navigation, the first lighting lamp 1-3 and the second lighting lamp 5-3 are used to provide lighting for the underwater environment, and the mechanical claw tool cabin housing 1-4 and the mechanical wrench tool cabin housing 5-4 are used to protect the components inside the cabin.

[0059] The end covers 7 of the mechanical claw tool compartment 1 and the mechanical wrench tool compartment 5 are arranged on the back of the mechanical claw 1-1 and the mechanical wrench 5-1.

[0060] like Figure 8 and Figure 9 As shown, the power cabin 2 is used to perform complex calculations and motion control, and at the same time promote the movement of the robot, including a power cabin barrel 2-2, end covers 7 are provided at both ends of the power cabin barrel 2-2, an antenna 2-13, a first thruster 2-3 and a second thruster 2-4 are provided on the outside of the power cabin barrel 2-2, and a power cabin bracket 2-6 is provided inside the power cabin barrel 2-2. The power cabin bracket 2-6 is used to support the internal structure of the power cabin 2 and to fix the various components inside the power cabin 2. The power cabin bracket 2-6 is connected to the end cover 7 through a flange 9, and the bottom surface of the flange 9 is respectively connected to the end covers 7 at both ends by bolts. The other end of the flange 9 is embedded in the power cabin barrel 2-2, and a debugging module 2-7, a single-board computer 2-8, a serial port expansion module 2-9, a counterweight plate 2-10, a motion control module 2-11 and a USB expansion module 2-12 are provided on the power cabin bracket 2-6.

[0061] like Figure 7As shown, there are two first propellers 2-3, which are arranged on both horizontal sides of the power compartment barrel 2-2. The propulsion directions of the two first propellers 2-3 are consistent and the propulsion directions are perpendicular to the power compartment barrel 2-2. The second propellers 2-4 are arranged on the upper and lower sides of the power compartment barrel 2-2 away from the first propellers 2-3. The propulsion directions of the second propellers 2-4 are perpendicular to each other and the angle between their respective propulsion directions and the power compartment barrel 2-2 is 45 degrees.

[0062] The antenna 2-13 is used for communication between the robot body and the outside world; the debugging module 2-7 connects the single-board computer 2-8 and the external computer to debug the program in a laboratory environment; the single-board computer 2-8 is used to calculate complex data. In this embodiment, it is used to perform machine vision-related calculations and analysis on the data transmitted back by the first camera 1-2 and the second camera 5-2; the serial port expansion module 2-9 is used for subsequent expansion of serial port instruments and equipment, and a certain number of interfaces are reserved; there are two counterweight plates 2-10, which are symmetrically fixed on the power cabin bracket 2-6 and are used to adjust the deadweight of the robot body; the motion control module 2-11 has its own set of posture sensing systems, which are used for posture solution of the robot body and motion control of the robot body at the same time; the USB expansion module 2-12 is used for subsequent expansion of instruments and equipment with USB interfaces, and a certain number of interfaces are reserved.

[0063] like Figure 10 and Figure 11 As shown, the battery compartment 4 is used to supply power to the entire robot body, including a battery compartment body 4-2, end covers 7 are provided at both ends of the battery compartment body 4-2, and an internal battery compartment bracket 4-4 of the battery compartment body 4-2, the battery compartment bracket 4-4 is used to support the internal structure of the battery compartment 4 and to fix the various components inside the battery compartment 4, the battery compartment bracket 4-4 is connected to the end cover 7 through a flange 9, the bottom surface of the flange 9 is respectively connected to the end covers 7 at both ends by bolts, and the other end of the flange 9 is embedded in the battery compartment body 4-2, and the battery compartment bracket 4-4 is provided with a battery terminal 4-5, a power supply management module 4-6, a battery 10, a charging management module 4-8 and a charging coil 4-9.

[0064] The power supply management module 4-6 is used for regulating the output of DC voltage, and is used to supply power to various electrical devices of the robot body separately; the charging management module 4-8 is used to manage and control the charging of the battery 10; there are two charging coils 4-9, which are located at both ends of the battery compartment 4, and are used for magnetic coupling with external charging coils, and cooperate with the charging management module to realize wireless charging of the battery 10.

[0065] like Figure 12As shown, the extended battery cabin 6 is used to increase the battery life of the robot body, including an extended battery cabin body 6-2, which is used to protect the components inside the cabin. End covers 7 are provided at both ends of the extended battery cabin body 6-2, and an extended battery cabin bracket 6-4 is provided inside the extended battery cabin body 6-2. The extended battery cabin bracket 6-4 is connected to the end cover 7 through a flange 9, and the bottom surface of the flange 9 is respectively connected to the end covers 7 at both ends by bolts. The other end of the flange 9 is embedded in the extended battery cabin body 6-2, and a battery 10 is provided on the extended battery cabin bracket 6-4. The extended battery cabin bracket 6-4 is used to support the internal structure of the extended battery cabin 6 and to fix the various components inside the extended battery cabin 6. The battery 10 is used to expand the charging energy for the operation of the robot body.

[0066] like Figure 13 As shown, the joint cabin 3 includes a bellows 3-3, which is used to protect the components in the cabin and can be bent within a certain range. End covers 7 are provided at both ends of the bellows 3-3, and the bellows 3-3 is connected to the end covers 7 through flanges 9. The bottom surfaces of the flanges 9 are respectively connected to the end covers 7 at both ends by bolts, and the other end of the flange 9 is connected to the bellows 3-3. A servo 3-4 is provided inside the bellows 3-3. In this embodiment, the number of servos 3-4 is 2, and the two servos 3-4 are perpendicularly and orthogonally connected to each other, cooperating with each other to enable the joint cabin 3 to bend at various angles.

[0067] The end cover 7 is used to connect with other module compartments. A wiring hole 8 is provided in the center of the end cover 7. In this embodiment, the number of wiring holes 8 is 4. Watertight wiring terminals are provided in the wiring holes 8 for power supply and communication. The power line and the communication line are connected through the four wiring holes 8 on the end cover 7 through the watertight wiring terminals.

[0068] The connection diagram of the components of the three-section version robot body is as follows Figure 14As shown in the figure, the three-section robot body is equipped with a rechargeable battery 17. When the robot is running, electrical energy first flows through the power management module 4-6, which then powers each of the robot's electrical components. These components include the mechanical gripper 1-1, the mechanical wrench 5-1, the servos 3-4 of the joint cabin 3, the first and second thrusters 2-3 and 2-4, the motion control module 2-11, the single-board computer 2-8, the first and second cameras 1-2 and 5-2, the first and second lights 1-3 and 5-3, the antenna 2-13, the USB expansion module 2-12, and the serial port expansion module 2-9. The motion control module 2-11 has a built-in depth gauge and inertial measurement unit. When the robot body is charging, electrical energy is transmitted from the charging coil 4-9 to the charging management module 4-8, which is then responsible for charging the rechargeable battery 17. At the same time, the power management module 4-6 stops supplying power to the electrical components. In terms of communication connection, the motion control module 2-11 is unidirectionally connected to the mechanical claw 1-1, the mechanical wrench 5-1, the servo 3-4, the first thruster 2-3 and the second thruster 2-4 to realize their control. At the same time, the motion control module 2-11 is also connected to the single-board computer 2-8, which can carry out two-way communication; the single-board computer 2-8 is bidirectionally connected to the charging management module 4-8 and the power supply management module 4-6, on the one hand, it can receive the battery-related information returned by the two, and on the other hand, it can also send instructions to configure the two; the single-board computer 2-8 is respectively connected to the debugging module 2-7, the serial port expansion module 2-9, The USB expansion module 2-12 is bidirectionally connected and can transmit information to each other; the single-board computer 2-8 is bidirectionally connected to the first camera 1-2 and the second camera 5-2, on the one hand receiving image information sent back by the first camera 1-2 and the second camera 5-2, and on the other hand controlling the first camera 1-2 and the second camera 5-2; the single-board computer 2-8 is bidirectionally connected to the antenna 2-13, transmitting information to each other to realize communication with the outside world; the single-board computer 2-8 is unidirectionally connected to the first light 1-3 and the second light 5-3, and the single-board computer 2-8 controls the turning on and off of the first light 1-3 and the second light 5-3.

[0069] During operation, the robot body is controlled by three main programs and one callable subroutine. The three main programs include the task execution program, the self-power monitoring and processing program, and the self-fault monitoring and processing program; the callable subroutine is specifically the return program, which can be called by the self-power monitoring and processing program and the self-fault monitoring and processing program.

[0070] In this embodiment, the robot body performs the task program flow chart as shown in the following figure: Figure 17As shown in the figure, during a mission, the single-board computer 2-8 first performs a self-check on the robot to determine whether its functions are functioning properly. If not, the robot sends a signal to the dock via antenna 2-13 to report the problem, and then terminates the operation. If the robot is functioning properly, the motion control module 2-11 first controls the first thruster 2-3 and the second thruster 2-4 to enable the robot to exit the warehouse. The robot then navigates to the operation area using antenna positioning and underwater visual navigation. Upon arriving at the operation area, the robot begins to inspect the underwater facilities. If no problem is found, the robot continues to inspect the underwater facilities. If a problem is found, the robot first sends a signal to the dock via antenna 2-13 to report the problem, and then determines whether the robot can solve the problem with the tools it carries. If the problem can be solved, the robot performs the maintenance task. After the task is completed, the robot sends a signal to the dock to report the problem, and then returns to continue inspecting the underwater facilities. If the problem cannot be solved, the robot also sends a signal to the dock to report the problem, and then returns to continue inspecting the underwater facilities.

[0071] In this embodiment, the robot body performs its own power monitoring and processing program flow chart as shown in the following figure: Figure 18 shown.

[0072] During a mission, the power monitoring and processing program is always in operation. First, the single-board computer 2-8 updates the power threshold required for returning home based on the distance traveled and the power consumed. Then, it is determined whether the remaining power of the battery 17 has reached the threshold. If it has not reached the threshold, it means that the battery power is still sufficient and there is no need to return home. The program continues to return to update the power threshold required for returning home. If the threshold has been reached, it means that the battery power is not enough to continue the mission and is only enough for the robot body to return home, so the return program is executed.

[0073] In this embodiment, the robot body performs its own fault monitoring and processing flow chart as shown in the following figure: Figure 19 As shown in the figure, during a mission, the robot's own fault monitoring and processing program is always in operation. First, the single-board computer 2-8 performs fault detection on the robot itself, and then determines whether the robot itself has a fault. If no fault has occurred, the robot continues to perform fault detection on itself. If a fault has occurred, the robot first sends a signal to the docking station via the antenna 2-13 to report the fault, and then determines whether the robot itself has a fault. If the navigation system and drive system have not failed, and only a component such as the mechanical claw 1-1 or the mechanical wrench 5-1 has failed, the return program is executed. If either the navigation system or the drive system has failed and can no longer support return, the robot begins to periodically send distress signals until the battery is exhausted, waiting for outside rescue.

[0074] The task execution program, the self-power monitoring and processing program, and the self-fault monitoring and processing program are allocated different time slices by the CPU core of the single board computer 2-8 and run simultaneously.

[0075] In this embodiment, the robot body executes the return program flow chart as shown in the following figure: Figure 20 As shown in the figure, the return program is a subroutine called by other programs. During one execution, the robot first navigates to the docking station through antenna positioning and underwater visual navigation. Then, the motion control module 2-11 controls the thrusters to allow the robot to enter the dock. After entering the dock, the robot is wirelessly charged through the charging coil 4-9 and simultaneously uploads the navigation log of this mission through the antenna 2-13. The robot then determines whether the rechargeable battery 17 is fully charged. If it is, the program ends. If not, the program continues to determine whether the battery is fully charged until it is fully charged.

[0076] Example 2

[0077] In this embodiment, the robot body extends the cavity. Figure 1 The three-section version of the robot is based on the body of the robot, with two extended battery compartments 6 and two joint compartments 3 added. The connection relationship is as follows: Figure 2 As shown, it is a five-section version of a snake eel-shaped light-operation modular underwater autonomous operation and maintenance robot, including a mechanical claw tool cabin 1, an extended battery cabin 6, a joint cabin 3, a power cabin 2, a joint cabin 3, a battery cabin 4, a joint cabin 3, a power cabin 2, a joint cabin 3, an extended battery cabin 6 and a mechanical wrench tool cabin 5 connected in sequence.

[0078] The connection diagram of the components of the five-section version robot is as follows Figure 15 Since the five-section version of the robot body has two additional extended battery compartments 6, the difference from the three-section version is that the number of rechargeable batteries 17 in the five-section version of the robot body has increased to five, and the five rechargeable batteries 17 are also uniformly managed by the power supply management system 4-6 and the charging management system 4-8.

[0079] In this embodiment, the robot body can be debugged, and the connection relationship diagram of each component in the specific debugging state is as follows: Figure 16 As shown. Electrically, an external power supply is connected to debugging module 2-7, which is in turn connected to power management module 4-6. Power is transmitted from the external power supply through debugging module 2-7 to power management module 4-6, which then supplies power to the various electrical components within the robot. Regarding communication, a computer is bidirectionally connected to debugging module 2-7, which in turn is bidirectionally connected to single-board computer 2-8. This establishes bidirectional communication between the computer and the robot's internal single-board computer 2-8, enabling debugging.

[0080] The rest is the same as in Example 1.

[0081] In addition, it should be noted that the specific embodiments described in this specification may be named differently, and the above content described in this specification is merely an example of the structure of the present invention. Any equivalent changes or simple changes made based on the structure, features and principles of the present invention are included in the protection scope of the present invention. Those skilled in the art of the present invention may make various modifications or supplements to the specific examples described or adopt similar methods, as long as they do not deviate from the structure of the present invention or exceed the scope defined by the claims, they should all fall within the protection scope of the present invention.

Claims

1. A snake eel-shaped light-operation modular underwater autonomous operation and maintenance robot, comprising a robot body, characterized in that: The robot body includes a plurality of module cabins, which are fixed to each other by bolts. The types of the module cabins include a mechanical claw tool cabin (1), a mechanical wrench tool cabin (5), a power cabin (2), a battery cabin (4), an extended battery cabin (6) and a joint cabin (3). The mechanical claw tool cabin (1) and the mechanical wrench tool cabin (5) are respectively arranged at two ends of the robot body, and the power cabin (2), the battery cabin (4) and the extended battery cabin (6) are arranged between the mechanical claw tool cabin (1) and the mechanical wrench tool cabin (5), and are connected by the joint cabin (3). The relative position of the two connected module cabins is adjusted by the joint cabin (3); The mechanical wrench tool cabin (5) comprises a mechanical wrench (5-1), a second camera (5-2), a second lighting lamp (5-3), a mechanical wrench tool cabin housing (5-4) and an end cover (7); the number of the second cameras (5-2) is two and they are symmetrically distributed on both sides of the mechanical wrench (5-1); the number of the second lighting lamps (5-3) is two and they are symmetrically distributed on both sides of the mechanical wrench (5-1); the center line of the second lighting lamps (5-3) is perpendicular to the center line of the second cameras (5-2); The power cabin (2) comprises a power cabin barrel (2-2), end covers (7) are provided at both ends of the power cabin barrel (2-2), an antenna (2-13), a first propeller (2-3) and a second propeller (2-4) are provided on the outside of the power cabin barrel (2-2), a power cabin bracket (2-6) is provided inside the power cabin barrel (2-2), the power cabin bracket (2-6) is connected to the end covers (7) via a flange (9), and a debugging module (2-7), a single board computer (2-8), a serial port expansion module (2-9), a counterweight plate ( 2-10), a motion control module (2-11) and a USB expansion module (2-12), the number of the first thrusters (2-3) is two, which are respectively arranged on the horizontal sides of the power compartment barrel (2-2), the propulsion directions of the two first thrusters (2-3) are consistent and the propulsion directions are perpendicular to the power compartment barrel (2-2), the second thrusters (2-4) are respectively arranged on the upper and lower sides of the power compartment barrel (2-2) away from the first thrusters (2-3), the propulsion directions of the second thrusters (2-4) are perpendicular to each other and the angle of each propulsion direction to the power compartment barrel (2-2) is 45 degrees.

2. The snake eel-shaped light-operation modular underwater autonomous operation and maintenance robot according to claim 1, characterized in that: The mechanical claw tool cabin (1) comprises a mechanical claw (1-1), a first camera (1-2), a first lighting lamp (1-3), a mechanical claw tool cabin housing (1-4) and an end cover (7); The number of the first cameras (1-2) is two, which are symmetrically distributed on both sides of the mechanical claw (1-1); the number of the first lighting lamps (1-3) is two, which are symmetrically distributed on both sides of the mechanical claw (1-1); and the center line of the first lighting lamps (1-3) is perpendicular to the center line of the first cameras (1-2).

3. The snake eel-shaped light-operation modular underwater autonomous operation and maintenance robot according to claim 1, characterized in that: The battery compartment (4) comprises a battery compartment body (4-2), end covers (7) are provided at both ends of the battery compartment body (4-2), a battery compartment bracket (4-4) inside the battery compartment body (4-2), the battery compartment bracket (4-4) is connected to the end covers (7) via a flange (9), and the battery compartment bracket (4-4) is provided with a battery terminal (4-5), a power supply management module (4-6), a battery (10), a charging management module (4-8) and a charging coil (4-9).

4. The snake eel-shaped light-operation modular underwater autonomous operation and maintenance robot according to claim 1, characterized in that: The extended battery compartment (6) comprises an extended battery compartment body (6-2), end covers (7) are provided at both ends of the extended battery compartment body (6-2), an extended battery compartment bracket (6-4) is provided inside the extended battery compartment body (6-2), the extended battery compartment bracket (6-4) is connected to the end covers (7) via a flange (9), and a battery (10) is provided on the extended battery compartment bracket (6-4).

5. The snake eel-shaped light-operation modular underwater autonomous operation and maintenance robot according to claim 1, characterized in that: The joint cabin (3) comprises a bellows (3-3), end covers (7) are provided at both ends of the bellows (3-3), the bellows (3-3) is connected to the end covers (7) via flanges (9), and a steering gear (3-4) is provided inside the bellows (3-3).

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