An assembling underwater robot module and assembling method thereof

Abstract

A modular underwater robot module includes a main control module for providing processing, analysis and control capabilities for the underwater robot. The main control module includes a polyhedron watertight cabin. Each surface of the polyhedron watertight cabin can be sealed with a coil module for providing energy and information transmission between the main control module and functional modules of the underwater robot. The coil module can be connected to various functional modules for providing the underwater robot with the functions required for operation. The functional modules include basic functional modules and extended functional modules. The functional modules are also polyhedron watertight cabins. Each surface of the functional module can be installed with a coil module for connection with other functional modules to achieve cascade expansion between functional modules.

Description

Technical Field

[0001] The present invention belongs to the technical field of autonomous underwater vehicles, and in particular relates to an assembling underwater robot module and an assembling method thereof. Background Art

[0002] Autonomous underwater vehicles (AUVs) are unmanned underwater vehicles that carry their own energy and propulsion systems, operate autonomously without human intervention, and can navigate and control their own operations. To meet underwater pressure resistance and sealing requirements, the energy, control, navigation, communication, and mission payload equipment configured on AUVs are typically encapsulated in a pressure-resistant cabin. AUVs with a torpedo-shaped integral pressure cabin structure typically adopt a modular design, arranging the energy, navigation, control, payload, and propulsion equipment in different pressure cabin sections, with the same electrical and mechanical interfaces used to connect the sections. This has the advantage of high volumetric efficiency, and all equipment is arranged in a dry, sealed cabin, making electrical connections between devices more convenient.

[0003] Patent application number 202210229375.X discloses a modular AUV module connection device. This device utilizes a cylindrical sealed cabin that can be expanded axially, with modules connected using aviation plugs. This provides a modular AUV design solution. Existing modular underwater robot solutions only allow for axial module expansion, resulting in limited scalability and preventing the use of building blocks for creative assembly. Summary of the Invention

[0004] In view of the problems existing in the above background technology introduction, the purpose of the present invention is to provide an underwater robot module and its assembly method that can realize module expansion in multiple directions and quickly realize creative assembly of building blocks.

[0005] The technical solution adopted in the present invention is:

[0006] A modular underwater robot module includes a main control module for providing processing, analysis, and control capabilities for the underwater robot. The main control module comprises a polyhedral watertight cabin, each surface of which is sealably mounted with a coil module for providing energy and information transmission between the main control module and functional modules of the underwater robot. The coil module can be connected to various functional modules for providing the underwater robot with the functions required for operation. The functional modules include basic functional modules and extended functional modules. Each surface of the functional module is also a polyhedral watertight cabin, and coil modules for connecting to other functional modules can be mounted on each surface to achieve cascade expansion between the functional modules. The present invention uses coil modules to achieve multi-directional expansion and installation of functional modules, thereby realizing building block-style creative assembly.

[0007] Furthermore, the main control module also includes a main control board installed in the polyhedron watertight compartment for controlling the underwater robot, and the main control board is connected to a posture sensor for sensing the posture information of the underwater robot, a Raspberry Pi for collecting, processing and storing information of the functional module, a battery module for power supply and a hub board for connecting the coil module and the main control board.

[0008] Furthermore, the polyhedron watertight cabin is provided with a detachable sealed hatch cover, and the polyhedron watertight cabin is provided with an internal structural frame for installing a main control board, a posture sensor, a Raspberry Pi, a battery module and a wiring board, and the internal structural frame is fixed on the hatch cover, and each surface of the polyhedron watertight cabin is provided with a coil module through hole and a coil module fixing threaded hole for installing a coil module.

[0009] Furthermore, the coil module includes standard unit coil modules of different sizes, and the standard unit coil module includes a coil module structure. The outer surface of the coil module structure is encapsulated with a first coil for realizing power transmission between the main control module and the functional module, and outwardly protruding slide grooves for installing the limiting functional module are provided on both sides of the first coil. The first coil is electrically connected to the hub through the first coil control module, and the first coil control module is fixed on the inner surface of the coil module structure. The inner surface of the coil module structure is also installed with a first optical communication module for realizing information transmission between the main control module and the functional module. The first optical communication module is electrically connected to the hub through the first optical signal processing module, and the first optical signal processing module is installed on the inner surface of the coil module structure.

[0010] Furthermore, the inner surface of the coil module structure is provided with sealing rings in the axial and radial directions; the outer surface of the coil module structure is provided with a first through hole for transmitting the optical signal of the first optical communication module, and the coil module structure is provided with a coil module fixing hole for fixed connection with the main control module.

[0011] Furthermore, the functional module includes standard unit functional modules of different sizes, and the standard unit functional module includes a functional module cabin. The side of the functional module cabin corresponding to the coil module is encapsulated with a second coil that realizes electromagnetic coupling with the first coil to receive electrical energy and stores it in the functional module battery. The second coil is electrically connected to the functional module main control board through the second coil control module, and the functional module battery is electrically connected to the functional module main control board. The second coil control module, the functional module battery and the functional module main control board are all installed in the functional module cabin. A second optical communication module for realizing information transmission between the main control module and the functional module is also installed in the functional module cabin. The second optical communication module is electrically connected to the functional module main control board through the second optical signal processing module. The second optical signal processing module is installed in the functional module cabin. A sealed functional module hatch cover for matching different functional modules is provided on the functional module cabin, and the functional module hatch cover is provided with a functional module hatch fixing threaded hole.

[0012] Furthermore, the functional module cabin is provided with a side on which the second coil is provided with a boss that cooperates with the slide groove to limit the functional module, the functional module cabin is provided with a hand-tightened locking nut for locking the functional module on the coil module, and the functional module cabin is provided with a side on which the second coil is provided with a second through hole for transmitting the optical signal of the second optical communication module.

[0013] Furthermore, each surface of the functional module cabin is installed with a sealing baffle or a coil module for expanding functions.

[0014] The specific steps for assembling the above-mentioned underwater robot modules that can be creatively assembled are as follows:

[0015] (1) Select the main control module according to your needs;

[0016] (2) Selecting a basic function module and an extended function module as needed; wherein the basic function module and the extended function module are configured with a coil module to extend the function as needed;

[0017] (3) Select the corresponding coil module according to the basic function module and the extended function module and install it on the main control module, the basic function module, and the extended function module;

[0018] (4) Install the functional modules that need to be installed on the main control module onto the corresponding coil modules of the main control module, and install other functional modules that need to be cascaded and expanded onto the coil modules on the corresponding functional modules to complete the assembly.

[0019] Furthermore, one or more identical functional modules may be provided.

[0020] Compared with existing technologies, this invention offers significant advantages: It uses coil modules to expand and install functional modules, enabling rapid and creative building blocks and high flexibility. It can be customized to meet mission requirements without redesigning the underwater robot; simply changing the installed modules is sufficient, and the installation process is quick and simple. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the present invention;

[0022] Figure 2 It is a schematic diagram of the exploded structure of the main control module of the present invention;

[0023] Figure 3 3-1a, 3-2a, and 3-3a are cross-sectional views of standard unit coil modules of different sizes, respectively; 3-1b, 3-2b, and 3-3b are front views of single standard unit coil modules of different sizes, respectively; 3-1c, 3-2c, and 3-3c are bottom views of standard unit coil modules of different sizes, respectively; and 3-1d, 3-2d, and 3-3d are rear views of standard unit coil modules of different sizes, respectively.

[0024] Figure 4 3-a is a schematic structural diagram of a single standard unit coil module of the present invention, wherein 3-b is a front view of the single standard unit coil module, 3-c is a bottom view of the single standard unit coil module, and 3-d is a rear view of the single standard unit coil module;

[0025] Figure 5 5-a is a schematic structural diagram of a single standard unit functional module of the present invention, wherein 5-b is a cross-sectional view of the single standard unit functional module, 5-c is a top view of the single standard unit functional module, and 5-d is a bottom view of the single standard unit functional module;

[0026] Figure 6 It is a structural schematic diagram of different standard unit functional modules of the present invention, wherein 6-a is a single standard unit functional module, 6-b is a dual standard unit functional module without extended function, 6-c is a dual standard unit fully extended functional module, 6-d is a triple standard unit functional module without extended function, and 6-e is a triple standard unit partially extended functional module.

[0027] Figure 7 7-a is a schematic structural diagram of the sealing baffle of the present invention, wherein 7-b is a cross-sectional view of the sealing baffle, 7-c is a rear view of the sealing baffle, and 7-d is a three-dimensional view of the sealing baffle;

[0028] Figure 8 8-a is a schematic diagram of the structures of thruster modules of various different structures of the present invention, wherein 8-a is a single standard unit forward thrust module, 8-b is a single standard unit extended forward thrust module, 8-c is a single standard unit vertical thrust module, 8-d is a single standard unit oblique thrust module, 8-e is a dual standard unit forward thrust and vertical thrust module, 8-f is a dual standard unit forward thrust and two vertical thrust modules (formed by combining a dual standard unit full extension function module with one single standard unit forward thrust module and two single standard unit vertical thrust modules), and 8-g is a dual standard unit vertical thrust module (formed by combining a dual standard unit full extension function module with one single standard unit vertical thrust module);

[0029] Figure 9 It is a schematic structural diagram of a single standard unit radio station module of the present invention;

[0030] Figure 10 It is a structural diagram of a single standard unit GPS module of the present invention;

[0031] Figure 11 It is a structural diagram of the single-standard unit wireless debugging module of the present invention;

[0032] Figure 12 12 - a is a perspective view of the three-standard unit external battery module, and 12 - b is an exploded view of the three-standard unit external battery module;

[0033] Figure 13 13 - a is a schematic structural diagram of a single standard unit sensor module of the present invention, wherein 13 - a is a perspective view of the single standard unit sensor module, 13 - b is a cross-sectional view of the single standard unit sensor module, and 13 - d is a top view of the single standard unit sensor module;

[0034] Figure 14 14 - a is a schematic structural diagram of a first application example of the present invention, wherein 14 - a is a front view of an underwater robot module A with a four-push layout, 14 - b is a side view of an underwater robot module A with a four-push layout, 14 - c is a top view of an underwater robot module A with a four-push layout, and 14 - d is a perspective view of an underwater robot module A with a four-push layout;

[0035] Figure 15 15 - a is a schematic structural diagram of a second application example of the present invention, wherein 15 - a is a front view of an underwater robot module B with a 6-push layout, 15 - b is a side view of an underwater robot module B with a 6-push layout, 15 - c is a top view of an underwater robot module B with a 6-push layout, and 15 - d is a perspective view of an underwater robot module B with a 6-push layout;

[0036] Figure 1616 - a is a schematic structural diagram of a third application example of the present invention, wherein 16 - a is a front view of an underwater robot module C with an 8-push layout, 16 - b is a side view of an underwater robot module C with an 8-push layout, 16 - c is a top view of an underwater robot module C with an 8-push layout, and 16 - d is a perspective view of an underwater robot module C with an 8-push layout;

[0037] Figure 17 It is a structural schematic diagram of the fourth application example of the present invention, wherein 17-a is a main view of the underwater robot module D with an 8-push layout, 17-b is a side view of the underwater robot module D with an 8-push layout, 17-c is a top view of the underwater robot module D with an 8-push layout, and 17-d is a three-dimensional view of the underwater robot module D with an 8-push layout. DETAILED DESCRIPTION

[0038] The present invention will be further described below with reference to specific embodiments, but the present invention is not limited to these specific embodiments. Those skilled in the art should recognize that the present invention covers all possible alternatives, improvements and equivalents within the scope of the claims.

[0039] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more, unless otherwise clearly defined.

[0040] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0041] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0042] Example 1

[0043] Reference Figure 1 、 Figure 2 This embodiment provides an underwater robot module that can be assembled and combined, including a main control module 1 for providing processing, analysis, and control capabilities for the underwater robot. The main control module 1 includes a polyhedral watertight cabin 11. Each surface of the polyhedral watertight cabin 11 can be sealed with a coil module 2 for providing energy and information transmission between the main control module 1 and functional modules 3 for the underwater robot. The coil module 2 is connected to various functional modules 3 for providing the underwater robot with the functions required for operation. The functional modules 3 include basic functional modules and extended functional modules. The functional modules are also polyhedral watertight cabins. Coil modules 2 for connecting with other functional modules can be installed on each surface of the functional modules to achieve cascade expansion between the functional modules. The present invention uses coil modules 2 to achieve multi-directional expansion and installation of functional modules 3, thereby realizing building block-like creative assembly. Each module in this embodiment is preferably a hexahedron, with the main control module 1 as the base, and different standard unit coil modules are selected to be installed on the main control module 1, and the basic function module and the extended function module are installed on the coil module 2, so as to realize the building block assembly of the underwater robot. By specifying the geometric parameters of a standard module unit, the mutual compatibility between the modules is achieved.

[0044] The main control module 1 of this embodiment also includes a main control board 12 installed in the polyhedron watertight compartment 11 for controlling the underwater robot. The main control board 12 is connected to a posture sensor 13 for sensing the underwater robot's posture information, a Raspberry Pi 14 for collecting, processing, and storing information from the functional modules, a battery module 15 for powering the device, and a hub 16 for connecting the coil module 2 and the main control board 12. The polyhedron watertight compartment 11 is provided with a detachable, sealed hatch 111. The hatch 111 has a sealing groove 112 formed therein. The groove 112 cooperates with a sealing ring and the internal bulkhead of the polyhedron watertight compartment 11 to achieve a seal between the hatch 111 and the polyhedron watertight compartment 11. The hatch is secured to the polyhedron watertight compartment 11 via hatch fixing threaded holes 115. The polyhedron watertight compartment 11 is equipped with an internal structural frame 17 for mounting the main control board 12, attitude sensor 13, Raspberry Pi 14, battery module 15, and wiring board 16. The internal structural frame 17 is secured to the hatch 111 via threaded holes 171 for securing the main control module. The main control board 12, attitude sensor 13, Raspberry Pi 14, battery module 15, and wiring board 16 are secured to the internal structural frame 17 using screws and nuts. Each surface of the polyhedron watertight compartment 11 is provided with coil module through-holes 113 and coil module securing threaded holes 114 for mounting the coil module 2. In this embodiment, the main control board 12 controls the basic function modules and the extended function modules. The wiring board 16 connects the coil module to the main control board. The Raspberry Pi 14 collects, processes, and stores information from the basic function modules and the extended function modules. The attitude sensor 13 senses the underwater robot's attitude information, providing a reference for controlling the underwater robot. The battery module 15 supplies power to the main control module. The main control module 1 mainly provides processing, analysis and control capabilities for the underwater robot. The internal structure of the main control module 1 can also be changed according to mission requirements.

[0045] See also Figure 3 The coil module 2 described in this embodiment includes standard unit coil modules of different sizes, including a single standard unit coil module, a double standard unit coil module, a triple standard unit coil module, etc. Although there are differences in size, the structural settings are basically the same. They all consist of a coil module structure 21, a first coil 22, a first coil control module 23, a first sealant 24, a first optical communication module 25, a first optical signal processing module 26, a first sealing groove 27, and a first sealing ring 28.

[0046] This embodiment takes a single standard unit coil module as an example, see Figure 4The standard unit coil module includes a coil module structure 21 with a coil module fixing hole 211 for securing the coil module 2 to the main control module 1 or other surface of a functional module 3 capable of mounting the coil module 2, and applying a preload force to the first sealing ring 28. The outer surface of the coil module structure 21 includes a slide groove 212, a coil mounting groove 213, and a first through-hole 214. The slide groove 212 is used to mount a standard functional module or a basic functional module and serves as a position limiter. The coil mounting groove 213 is used to mount the first coil 22, and the depth of the mounting groove is slightly greater than the height of the coil. The first through-hole 215 is designed to mate with the boss of the first optical communication module 26 to transmit optical signals outside the module. The first coil control module 23 is fixed to the inner surface of the coil module structure 21 and connected to the first coil 22 via a cable passing through the first through-hole 215. A first sealant 24 fills the first coil mounting groove 27, securing the coil and providing a seal. The inner surface boss of the coil module structure 21 defines a first optical communication module fixing threaded hole 216 for securing the first optical communication module 25. The first optical signal processing module 26 is mounted on the inner surface of the coil module structure 21. Axial sealing rings 281, axial sealing grooves 271, the coil module structure 21, and the outer surface of the polyhedron watertight compartment 11 (or the outer surface of the functional module) cooperate to provide a seal. Radial sealing rings 282, radial sealing grooves 272, the coil module structure 21, and the walls of the coil module through-hole 113 cooperate to provide a seal.

[0047] The electrical connections for the single-standard unit coil module are as follows: One end of the first coil control module 23 is connected to the wiring board 16 within the main control module 1, and the other end is connected to the first coil 22. The first coil on the coil module 2 faces the second coil on the functional module 3 fixed to the coil module 2, utilizing the principle of electromagnetic coupling to transmit power from the main control module 1 to the functional module 3. The first optical signal processing module 26 is connected to the wiring board 16 of the main control module 1 and the other end is connected to the first optical communication module 25. The first optical communication module 25 on the coil module 2 faces the second optical communication module on the functional module 3 fixed to the coil module 2, enabling information transmission between the main control module 1 and the functional module 3.

[0048] The functional modules 3 described in this embodiment are divided into basic functional modules and extended functional modules. The basic and extended functional modules are based on standard functional modules, with some modifications based on functional requirements. Their internal structures are identical, differing only in geometric dimensions, functional module housings, and hatches. Standard unit functional modules of varying sizes are available, including single-unit and dual-unit modules.

[0049] See also Figure 5This embodiment uses a single standard unit functional module as an example. The standard unit functional module includes a functional module housing 31. The surface of the functional module housing 31 corresponding to the mounting surface of the first coil 22 is provided with a second coil mounting groove 311 and a second through-hole 312. The second coil mounting groove 311 is used to mount the second coil 32, and its depth is slightly greater than the coil's height. The second through-hole 312 is designed to mate with the boss of the second optical communication module 33, allowing optical signals to be transmitted outside the module. Meanwhile, a second coil control module 34 is mounted within the functional module housing 31 and connected to the second coil 32 via a cable passing through the second through-hole 312. A second sealant 39 fills the second coil mounting groove 311, securing the coil and providing a seal. Threaded holes are provided on the inner surface of the functional module housing 31 for securing the second optical communication module 33 and the functional module main control board 35. The second coil control module 34 and the second optical signal processing module 36 are connected to the second optical communication module 33 via screws and studs. A threaded hole 371 for fixing the functional module cover is provided at the connection between the functional module cabin 31 and the functional module cabin cover 37, and the functional module cabin cover 37 is fixed to the functional module cabin 31 by screws. An external stud 315 and a boss 313 are provided on the outer wall of the functional module cabin 31. The external stud 315 is used to cooperate with the hand-tightened locking nut 314, and the boss 313 is used to cooperate with the slide 212 of the coil module 2. The functional module 3 slides into the coil module 2 along the slide 212, and the manual locking nut 314 is tightened. The functional module 3 is locked on the coil module 2. At this time, the functional module 3 and the coil module 2 are mechanically connected, and no relative movement can occur between the two. A second sealing groove 373 is provided on the functional module cabin cover 37. The second sealing groove 373, the second sealing ring 372 and the inner wall of the functional module cabin 31 cooperate to form a seal.

[0050] The electrical connections for a single standard unit functional module are as follows: One end of the second coil control module 34 is connected to the functional module main control board 35 and the other end is connected to the second coil 32. The second coil 32 on the functional module 3 faces the first coil 22 on the coil module 2. Using the principle of electromagnetic coupling, it receives electrical energy transmitted from the main control module 1, stores it in the functional module battery 38, and simultaneously supplies it to other modules within the functional module 3 that require power. The second optical signal processing module 36 is connected to the functional module main control board 35 and the other end to the second optical communication module 33. The second optical communication module 33 on the functional module 3 faces the first optical communication module 25 on the coil module 2, enabling information transmission between the main control module 1 and the functional module 3.

[0051] By changing the geometric dimensions of the standard functional module, the structure of the cabin and the hatch (opening coil module through holes and coil module fixing threaded holes on the cabin and the hatch) and installing the coil module 2 or the sealing baffle 4, different standard functional modules can be formed. Figure 6 Several standard functional modules are demonstrated. Figure 6-a is a single standard unit function module, Figure 6 -b is a functional module with no extended functions for dual standard units. Figure 6 -c is a fully expanded dual-standard unit function module, 6-d is a triple-standard unit function module without expansion, and 6-e is a partial triple-standard unit function module. The expansion of function module 3 is determined by the coil module 2 installed on it. A fully expanded function module 3 is completely installed with coil modules 2, and other function modules can be installed on it. A non-expandable function module 3 is installed with a sealing baffle 4 to provide a seal. A partially expanded function module 3 is partially installed with coil modules 2 and partially installed with sealing baffle 3. The structure of the sealing baffle 4 is as follows: Figure 7 As shown, sealing rings are provided between its inner surface and the functional module 3 in radial and axial directions.

[0052] In this embodiment, the module that provides the basic functions required by the underwater robot is the basic function module, including but not limited to the thruster module, radio station module, GPS module, and wireless debugging module; the module that provides the extended functions required by the underwater robot is the extended function module, including but not limited to the external battery module and sensor module.

[0053] By modifying the hatch of the standard functional module, installing the thruster on the hatch of the functional module and matching it with different mounting brackets, different thruster modules can be formed. Figure 8 As shown, Figure 8 -a is a single standard unit forward thrust module, i.e. a forward thrust propeller is installed on the functional module hatch 37; Figure 8 -b is a single standard unit extended forward thrust module, i.e. the thruster is mounted on the functional module hatch 37 via an extended mounting bracket 5; Figure 8 -c is a single standard unit vertical thrust module, i.e. a vertical thrust propeller is installed on the functional module hatch 37; Figure 8 -d is a single standard unit oblique thrust module, i.e. the thruster is mounted on the functional module hatch 37 via an oblique mounting bracket 6; Figure 8 -e is a dual standard unit forward thrust and vertical thrust module, that is, the functional module hatch 37 is equipped with both forward thrust propellers and vertical thrust propellers; Figure 8 -f is a dual-standard unit forward thrust and two vertical thrust modules, that is, a dual-standard unit full-extended function module is installed with one single-standard unit forward thrust module and two single-standard unit vertical thrust modules; Figure 8 -g is a dual-standard unit vertical thrust module, meaning a single-standard unit vertical thrust module is installed on a dual-standard unit fully extended function module. When the thrusters require high power, they draw power from the battery inside the module; when the thrusters operate at medium or low power, they draw power directly from the coil module controller inside the module.

[0054] See also Figure 9, install the radio station main control board in the cabin of the standard function module, modify the standard function module cabin cover, and install the radio station antenna 7 on the function module cabin cover 37 to form a radio station module, such as a single standard unit radio station module.

[0055] See also Figure 10 , install the GPS main control board in the cabin of the standard function module, modify the cabin cover of the standard function module, and install the GPS antenna 8 on the cabin cover 37 of the function module to form a GPS module, such as a single standard unit GPS module.

[0056] See also Figure 11 , install the wireless debugging main control board in the cabin of the standard functional module, modify the cabin cover of the standard functional module, and install the wireless debugging main control board antenna 9 on the functional module cabin cover 37 to form a wireless debugging module, such as a single standard unit wireless debugging module.

[0057] See also Figure 12 By installing a larger battery in the cabin of the standard functional module, an external battery module can be formed. For example, a three-standard unit external battery module includes a battery module cabin 100 and a battery module cabin cover 101, and the battery 102 is fixed to the inner surface of the battery module cabin cover 101 through an inner bracket 103.

[0058] See also Figure 13 By installing different sensors 20 in the cabin of the standard functional module, different sensor modules can be formed, such as a single standard unit sensor module.

[0059] The present invention uses the coil module 2 to expand and install the functional module 3, thus achieving a building block-like, fast and creative assembly with high flexibility. It can meet mission requirements without redesigning the underwater robot; only the installed modules need to be changed, and the installation process is fast and simple.

[0060] Example 2

[0061] The specific steps of the method for assembling the underwater robot module that can be creatively assembled and combined as described in Example 1 are as follows:

[0062] (1) Select the main control module as needed

[0063] (2) Selecting a basic function module and an extended function module as needed; wherein the basic function module and the extended function module are configured with a coil module to extend the function as needed;

[0064] (3) Select the corresponding coil module 2 according to the basic function module and the extended function module and install it on the main control module 1, the basic function module, and the extended function module;

[0065] (4) Install the functional modules that need to be installed on the main control module 1 onto the corresponding coil modules 2 of the main control module 1, and install other functional modules that need to be cascaded and expanded onto the coil modules 2 on the corresponding functional modules to complete the assembly.

[0066] One or more modules with the same basic function can be set.

[0067] See also Figure 14 This embodiment provides a modular underwater robot A with a four-push layout. A single-standard-unit radio station module A1, a single-standard-unit wireless debugging module A2, a single-standard-unit GPS module A3, and two single-standard-unit sensor modules A4 are installed above a main control module 1; a three-standard-unit external battery module A5 and two single-standard-unit sensor modules A4 are installed below it; two dual-standard-unit sensor modules A6 and a single-standard-unit extended forward thrust module A7 are installed on its left and right sides; and a dual-standard-unit vertical thrust module A8 is installed at its front and rear.

[0068] When two single-standard unit extended forward thrust modules (A7) operate synchronously, they provide the underwater robot with forward and backward translational motion. Adjusting the thrust of the forward thrust modules to ensure that the thrust provided by the left and right single-standard unit extended forward thrust modules A7 are inconsistent allows the underwater robot to turn left or right. When two dual-standard unit vertical thrust modules (A8) operate synchronously, they provide the underwater robot with upward and downward translational motion. Adjusting the vertical thrust of the vertical thrust modules, when the thrust provided by the vertical thrust modules is inconsistent, causes the underwater robot to roll forward or backward.

[0069] See also Figure 15 This embodiment provides a modular underwater robot B with a 6-push layout. A single-standard unit radio station module B1, a single-standard unit wireless debugging module B2, a single-standard unit GPS module B3 and two single-standard unit sensor modules B4 are installed above the main control module 1; a three-standard unit external battery module B5 and two single-standard unit sensor modules B4 are installed below it; two double-standard unit sensor modules B6 and a single-standard unit extended forward thrust module B7 are installed on its left and right; and a double-standard unit side thrust and vertical thrust module B8 is installed at its front and rear.

[0070] When the two single-standard unit extended forward thrust modules B7 operate synchronously, they can provide the underwater robot with the ability to move forward and backward in translation. When the two dual-standard unit lateral thrust and vertical thrust modules B8 operate synchronously, they can provide the underwater robot with the ability to move left and right in translation. Adjusting the lateral thrust in the lateral thrust and vertical thrust modules so that the thrust provided by the front and rear dual-standard unit lateral thrust and vertical thrust modules B8 is inconsistent can provide the underwater robot with the ability to turn left or right. When the two dual-standard unit lateral thrust and vertical thrust modules B8 operate synchronously in translation, they can provide the underwater robot with the ability to move upward and downward in translation. Adjusting the vertical thrust in the lateral thrust and vertical thrust modules so that the thrust provided by the vertical thrust is inconsistent can cause the underwater robot to roll forward or backward.

[0071] See also Figure 16 This embodiment provides a modular underwater robot C with an 8-push layout. A single-standard unit radio station module C1, a single-standard unit wireless debugging module C2, a single-standard unit GPS module C3, and two single-standard unit sensor modules C4 are installed above the main control module 1; a three-standard unit external battery module C5 and two single-standard unit sensor modules C4 are installed below it; two single-standard unit oblique thrust modules C7 (with adjacent thrusters at a 90° angle) and a three-standard unit sensor module C9 are installed on the left and right sides, and a double-standard unit sensor module C8 is also installed on each of the three-standard unit sensor modules C9; two single-standard unit vertical thrust modules C6 are installed in front and behind the main control module 1.

[0072] The oblique thrust and vertical thrust modules of the modular underwater robot C with an 8-thrust layout are now numbered: the left front oblique thrust is No. 1, the right front oblique thrust is No. 2, the left rear oblique thrust is No. 3, and the right rear oblique thrust is No. 4; the left front vertical thrust is No. 5, the right front vertical thrust is No. 6, the left rear vertical thrust is No. 7, and the right rear vertical thrust is No. 8.

[0073] When the 1st, 2nd, 3rd and 4th oblique pushers all spray water toward the rear of the underwater robot, the underwater robot moves forward in translation; when the 1st, 2nd, 3rd and 4th oblique pushers all spray water toward the front of the underwater robot, the underwater robot moves backward in translation; when the 1st, 2nd, 3rd and 4th oblique pushers all spray water toward the right of the underwater robot, the underwater robot moves toward the left in translation; when the 1st, 2nd, 3rd and 4th oblique pushers all spray water toward the left of the underwater robot, the underwater robot moves toward the right in translation; when the 2nd and 3rd oblique pushers all spray water toward the rear of the underwater robot, when the 1st and 4th oblique pushers are not working, the underwater robot moves toward the left front in translation; when the 2nd and 3rd oblique pushers all spray water toward the front of the underwater robot, the 1st and 2nd oblique pushers all spray water toward the When the No. 4 oblique pusher is not working, the underwater robot moves horizontally to the right rear; the No. 1 and No. 4 oblique pushers both spray water to the rear of the underwater robot, and when the No. 1 and No. 4 oblique pushers are not working, the underwater robot moves horizontally to the right front; the No. 1 and No. 4 oblique pushers both spray water to the front of the underwater robot, and when the No. 1 and No. 4 oblique pushers are not working, the underwater robot moves horizontally to the left rear; the No. 1 and No. 3 oblique pushers both spray water to the front of the underwater robot, and when the No. 2 and No. 4 oblique pushers spray water to the rear of the underwater robot, the underwater robot turns to the left; the No. 1 and No. 3 oblique pushers both spray water to the rear of the underwater robot, and when the No. 2 and No. 4 oblique pushers spray water to the front of the underwater robot, the underwater robot turns to the right. When vertical thrusters No. 5, 6, 7, and 8 all spray water below the underwater robot, the underwater robot moves horizontally upward; when vertical thrusters No. 5, 6, 7, and 8 all spray water above the underwater robot, the underwater robot moves horizontally downward; vertical thrusters No. 5 and 7 are a group, and vertical thrusters No. 6 and 8 are a group. The thrust of the thrusters in the same group is the same in magnitude and direction. Adjust the vertical thrust thrust in the vertical thrust module. When the thrust provided by vertical thrusters No. 5 and 7 is inconsistent with that provided by vertical thrusters No. 6 and 8, the underwater robot will roll left or right; vertical thrusters No. 5 and 6 are a group, and vertical thrusters No. 7 and 8 are a group. The thrust of the thrusters in the same group is the same in magnitude and direction. Adjust the vertical thrust thrust in the vertical thrust module. When the thrust provided by vertical thrusters No. 5 and 6 is inconsistent with that provided by vertical thrusters No. 7 and 8, the underwater robot will roll forward or backward.

[0074] See also Figure 17 This embodiment provides a modular underwater robot D with an 8-push layout. A single-standard unit radio station module D1, a single-standard unit wireless debugging module D2, a single-standard unit GPS module D3, and two single-standard unit sensor modules D4 are installed above the main control module 1; a three-standard unit external battery module D5 and two single-standard unit sensor modules D4 are installed below it; two double-standard unit sensor modules D6 and a single-standard unit forward thrust extension module D7 are installed on the left and right sides respectively; a double-standard unit side thrust and two vertical thrust modules D8 are installed in front and behind the main control module respectively.

[0075] The vertical thrust modules of the modular underwater robot D with an 8-thrust layout are now numbered, with the left front vertical thrust being No. 1, the right front vertical thrust being No. 2, the left rear vertical thrust being No. 3, and the right rear vertical thrust being No. 4.

[0076] When two single-standard unit extended forward thrust modules D7 operate synchronously, they can provide the underwater robot with the ability to translate forward and backward. When two dual-standard unit side thrusters and the two vertical thrust modules D8 operate synchronously, they can provide the underwater robot with the ability to translate left and right. By adjusting the side thrust force so that the thrust provided by the two front and rear dual-standard unit side thrusters and the two vertical thrust modules D8 are inconsistent, the underwater robot can also be provided with the ability to turn left or right. When vertical thrusters No. 1, 2, 3, and 4 all spray water below the underwater robot, the underwater robot moves horizontally upward; when vertical thrusters No. 1, 2, 3, and 4 all spray water above the underwater robot, the underwater robot moves horizontally downward; vertical thrusters No. 1 and 3 are a group, and No. 2 and 4 are a group. The thrust of the thrusters in the same group is the same in magnitude and direction. Adjust the thrust of the thrust in the vertical thrust module. When the thrust provided by vertical thrusters No. 1 and 3 is inconsistent with that provided by vertical thrusters No. 2 and 4, the underwater robot will roll left or right; vertical thrusters No. 1 and 2 are a group, and No. 3 and 4 are a group. The thrust of the thrusters in the same group is the same in magnitude and direction. Adjust the thrust of the vertical thrust module. When the thrust provided by vertical thrusters No. 1 and 2 is inconsistent with that provided by vertical thrusters No. 3 and 4, the underwater robot will roll forward or backward.

[0077] The 8-push modular underwater robot C can move in all directions. The 4-push modular underwater robot A lacks the ability to move translationally to the left, right, left front, right front, left back, and right back, or to roll left or right. The 6-push modular underwater robot B lacks the ability to move translationally to the left front, right front, left back, and right back, or to roll left or right. The 8-push modular underwater robot D lacks the ability to move translationally to the left front, right front, left back, and right back.

[0078] The present invention can meet the task requirements according to the task requirements without redesigning the underwater robot. It only needs to change the installed modules, and the installation process is fast and simple.

Claims

1. An assembleable underwater robot module, comprising a main control module for providing processing, analysis, and control capabilities for the underwater robot, and various functional modules for providing the underwater robot with the functions required for operation, characterized in that: The main control module includes a polyhedron watertight cabin, and each surface of the polyhedron watertight cabin can be sealed with a coil module for providing energy and information transmission between the main control module and the functional module of the underwater robot. The coil module can connect to the functional module, and the functional module includes a basic functional module and an extended functional module. The functional module is also a polyhedron watertight cabin, and each surface thereof can be installed with a coil module for connecting with other functional modules to achieve cascade expansion between functional modules; the coil module includes standard unit coil modules of different sizes, and the standard unit coil module includes a coil module structure, and the coil module structure The outer surface of the structure is encapsulated with a first coil for realizing power transmission between the main control module and the functional module, and protruding grooves for installing the limiting functional module are provided on both sides of the first coil. The first coil is electrically connected to the hub board through the first coil control module, and the first coil control module is fixed on the inner surface of the coil module structure. The inner surface of the coil module structure is also installed with a first optical communication module for realizing information transmission between the main control module and the functional module. The first optical communication module is electrically connected to the hub board through the first optical signal processing module, and the first optical signal processing module is installed on the inner surface of the coil module structure.

2. The assembleable underwater robot module according to claim 1, characterized in that: The main control module also includes a main control board installed in the polyhedron watertight compartment for controlling the underwater robot. The main control board is connected to a posture sensor for sensing the posture information of the underwater robot, a Raspberry Pi for collecting, processing and storing information of the functional module, a battery module for power supply, and a hub board for connecting the coil module and the main control board.

3. The assembleable underwater robot module according to claim 2, characterized in that: The polyhedron watertight cabin is provided with a detachable sealed hatch cover, and the polyhedron watertight cabin is provided with an internal structural frame for installing a main control board, a posture sensor, a Raspberry Pi, a battery module and a wiring board. The internal structural frame is fixed on the hatch cover, and each surface of the polyhedron watertight cabin is provided with a coil module through hole and a coil module fixing threaded hole for installing a coil module.

4. The assembleable underwater robot module according to claim 1, characterized in that: The inner surface of the coil module structure is provided with sealing rings in the axial and radial directions; the outer surface of the coil module structure is provided with a first through hole for transmitting the optical signal of the first optical communication module, and the coil module structure is provided with a coil module fixing hole for fixed connection with the main control module.

5. The assembleable underwater robot module according to claim 1, characterized in that: The functional module includes standard unit functional modules of different sizes, and the standard unit functional module includes a functional module cabin. A second coil is encapsulated on one side of the functional module cabin corresponding to the coil module, which realizes electromagnetic coupling with the first coil to receive electrical energy and stores the electrical energy in the functional module battery. The second coil is electrically connected to the functional module main control board through the second coil control module, and the functional module battery is electrically connected to the functional module main control board. The second coil control module, the functional module battery and the functional module main control board are all installed in the functional module cabin. A second optical communication module for realizing information transmission between the main control module and the functional module is also installed in the functional module cabin. The second optical communication module is electrically connected to the functional module main control board through the second optical signal processing module. The second optical signal processing module is installed in the functional module cabin. A sealed functional module hatch cover for matching different functional modules is provided on the functional module cabin, and the functional module hatch cover is provided with a functional module hatch cover fixing threaded hole.

6. The assembleable underwater robot module according to claim 5, characterized in that: The functional module cabin is provided with a boss on one side of the second coil that cooperates with the slide groove to limit the functional module, and the functional module cabin is provided with a hand-tightened locking nut that locks the functional module on the coil module. The functional module cabin is provided with a second through hole on one side of the second coil that transmits the optical signal of the second optical communication module.

7. The assembleable underwater robot module according to claim 5, characterized in that: Each surface of the functional module cabin is installed with a sealing baffle or a coil module for expanding functions.

8. A method for assembling an assembling underwater robot module according to any one of claims 1 to 7, wherein the specific steps are as follows: (1) Select the main control module according to needs; (2) Select the basic function module and the extended function module according to the needs; the basic function module and the extended function module can select whether to set the coil module to expand the function according to the needs; (3) Select the corresponding coil module according to the basic function module and the extended function module and install it on the main control module, basic function module and extended function module; (4) Install the functional modules that need to be installed on the main control module onto the corresponding coil modules of the main control module, and install other functional modules that need to be cascaded and expanded onto the coil modules on the corresponding functional modules to complete the assembly.

9. The method for assembling an assembling underwater robot module according to claim 8, characterized in that: One or more identical functional modules are provided.

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