A wearable underwater booster

Abstract

The present invention discloses a wearable underwater booster, comprising a wearable portion, a propulsion unit, and a control module. The wearable portion is designed to be worn on a person's foot or calf, and the underwater propulsion unit is connected to the person's body via the wearable portion. The underwater propulsion unit includes a first underwater propulsion unit and a second underwater propulsion unit, located on the front and rear sides of the person's body, respectively. The control module is connected to the person's body via the wearable portion and is communicatively connected to the underwater propulsion unit. The control module is designed to identify the person's posture and adjust the thrust of the first and second underwater propulsion units to achieve a balance between thrust, resistance, and buoyancy. The user can operate the underwater booster without applying additional force, thereby reducing the difficulty of operation.

Description

Technical Field

[0001] The present invention relates to the field of wearable swimming auxiliary equipment, and in particular to a wearable underwater booster. Background Art

[0002] The auxiliary equipment used by humans in water is mostly flippers. Flippers have the advantage of low noise, but the disadvantage is that they have slow forward speed and require energy from the human body.

[0003] There are also some underwater boosters on the market, but most of them are handheld. The advantage of handheld thrusters is that they are easy to use. If you want to go in a certain direction, just move your hands in the direction of your vision. However, the disadvantage is that they occupy both hands. They are okay in civilian entertainment, but not suitable for life-saving and rescue, military needs, underwater archaeology and other occasions where both hands are required to perform work.

[0004] As for non-handheld thrusters, such as those mounted on the feet or legs, it is difficult for the user to control the direction of travel because the user cannot see the thruster body. The user needs a long time of practice to basically master the use of the foot thruster. In rescue and emergency operations, military operations or underwater archaeology, it is necessary to carry a tactical backpack, hold archaeological equipment, or hug the distressed. These actions will cause the center of gravity of the human body to change, which will further increase the difficulty of using non-handheld thrusters. Summary of the Invention

[0005] The purpose of the present invention is to provide a wearable underwater booster to solve the technical problem that existing swimming shoes are difficult to operate.

[0006] In order to solve the above technical problems, the present invention specifically provides the following technical solutions:

[0007] A wearable underwater booster comprises: a wearable portion, an underwater propulsion unit, and a control module; the wearable portion is used to be worn on a human foot or calf; the underwater propulsion unit is connected to the human body via the wearable portion, and the underwater propulsion unit includes a first underwater propulsion unit and a second underwater propulsion unit, respectively located on the front and rear sides of the human body; the control module is connected to the human body via the wearable portion and is communicatively connected to the underwater propulsion unit, the control module is used to identify the human body's posture and adjust the thrust of the first underwater propulsion unit and the second underwater propulsion unit to keep the human body balanced in water.

[0008] Furthermore, the wearable part is connected to the first underwater propulsion part and / or the second underwater propulsion part through a linear drive, and the linear drive is used to drive the first underwater propulsion part and / or the second underwater propulsion part closer to or away from the human body to change the thrust application point of the underwater propulsion part; the control module is connected to the human body through the wearable part and is communicatively connected to the linear drive, and the control module is used to identify the posture of the human body and adjust the thrust application point of the underwater propulsion part to keep the human body balanced in the water.

[0009] Furthermore, the control module includes a calculation unit and a gyroscope installed on the wearable part, the gyroscope is used to identify the angular velocity of the wearable part, and the calculation unit is used to calculate the angular velocity to obtain the speed and acceleration of the wearable part.

[0010] Furthermore, the control module includes a calculation unit and two water pressure sensors, the water pressure sensor is used to identify the water pressure, and the calculation unit is used to calculate the water pressure to obtain the height of the water pressure sensor and the height difference between the two water pressure sensors; wherein, the two water pressure sensors are connected to the wearable part and are respectively close to the first underwater propulsion part and the second underwater propulsion part; or, the two water pressure sensors are respectively connected to the first underwater propulsion part and the second underwater propulsion part.

[0011] Furthermore, the control module includes a calculation unit and a thin film pressure sensor, wherein the thin film pressure sensor is installed between the human body and the wearable part, and the thin film pressure sensor is used to detect multiple forces acting on different positions of the wearable part by the human body, and the calculation unit is used to calculate the multiple forces to obtain the center of action of the forces.

[0012] Furthermore, the control module includes two water pressure sensors and a thin film pressure sensor; the water pressure sensor is used to identify the water pressure, and the calculation unit is used to calculate the water pressure to obtain the height of the water pressure sensor and the height difference between the two water pressure sensors; wherein, the two water pressure sensors are connected to the wearable part and are respectively close to the first underwater propulsion part and the second underwater propulsion part; or, the two water pressure sensors are respectively connected to the first underwater propulsion part and the second underwater propulsion part; the thin film pressure sensor is installed between the human body and the wearable part, and the thin film pressure sensor is used to detect multiple forces acting on different positions of the wearable part by the human body, and the calculation unit is used to calculate multiple forces to obtain the center of action of the forces.

[0013] Furthermore, the underwater propulsion unit includes a motor and a propeller, the propeller is installed on the output shaft of the motor, the motor is connected to the wearable part, the power supply module is electrically connected to the motor, and the control module adjusts the thrust of the underwater propulsion unit by changing the speed of the motor.

[0014] Furthermore, the wearable part includes a shoe body and a cabin body, the shoe body and the cabin body are detachably connected, and the first underwater propulsion part and the second underwater propulsion part are respectively located at the front and rear ends of the shoe body and are connected to the cabin body.

[0015] Furthermore, a power supply module is detachably installed in the cabin, and the power supply module is used to supply power to the underwater propulsion unit and the control module.

[0016] Furthermore, the cabin is a sealed shell, and the buoyancy of the cabin in water is equal to the weight of the power supply module.

[0017] Furthermore, the bottom of the underwater propulsion portion is higher than the bottom surface of the wearable portion.

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

[0019] A wearable underwater booster is provided, which has an underwater propulsion unit provided on both the front and rear sides of a human body. The underwater propulsion unit can be extended and retracted by a linear actuator to change the thrust application point. After identifying the posture of the human body, a control module adjusts the thrust of the first underwater propulsion unit and the second underwater propulsion unit, while simultaneously changing the thrust application point to achieve a balance between thrust, resistance, and buoyancy. The user can operate the underwater booster without applying additional force, thereby reducing the difficulty of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are merely exemplary, and those skilled in the art can derive other implementation drawings based on the provided drawings without inventive effort.

[0021] Figure 1 This is a mechanical diagram of Example 1 of the present invention;

[0022] Figure 2 Schematic diagram of the working condition of the cruise mode of embodiment 1 of the present invention;

[0023] Figure 3 Schematic diagram of the operating state of the suspension mode of Example 1 of the present invention;

[0024] Figure 4 A perspective view of embodiment 2 of the present invention;

[0025] Figure 5 A three-dimensional diagram from another perspective of embodiment 2 of the present invention;

[0026] Figure 6 This is a logic block diagram of the control process of Examples 1 and 2 of the present invention;

[0027] The numbers in the figure represent the following:

[0028] 1-wearing part; 11-shoe body; 12-cabin; 2-first underwater propulsion part; 21-motor; 22-propeller; 23-housing; 3-second underwater propulsion part; 4-linear drive; 5-switch. DETAILED DESCRIPTION

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0030] Example 1, please refer to Figure 1 .

[0031] A wearable underwater booster,

[0032] It includes: a wearable part 1, an underwater propulsion part, a control module and a power supply module;

[0033] The wearing portion 1 is used to be worn on the foot or calf of a human body;

[0034] The underwater propulsion unit is connected to the human body through the wearable unit 1, and includes a first underwater propulsion unit 2 and a second underwater propulsion unit 3 located at the front and back sides of the human body respectively;

[0035] The control module is connected to the human body through the wearable part 1 and is in communication with the underwater propulsion part. The control module is used to identify the posture of the human body and adjust the thrust of the first underwater propulsion part 2 and the second underwater propulsion part 3 to keep the human body balanced in the water;

[0036] The power supply module is installed on the wearable part 1 and is used to supply power to the underwater propulsion part and the control module.

[0037] like Figure 2 As shown:

[0038] By installing an underwater propulsion unit at the front and rear ends of the wearable part 1 respectively, the power supply module supplies power to the underwater propulsion units so that the two underwater propulsion units work simultaneously. The two underwater propulsion units can maintain balance with each other, ensuring that the thrust provided by the underwater propulsion units can easily act on the center of gravity of the human body, thereby making it easier for the user to maintain balance in the water.

[0039] At the same time, the two underwater propulsion parts are located on the front and back sides of the human body to ensure the smooth passage of the incoming flow, thereby providing sufficient power.

[0040] The control module includes at least a sensor, a calculation unit and a controller, wherein the sensor is used to detect the posture of the human body and the wearable part, the calculation unit is used to calculate the center of gravity of the human body and the magnitude and direction of the thrust of the underwater propulsion unit, and the controller is used to adjust the thrust of the underwater propulsion unit so that the resultant force of the thrust of the underwater propulsion unit is toward the center of gravity of the human body.

[0041] In special working situations:

[0042] like Figure 2 As shown, when a human body performs cruising operations in the water for a long time, the first underwater propulsion unit 2 located in front of the human body is subjected to greater water flow resistance, while the second underwater propulsion unit 3 located behind the human body is subjected to only smaller water flow resistance because the human body breaks through the water resistance. If the thrust output by the first underwater propulsion unit 2 and the second underwater propulsion unit 3 is the same, the human body needs to apply additional force to the wearable part 1 to maintain balance in the water. To this end, the control module recognizes the posture of the human body and determines that the underwater booster is in the cruising state, increases the thrust of the first underwater propulsion unit 2, and reduces the thrust of the second underwater propulsion unit 3 at the same time, so as to achieve a balance of thrust between the underwater booster and the human body, avoiding the need for the human body to apply additional force to maintain balance.

[0043] like Figure 3 As shown, when a human body performs armed swimming or rescue operations in water, it is usually necessary to carry a backpack or hold a person in distress. At this time, the center of gravity of the human body will move backward or forward accordingly. After the control module recognizes the posture of the human body and determines that the underwater booster is in a suspended working state, the thrust of the first underwater propulsion unit 2 and the second underwater propulsion unit 3 is adjusted accordingly according to the change of the center of gravity of the human body, so that the human body can maintain balance while standing in the water without applying additional force.

[0044] Figure 2 and Figure 3 In the equation (5), O is the center of gravity of the human body, G is the weight of the human body, Fb is the buoyancy, Ft is the thrust provided by the underwater propulsion unit, and Fd is the resistance.

[0045] Example 2, as Figure 4 As shown:

[0046] The wearable portion 1 is connected to the first underwater propulsion portion 2 and / or the second underwater propulsion portion 3 via a linear drive 4. The linear drive 4 is used to drive the first underwater propulsion portion 2 and / or the second underwater propulsion portion 3 toward or away from the human body. The linear drive 4 is electrically connected to the power supply module and is in communication with the control module.

[0047] The control module identifies the posture of the human body and then adjusts the distance between the underwater propulsion unit and the human body to modify the thrust application point so that the human body can maintain balance in the water.

[0048] There are one or two linear drives 4, and an electric servo push rod is used. The controller includes a telescopic controller for controlling the telescopic execution part of the electric servo push rod.

[0049] When there is one linear drive 4 , the linear drive 4 is connected to the first underwater propulsion unit 2 or the second underwater propulsion unit 3 .

[0050] When there are two linear drives 4 , the two linear drives 4 are respectively connected to the first underwater propulsion unit 2 and the second underwater propulsion unit 3 .

[0051] The linear drive 4 is used to change the distance between the wearable part 1 and the underwater propulsion part, thereby adjusting the torque applied by the underwater propulsion part to the wearable part 1 to adjust the balance between the wearable part 1 and the human body, or to adjust the water resistance when the underwater propulsion part moves forward.

[0052] For example:

[0053] When the human body is in Figure 2 In the cruising mode shown, the distance between the first underwater propulsion unit 2 and the wearable portion 1 can be reduced by the linear drive 4 to reduce the water resistance experienced by the first underwater propulsion unit 2 .

[0054] When the human body is in Figure 3 In the suspension mode shown, for example, when the user hugs a person in distress, the linear drive 4 drives the first underwater propulsion unit 2 to extend forward, and when the user carries a backpack, the linear drive 4 drives the second underwater propulsion unit 3 to extend backward, so that the thrust of the underwater booster can more easily converge with the center of gravity of the human body, thereby reducing the difficulty of operating the underwater booster.

[0055] Regarding the control modules of Example 1 and Example 2, Figure 5 shown.

[0056] Optional:

[0057] The control module includes a calculation unit and a gyroscope installed in the wearable part 1 . The gyroscope is used to identify the angular velocity of the wearable part 1 , and the calculation unit is used to calculate the angular velocity to obtain the speed and acceleration of the wearable part 1 .

[0058] According to the speed and acceleration of the wearable part 1, the control module can determine whether the human body is in a suspended state or a cruising state.

[0059] Optional:

[0060] The control module includes a calculation unit and two water pressure sensors. The water pressure sensors are used to identify water pressure. The calculation unit is used to calculate the water pressure to obtain the height of the water pressure sensor and the height difference between the two water pressure sensors.

[0061] in,

[0062] Two water pressure sensors are connected to the wearable part 1 and are respectively close to the first underwater propulsion part 2 and the second underwater propulsion part 3;

[0063] or,

[0064] The two water pressure sensors are connected to the first underwater propulsion unit 2 and the second underwater propulsion unit 3 respectively.

[0065] When the water depth is too deep, the control module can sound an alarm through the alarm to remind the user.

[0066] The calculation formula of the calculation part is as follows:

[0067]

[0068]

[0069] Wherein, h represents the underwater depth of the center of mass of the shoe body 11, Δh represents the height difference between the front and rear of the shoe body 11, h_front and h_back represent the underwater positions of the front and rear of the shoe body 11, p_front and p_back represent the pressures measured by the front and rear sensors, ρ represents the fluid density, and g represents the acceleration due to gravity.

[0070] Optional:

[0071] The control module includes a calculation unit and a thin film pressure sensor. The thin film pressure sensor is installed between the human body and the wearable part 1. The thin film pressure sensor is used to detect the force exerted by the human body on the wearable part 1. The calculation unit is used to calculate the force to obtain the center of action of the force.

[0072] The control module can determine the change of the center of gravity of the human body based on the size and center of action of the force.

[0073] Optional:

[0074] The control module includes a calculation unit and two water pressure sensors, a gyroscope, and a thin film pressure sensor.

[0075] The calculation unit obtains the speed and acceleration of the wearable part 1 by integration, and combines it with the position data obtained by the pressure sensor to obtain the movement state of the shoe body 11. At the same time, combined with the current movement state and position of the wearable part 1 and the force exerted by the human body on the wearable part 1, the thrust and point of action that the wearable part 1 needs to provide to the human body are obtained by comprehensive calculation, and then the thrust size and point of action of the underwater propulsion part are modified to enable the human body to maintain balance in the water.

[0076] The power supply modules of Embodiment 1 and Embodiment 2 are not shown in the figures.

[0077] The power supply module includes a battery and a wire. The battery is installed inside the cabin 12. The battery is electrically connected to the first underwater propulsion unit 2, the second underwater propulsion unit 3, the linear drive 4, the rotary drive and the control module through the wire.

[0078] Regarding the underwater propulsion parts of embodiment 1 and embodiment 2, as shown in FIG. Figure 4 shown.

[0079] Optional:

[0080] The underwater propulsion unit includes a motor 21 and a propeller 22 . The propeller 22 is installed on the output shaft of the motor 21 . The motor 21 is connected to the wearable part 1 , and the power supply module is electrically connected to the motor 21 .

[0081] The controller includes a speed controller for controlling the speed of the motor. The first underwater propulsion unit 2 and the second underwater propulsion unit 3 have the same structure. The motor 21 drives the propeller 22 to rotate to generate underwater propulsion force. The speed controller changes the speed of the motor 21 to adjust the thrust of the first underwater propulsion unit 2 and the second underwater propulsion unit 3.

[0082] Further:

[0083] The underwater propulsion unit also includes a shell 23 , which is fixedly connected to the wearable portion 1 , and the motor 21 is fixedly installed inside the shell 23 .

[0084] The housing 23 is used to wrap the propeller 22 to prevent the user from being scratched by the propeller 22 .

[0085] Optional:

[0086] The first underwater propulsion unit 2 and the second underwater propulsion unit 3 use magnetic fluid propulsion units.

[0087] Regarding the wearing portion 1 of Example 1 and Example 2, as shown in FIG. Figure 1 shown.

[0088] Optional:

[0089] The wearable part 1 includes a shoe body 11 and a cabin body 12, which are detachably connected. The first underwater propulsion part 2 and the second underwater propulsion part 3 are connected to the cabin body 12, and the two underwater propulsion parts are respectively located at the front and rear ends of the shoe body 11.

[0090] By designing the wearing part 1 as a split structure, it is ensured that it is easy to wear and is not restricted by the size of the shoe body 11, so that one device can be used for multiple purposes. Users with different shoe sizes only need to replace the shoe body 11 to use the cabin 12 of the same size.

[0091] Specifically:

[0092] The shoe body 11 is made of silicone. Shoe bodies 11 of different specifications have different internal sizes but the same external sizes.

[0093] The cabin 12 is divided into two layers, the upper layer is used to connect the shoe body 11, and the lower layer is used to connect the underwater propulsion part and install the power supply module and the linear drive 4.

[0094] A switch 5 is provided on the surface of the cabin 12 , and the switch 5 is used to turn the power supply module on and off.

[0095] The thin film pressure sensor is installed between the shoe body 11 and the cabin body 12 .

[0096] Further:

[0097] The cabin body 12 is a sealed shell, and the buoyancy of the cabin body 12 in water is equal to the weight of the power supply module.

[0098] In addition to providing waterproof function for the battery, the cabin 12 also provides buoyancy to the user. In this embodiment, the buoyancy provided by the cabin 12 is basically equal to the weight of the battery. This ensures that the weight of the battery does not cause excessive burden on the user and ensures that it will not be difficult to control when moving and changing direction.

[0099] Further:

[0100] The bottom of the underwater propulsion portion is higher than the bottom surface of the wearable portion 1 .

[0101] When users walk on the road, they don’t have to worry about the underwater propulsion unit coming into contact with the ground and being damaged.

[0102] The above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the scope of the present invention. The scope of protection of the present invention is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present invention within the spirit and scope of protection of the present invention, and such modifications or equivalent substitutions shall also be deemed to fall within the scope of protection of the embodiments of the present invention.

Claims

1. A wearable underwater booster, characterized in that: include: Wearable unit (1), underwater propulsion unit and control module; The wearing portion (1) is used to be worn on a foot or calf of a human body; The underwater propulsion unit is connected to the human body through the wearable unit (1), and comprises a first underwater propulsion unit (2) and a second underwater propulsion unit (3) respectively located at the front and rear sides of the human body; The control module is connected to the human body through the wearable part (1) and is communicatively connected to the underwater propulsion part. The control module is used to identify the posture of the human body and adjust the thrust of the first underwater propulsion part (2) and the second underwater propulsion part (3) so that the human body can maintain balance in the water. The wearable part (1) is connected to the first underwater propulsion part (2) and / or the second underwater propulsion part (3) through a linear drive (4). The linear drive (4) is used to drive the first underwater propulsion part (2) and / or the second underwater propulsion part (3) to move closer to or away from the human body so as to change the thrust application point of the underwater propulsion part. The control module is connected to the human body through the wearable portion (1) and is communicatively connected to the linear drive (4). The control module is used to identify the posture of the human body and to adjust the thrust application point of the underwater propulsion portion so that the human body maintains balance in the water. The control module includes two water pressure sensors, and a calculation unit and a gyroscope installed on the wearable part (1), wherein the gyroscope is used to identify the angular velocity of the wearable part (1), the water pressure sensor is used to identify the water pressure, and the calculation unit is used to calculate the angular velocity to obtain the speed and acceleration of the wearable part (1), and to calculate the water pressure to obtain the height of the water pressure sensor and the height difference between the two water pressure sensors; in, The two water pressure sensors are connected to the wearable portion (1) and are respectively close to the first underwater propulsion portion (2) and the second underwater propulsion portion (3); or, The two water pressure sensors are respectively connected to the first underwater propulsion unit (2) and the second underwater propulsion unit (3).

2. A wearable underwater booster according to claim 1, characterized in that: The control module comprises a calculation unit and a thin film pressure sensor, wherein the thin film pressure sensor is installed between the human body and the wearable part (1), the thin film pressure sensor is used to detect multiple forces acting on different positions of the wearable part (1) by the human body, and the calculation unit is used to calculate the multiple forces to obtain the center of action of the forces.

3. A wearable underwater booster according to claim 1, characterized in that: The underwater propulsion unit comprises a motor (21) and a propeller (22), wherein the propeller (22) is mounted on an output shaft of the motor (21), the motor (21) is connected to the wearable unit (1), a power supply module is electrically connected to the motor (21), and a control module adjusts the thrust of the underwater propulsion unit by changing the rotation speed of the motor.

4. A wearable underwater booster according to claim 1, characterized in that: The wearable portion (1) comprises a shoe body (11) and a cabin body (12), wherein the shoe body (11) and the cabin body (12) are detachably connected, and the first underwater propulsion portion (2) and the second underwater propulsion portion (3) are respectively located at the front and rear ends of the shoe body (11) and connected to the cabin body (12).

5. A wearable underwater booster according to claim 4, characterized in that: A power supply module is detachably installed in the cabin (12), and the power supply module is used to supply power to the underwater propulsion unit and the control module.

6. A wearable underwater booster according to claim 5, characterized in that: The cabin (12) is a sealed shell, and the buoyancy of the cabin (12) in water is equal to the weight of the power supply module.

7. A wearable underwater booster according to claim 1, characterized in that: The bottom of the underwater propulsion portion is higher than the bottom surface of the wearable portion (1).

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