An underwater robot for coral conservation

Abstract

The present application relates to an underwater robot for coral conservation, comprising a robot body, a thruster array, and a flexible gripper connected to the bottom surface of the robot body. The robot body is an externally enclosed shell structure, and the thruster array is connected to the outside of the underwater robot body. The flexible gripper comprises a gripper body and a gripper drive assembly. Two gripper bodies are provided, and the two gripper bodies are independently controlled by the two drive ends of the gripper drive assembly to open and close on the same side. The gripper body has a flexible support portion within its gripping space to achieve flexible gripping. The present application has a compact overall structure and a closed appearance, which can effectively reduce water resistance and facilitate travel in coral conservation areas. The provision of the flexible gripper can effectively reduce damage to corals during the gripping process, and has the advantage of a high success rate in coral conservation.

Description

Technical Field

[0001] The present application relates to the technical field of underwater robots, and in particular to an underwater robot for coral conservation. Background Art

[0002] The traditional method of coral conservation is artificial restoration, which requires staff with excellent diving skills and rich coral knowledge to frequently dive to the seabed to check the growth of corals. The process is arduous, long and inefficient. Underwater robots, as unmanned underwater operation vehicles, can replace humans to complete various tasks underwater. Applying underwater robots to coral conservation work can effectively reduce the waste of human resources.

[0003] In the existing technology, the "Dolphin" series is a series of observation and light operation-level underwater robots independently developed by DeepBlue. The products weigh between 100 and 600 kg and are suitable for working in large water environments. Compared with other small underwater robots, they have a strong carrying capacity and are less affected by drifting, making them suitable for offshore operations and aquaculture. In terms of mechanical structure, existing underwater robots mostly adopt an open-frame structure, that is, various equipment is placed in a hollow frame to form the underwater robot. This structural design not only effectively controls the overall weight of the underwater robot, but also facilitates the installation and commissioning of other modules of the underwater robot, reducing production and maintenance costs. In terms of thruster arrangement, existing underwater robots mostly adopt a simple and stable eight-thrust arrangement, that is, four thrusters are set in the horizontal direction for lateral movement, and four thrusters are set in the vertical direction for pitch and roll control. This has the advantages of stable movement and good performance.

[0004] However, since coral conservation is a rather cumbersome task, it is necessary to collect coral fragments, restore coral fragments, and reseed coral plants that have successfully grown from the fragments. The coral restoration step is divided into selecting an area with a suitable environment as the restoration site (seawater quality testing), transporting the iron frame used for restoration to the restoration site, fixing the fragments to the iron frame, and regular patrols to check the growth of corals (which takes the most time). It can be seen that the steps are complicated and the cycle is long. During the conservation period, the corals need to be clamped and transported many times. Corals are relatively fragile, and care must be taken to avoid damage to the corals such as collisions and pinching during the conservation process. Existing underwater robots do not have a flexible clamping structure suitable for coral conservation and cannot meet the work requirements of coral conservation. In addition, the existing underwater robots are bulky, and the eight thrusters will also occupy a large part of the robot's space, which further increases the size of the hull, resulting in insufficient flexibility in operation during underwater operations and easy collisions with corals. In addition, the open-frame structure will also cause corals to be entangled in its frame, which is not conducive to coral conservation work.

[0005] In summary, the existing underwater robots used in coral conservation have problems such as unreasonable structure, inflexible operation, and low conservation success rate. There is an urgent need for an underwater robot that can be used in coral conservation. Summary of the Invention

[0006] The purpose of this application is to provide an underwater robot for coral conservation, so as to solve the problems of unreasonable structure, inflexible operation, low conservation success rate and so on of underwater robots in the prior art.

[0007] The embodiments of the present application can be implemented through the following technical solutions:

[0008] An underwater robot for coral conservation, comprising a robot body, a thruster array, and a flexible gripper connected to the bottom surface of the robot body. The robot body is an externally enclosed shell structure. The thruster array is connected to the exterior of the underwater robot body and provides thrust to the underwater robot body in at least three propulsion directions.

[0009] The flexible clamp includes a clamp body and a clamp drive assembly. There are two clamp bodies, and the two clamp bodies are independently controlled by the two driving ends of the clamp drive assembly to open and close on the same side, and a flexible support portion is provided in the clamping space of the clamp body.

[0010] Furthermore, the clamp body includes two clamp arms and a support portion. The two clamp arms cooperate to form a rigid clamp with a clamping space. The two support portions are respectively connected to the inner sides of different clamp arms and cooperate in the clamping space to form a flexible clamp with elasticity. Under the action of force, the support portion deforms toward the displacement of the clamp arm.

[0011] Furthermore, a deformation cavity is provided on one side of the support portion relative to the clamping jaw arm, and the deformation cavity is used to provide a deformation margin for the support portion.

[0012] Furthermore, the clamping jaw drive assembly includes a drive housing and a drive motor. The number of the drive motors is two, and both of the drive motors are accommodated in the drive housing, with the drive ends facing away from each other.

[0013] One end of the clamping jaw body is in a closed shape, and the closed ends of the two clamping jaw arms are engaged with the driving end of the clamping jaw driving assembly through gears that cooperate with each other.

[0014] Furthermore, the drive housing includes a motor accommodating cabin and a positioning shaft. The motor accommodating cabin is a through hole that passes through from top to bottom. Positioning shafts are respectively provided at both ends of the drive housing along the through direction of the motor accommodating cabin. Both drive motors are accommodated in the motor accommodating cabin, and the driving end of the drive motor and the positioning shaft located at the same end are located in the same horizontal plane.

[0015] Furthermore, the flexible clamp also includes a mechanical arm and a clamp positioning shell, the mechanical arm is connected to the clamp positioning shell, the clamp positioning shell contains the clamp drive assembly, and the clamp drive assembly is connected to the clamp body through the clamp positioning shell.

[0016] Furthermore, the clamping jaw positioning shell includes a first positioning shell and a second positioning shell, the first positioning shell and the second positioning shell are detachably connected in an upper and lower split type, and the two driving ends of the clamping jaw driving assembly are respectively connected to the first positioning shell and the second positioning shell.

[0017] Furthermore, the flexible gripper is detachably mechanically connected to the robot body via a quick-release modular expansion structure, and is detachably electrically connected to the robot body via a multifunctional conversion module.

[0018] Furthermore, the quick-detachable modular expansion structure includes a connecting mother plate, a connecting male plate, and a limit assembly. The connecting male plate and the connecting mother plate are detachably connected through mutually cooperating sliders and slides. A displacement port is provided on one side of the slide. The slider is slidably connected to the slide along the length direction of the displacement port. The limit assembly is provided on the side of the displacement port of the slide, and the locking end of the limit assembly telescopically moves along the length direction perpendicular to the displacement port. When in the locked state, the locking end of the limit assembly is stuck in the locking groove of the connecting male plate.

[0019] Furthermore, the outside of the underwater robot body is connected to three groups of the thruster arrays, each group of the thruster array includes two thrusters, and along the central axis of the robot body, the two thrusters of each group are symmetrically arranged on both sides of the robot body.

[0020] The underwater robot for coral conservation provided by the embodiments of the present application has at least the following beneficial effects:

[0021] The overall design of this application adopts a closed structure, and all lines are arranged inside the shell. The appearance is beautiful and simple, and the hull space is effectively utilized. The volume of the underwater robot is greatly compressed, so that the hull can be subjected to less resistance during movement, thereby reducing energy consumption. In addition, it can effectively reduce damage to corals and other organisms in coral conservation, thereby improving the efficiency of coral conservation.

[0022] This application adopts a vectored six-thruster arrangement design. Compared to the stable eight-thrust frame structure, this six-thruster arrangement can reduce the placement of two thrusters, thereby greatly reducing the volume of the hull. The staggered arrangement of two horizontal thrusters and four vectored thrusters can also achieve a variety of motion postures, and make the hull movement more stable and flexible. When designing the arrangement, the cabin and thrusters are distributed symmetrically along the robot, so that the robot can achieve basic central symmetry, making it easier for the robot to achieve a balanced state in the water, thereby effectively improving the efficiency of coral conservation.

[0023] This application is equipped with a quick-detachable modular expansion structure and a multi-functional conversion module. In the face of complex and changeable breeding environments and diverse breeding needs, the quick-detachable modular expansion structure can be used to quickly realize the mechanical connection of functional modules, and the multi-functional conversion module can be used to realize electrical connection, which can effectively expand the functions of the underwater robot and meet complex and diverse usage needs.

[0024] The innovation of the flexible gripper in this application lies in the addition of a non-slip rubber ring and flexible secondary gripping. It adopts a two-stage independently driven gripper body with a non-slip rubber ring inside the gripper body, which is not only easy to grip, but also effectively reduces the possibility of crushing the coral during the gripping process, thereby ensuring the integrity of the coral; in addition, a waterproof housing for the motor is used to focus on protecting the electronic components, which has the advantages of a high success rate in coral conservation and strong practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the overall structure of an underwater robot for coral conservation in this application;

[0026] Figure 2 This is a schematic diagram of the decomposed state of the robot body in this application;

[0027] Figure 3 This is a schematic diagram of the overall structure of the pressure cabin in this application;

[0028] Figure 4 This is a schematic diagram of the electrical structure layout inside the pressure cabin;

[0029] Figure 5 This is a schematic diagram of the structure of the quick-detachable modular expansion structure in this application;

[0030] Figure 6 This is a schematic diagram of the structure of the motherboard connected in this application;

[0031] Figure 7 This is a schematic diagram of the structure of the connection board in this application;

[0032] Figure 8 This is a schematic diagram of the structure of the limit assembly in this application;

[0033] Figure 9 This is a schematic diagram of the structure of the quick-release modular expansion structure in this application using a U-shaped notch for connection;

[0034] Figure 10 This is a schematic diagram of the structure of the water quality detection module in this application;

[0035] Figure 11 Schematic diagram of the overall structure of the flexible clamp in this application;

[0036] Figure 12 This is a schematic diagram of the decomposed state of the flexible clamp in this application;

[0037] Figure 13 This is a schematic diagram of the disassembled state of the gripper drive assembly in this application;

[0038] Figure 14 This is a schematic diagram of the overall structure of the float in this application;

[0039] Figure 15 This is a diagram of the internal structure of the float in this application;

[0040] Figure 16 Schematic diagram of the structure of the inner plug-in board;

[0041] Figure 17 Sensor data processing flow;

[0042] Figure 18 Depth correction diagram;

[0043] Figure 19 Control thread allocation topology diagram.

[0044] Numbers in the figure

[0045] 1-Robot body; 11-Outer shell; 111-Upper shell; 112-Lower shell; 113-Intermediate structural plate; 12-Pressure cabin; 121-Cabin; 122-Cabin cover; 123-Hatch cover; 124-Ring; 125-Microcomputer; 126-Circuit board; 127-Main battery; 128-Power module; 129-Backup battery module; 1210-Camera; 1211-Fixed bracket;

[0046] 13-Handle; 14-Multi-function conversion module; 15-Float; 150-Casing; 151-Inner board; 152-Waterproof switch; 153-Glenn head; 154-Sealing ring; 155-Inertial navigation module; 156-Power carrier module; 157-Routing module; 158-Lithium battery;

[0047] 2-Thruster array;

[0048] 3-flexible clamping jaw; 31-clamping jaw body; 311-clamping jaw arm; 312-support portion; 313-deformation cavity; 32-mechanical arm; 33-clamping jaw drive assembly; 331-drive housing; 3311-motor wiring hole; 3312-motor accommodation compartment; 3313-positioning shaft; 332-drive motor; 3321-motor body; 3322-spline; 34-clamping jaw positioning housing; 341-first positioning housing; 3411-first positioning hole; 3412-second positioning hole; 342-second positioning housing; 3421-third positioning hole; 3422-vertical positioning plate; 3423-horizontal positioning plate;

[0049] 4 - motherboard connection; 41 - motherboard base; 42 - motherboard connection seat; 43 - support plate; 44 - I-shaped slot; 441 - access port; 442 - displacement port; 45 - latching port;

[0050] 5-connecting male plate; 51-I-shaped slider; 52-support connecting column; 53-locking connecting groove; 54-supporting ear; 55-locking groove;

[0051] 6-limiting assembly; 61-mechanical box; 62-knob; 63-locking baffle.

[0052] 7-water quality detection module; 71-water quality detection housing; 72-Ph meter; 73-water quality detector; 74-card slot.

[0053] 8-Binocular camera; 9-Sonar module; DETAILED DESCRIPTION

[0054] Hereinafter, the present application will be further described based on preferred embodiments with reference to the accompanying drawings.

[0055] In addition, for ease of understanding, various components in the drawings are enlarged (thickened) or reduced (thinned), but this practice is not intended to limit the scope of protection of this application.

[0056] Words importing the singular include the plural and vice versa.

[0057] In the description of the embodiments of the present application, it should be noted that if the terms "upper", "lower", "inner", "outer" and the like indicate an orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or are the orientation or positional relationship in which the products of the embodiments of the present application are usually placed when in use, they are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply 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 a limitation on the present application. In addition, in the description of the present application, in order to distinguish different units, words such as first and second are used in this specification, but these are not limited by the order of manufacture, nor can they be understood as indicating or implying relative importance. Their names may be different in the detailed description and claims of the present application.

[0058] The vocabulary in this specification is used to illustrate the embodiments of the present application, but is not intended to limit the present application. It should also be noted that, unless otherwise clearly specified and limited, the terms "disposed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, an indirect connection through an intermediate medium, or a communication between the two components. For those skilled in the art, the specific meanings of the above terms in this application can be specifically understood.

[0059] Figure 1 This application is a schematic diagram of the overall structure of an underwater robot for coral conservation, such as Figure 1 As shown, an underwater robot for coral conservation includes a robot body 1, a thruster array 2, and a flexible gripper 3 connected to the bottom surface of the robot body 1. The flexible gripper 3 includes a gripper body 31, a mechanical arm 32, a gripper drive assembly 33, and a gripper positioning housing 34. The mechanical arm 32 is connected to the gripper positioning housing 34. The gripper drive assembly 33 is housed in the gripper positioning housing 34. The two ends of the gripper drive assembly 33 are respectively provided with two independently controlled drive ends.

[0060] There are two clamping jaw bodies 31 , which are respectively connected to two driving ends of the clamping jaw driving assembly 33 and are located on the same side of the clamping jaw positioning housing 34 .

[0061] Specifically, Figure 2 This is a schematic diagram of the decomposed state of the robot body 1 in this application, as shown in FIG. Figure 2 As shown, the robot body 1 includes an outer shell 11 and a pressure-resistant cabin 12. The pressure-resistant cabin 12 is accommodated inside the outer shell 11, so that the robot body 1 has an externally closed shell structure, which is used to reduce the redundant structure outside the robot body 1 and reduce the possibility of its external structure causing impact on the coral.

[0062] In some preferred embodiments, the outer shell 11 includes an upper shell 111, a lower shell 112, and an intermediate structural plate 113. The upper shell 111 and the lower shell 112 are detachably connected to each other to form a detachable shell structure with an internal accommodating space. The intermediate structural plate 113 is a frame connected between the upper shell 111 and the lower shell 112, and is used to increase the stability of the overall structure of the outer shell 11.

[0063] In some preferred embodiments, the outer shell 11 is streamlined. On the one hand, it is used to reduce the resistance it encounters during movement, thereby reducing energy consumption. On the other hand, it reduces the possibility of damage to corals and other organisms caused by the outer shell during coral conservation work, thereby improving the efficiency of coral conservation.

[0064] In some preferred embodiments, the streamlined shape may be a semi-elliptical arc streamlined shape, a streamlined shape with a circle in the middle and pointed ends, or a Cox streamlined shape. The specific shape is not further limited here.

[0065] In some preferred embodiments, the pressure cabin 12 is a single-cabin structure housed inside the outer shell 11, and is located in the middle of the intermediate structural plate 113, that is, the electronic control units such as the battery and the control board are all arranged inside the pressure cabin 12 for an integrated layout, thereby reducing the volume of the robot body 1 and making it lighter.

[0066] Specifically, Figure 3 This is a schematic diagram of the overall structure of the pressure cabin in this application, such as Figure 3 As shown, the pressure cabin 12 includes a cabin body 121, a cabin cover 122, and a cabin lid 123. The cabin body 121, the cabin cover 122, and the cabin lid 123 are connected to form a cabin with an internal accommodation space for accommodating batteries and control boards.

[0067] In some preferred embodiments, the pressure cabin 12 further includes a ring 124, and the cabin body 121, the cabin cover 122, and the cabin lid 123 are tightly connected by chemical adhesives. The ring 124 is sleeved on the connecting end of the cabin body 121 and the cabin lid 123, and is axially sealed by fastening with bolts, so as to improve the waterproofness and sealing of the pressure cabin 12.

[0068] In some preferred embodiments, two grooves are provided inside the hatch cover 123 and the ring 124 , and O-rings are placed in the grooves to further increase the waterproofness and sealing of the pressure cabin 12 through double-layer radial sealing treatment of the O-rings.

[0069] In some preferred embodiments, the cabin body 121 is cylindrical, the cabin body 121 is made of acrylic material, the cabin cover 123 is made of aluminum alloy material, and the cabin structure of the pressure cabin 12 uses carbon fiber plates as isolation plates, and the isolation plates are connected by copper columns to increase the overall pressure resistance and firmness of the pressure cabin 12.

[0070] In some preferred embodiments, a fixing bracket 1211 is provided in the pressure cabin 12, such as Figure 4 As shown, the fixing bracket 1211 divides the pressure cabin 12 into several areas for placing components of the electronic control unit in different areas, thereby improving the utilization of the space in the cabin.

[0071] In some preferred embodiments, the electronic control unit includes a microcomputer 125, a circuit board 126, a main battery 127, a power module 128, a backup battery module 129, and a camera 1210, wherein a partition is provided between the backup battery module 129 and the power module 128 to reduce the impact of the battery module on the main battery 127 due to heating, failure, etc.

[0072] Compared with the pressure cabin in the prior art, the present application improves the utilization rate of the cabin space by dividing the area through the fixed bracket 1211, and can concentrate the electronic control unit in the cabin, thereby reducing the overall volume of the pressure cabin 12, and then reducing the volume of the outer shell 11, which is conducive to the underwater robot to shuttle between various coral conservation areas.

[0073] In some preferred embodiments, the robot body 1 further includes a handle 13, such as Figure 1 As shown, the handle 13 is provided on the outside of the outer shell 11 , for facilitating the recovery and carrying of the device, and for winding the cable when storing the device, on the other hand.

[0074] In some preferred embodiments, the robot body 1 also includes a multifunctional conversion module 14, which is connected to the tail of the outer shell 11 and electrically connected to the pressure cabin 12, for realizing electrical connection between the multifunctional module equipment and the underwater robot body 1.

[0075] In some preferred embodiments, the multifunctional conversion module 14 is a detachable structure that is split into upper and lower parts, and is used to match the upper and lower split structure of the outer shell 11 for easy assembly.

[0076] In some preferred embodiments, the multifunctional conversion module 14 includes several connecting sockets, each of which is provided with a connecting plug. One end of the connecting plug is connected to the pressure cabin 12, and the other end is used to connect to an external electrical structure. When not in use, the connecting plug is connected to a docking waterproof plug to achieve a waterproof seal. When the multifunctional conversion module 14 needs to be connected to an external multifunctional module device, the docking waterproof connector is pulled out from the connecting socket, and the electrical plug of the external multifunctional module device is inserted into the connecting socket.

[0077] Compared with existing underwater robots, on the one hand, the multifunctional conversion module 14 can be easily switched to different multifunctional module devices according to the requirements of the application scenario, which increases the diversity of functional selection, is conducive to providing targeted functions to coral conservation work at different stages, and increases the success rate of conservation work; on the other hand, the plugging and unplugging operations that should have been carried out in the cabin are transferred outside the cabin, which not only makes wiring and switching work more convenient, but also facilitates charging outside the cabin.

[0078] In some preferred embodiments, the underwater robot also includes a quick-release modular expansion structure for realizing a universal quick-release detachable connection between various different multifunctional module devices and the robot body 1, so as to achieve a fixing effect on the mechanical structure. On this basis, the multifunctional module device is electrically connected to the robot body 1 through the multifunctional conversion module 14, so as to realize real-time reception of signals from the robot body 1 and remotely feed back data signals to the robot body 1, thereby realizing the multifunctional modularization of the underwater robot.

[0079] Specifically, Figure 5 This is a schematic diagram of the quick-release modular expansion structure in this application. Figure 5 As shown, the quick-detachable modular expansion structure includes a connecting mother plate 4, a connecting male plate 5, and a limiting component 6. The connecting male plate 5 and the connecting mother plate 4 are detachably connected through mutually cooperating sliders and slides. A displacement port 442 is provided on one side of the slide. The slider is slidably connected to the slide along the length direction of the displacement port 442. The limiting component 6 is provided on the side of the displacement port 442 of the slide, and the locking end of the limiting component 6 telescopically moves along the length direction perpendicular to the displacement port. When in the locked state, the locking end of the limiting component 6 is stuck in the locking groove of the connecting male plate 5, which is used to realize the locking positioning between the connecting male plate 5 and the connecting mother plate 4 through the limiting component 6.

[0080] Specifically, Figure 6 This is a schematic diagram of the structure of the motherboard connected in this application, such as Figure 6As shown, the connecting motherboard 4 includes a motherboard base 41 and a motherboard connecting seat 42. The motherboard base 41 is connected to the motherboard connecting seat 42. The motherboard base 41 is used to connect the shell of the underwater robot or the multi-functional module equipment, and the motherboard connecting seat 42 is used to connect the connecting male board 5.

[0081] In some preferred embodiments, the multifunctional module device includes a water quality detection module, a binocular camera module, a sonar module, a mechanical gripper, a self-locking gripper, a high-power waterproof lumen light, etc.

[0082] In some preferred embodiments, the slide groove includes an I-shaped groove 44, which is located in the motherboard connecting seat 42. An access port 441 in the form of an opening is provided on one side of the I-shaped groove 44. The cross-section of the access port 441 is in the shape of an "I", which is used as an assembly entrance for connecting the connecting motherboard 4 and the connecting male board 5, and increases the stability of the connection between the slider and the slide groove.

[0083] In some preferred embodiments, an open displacement port 442 is provided at one end of the I-shaped groove 44 facing away from the motherboard base 41, so that when the slider of the connecting male plate 5 is slidably connected in the I-shaped groove 44, space for locking the connecting male plate 5 can be reserved through the displacement port of the motherboard connecting seat 42.

[0084] In some preferred embodiments, the number of the motherboard bases 41 is two, and the two motherboard bases 41 are connected to the same side of the motherboard connecting seat 42 and are arranged at intervals, so as to reserve installation space for the connecting male plate 5 relative to the outer shell of the robot body 1 through the gap between the two motherboard bases 41.

[0085] In some preferred embodiments, the connecting motherboard 4 also includes a support plate 43, and the number of the support plates 43 is two. The two support plates 43 are respectively connected to the inner sides of the two motherboard bases 41, and the motherboard base 41 is connected to the motherboard connecting seat 42 through the support plate 43, which is used to further increase the spatial distance between the motherboard base 41 and the motherboard connecting seat 42 to meet the connection requirements of the connecting male board 5 in various situations.

[0086] Figure 7 This is a schematic diagram of the structure of the connection board 5 in this application, as shown in FIG. Figure 7 As shown, the slider includes an I-shaped slider 51, which is located at the lower end of the connecting male plate 5. The I-shaped slider 51 matches the shape of the I-shaped groove 44 to achieve adaptive sliding connection.

[0087] In some preferred embodiments, the connecting male plate 5 also includes a supporting connecting column 52, which is connected to the top surface of the I-shaped slider 51, wherein the top surface of the I-shaped slider 51 is a horizontal plane positioned at one end of the displacement port 442, and the supporting connecting column 52 is used to connect the outer shell of the multifunctional module device or the robot body 1.

[0088] In some preferred embodiments, the motherboard base 41 of the connecting motherboard 4 matches the outer shell shape of the underwater robot, and the connecting motherboard is connected to the outer shell of the robot body 1 through the motherboard base 41. The supporting connecting column 52 of the connecting male plate 5 is adapted to the robotic arm of the multi-functional module device, and the connecting male plate 5 is connected to the multi-functional module device through the supporting connecting column 52, which is used to adapt to the structural shape and increase the firmness of the connection.

[0089] In some preferred embodiments, a locking connection groove 53 is provided at one end of the supporting connecting column 52 for connecting with the multifunctional module device, and the number of the locking connection grooves 53 is two, and the two locking connection grooves 53 are respectively provided on both sides of the supporting connecting column 52, so that the supporting connecting column 52 can be locked inside the mechanical arm of the multifunctional module device through the two locking connection grooves 53, thereby increasing the reliability and firmness of the connection.

[0090] In some preferred embodiments, the connecting male plate 5 also includes a support ear 54, which is connected to the side of the supporting connecting column 52 and is connected to the top surface of the I-shaped slider 51 along the assembly direction of the I-shaped slider 51, and is used to balance the force between the supporting connecting column 52 and the I-shaped slider 51, thereby improving the stability of the connection.

[0091] Furthermore, the number of the supporting ears 54 is two, and the two supporting ears 54 are respectively arranged on both sides of the supporting connecting column 52, wherein the supporting ear 54 located at the disassembly end of the connecting male plate 5 is provided with a notch, and the notch forms a locking groove 55 relative to the top surface of the I-shaped slider 51, so that the limiting component 6 can be placed horizontally in the locking groove 55, which is used to prevent the connecting male plate 5 from displacing toward the access port 441 of the I-shaped groove 44, thereby achieving a locking effect.

[0092] It should be added that the disassembly end of the connecting male plate 5 refers to: when the connecting male plate 5 is assembled in the I-shaped groove 44, when the connecting male plate 5 needs to be removed from the I-shaped groove 44, the end of the connecting male plate 5 slides toward the access port 441.

[0093] Figure 8 This is a schematic diagram of the structure of the limit assembly 6 in this application, as shown Figure 8As shown, the limit assembly 6 includes a mechanical box 61, a knob 62, and a locking baffle 63. The locking baffle 63 passes through the inside and outside of the mechanical box 61 horizontally. The driving end of the knob 62 passes through the inside of the mechanical box 61 in the vertical direction, and is connected to the middle part of the locking baffle 63 through a cooperating gear rack. When locking, the knob 62 is rotated, and the driving end of the knob 62 drives the locking baffle 63 to move along the horizontal penetration direction. When one end of the baffle 63 extends into the locking groove 55, the locking function is realized.

[0094] In some preferred embodiments, the connecting male plate 5 and the connecting female plate 4 can also be detachably connected through mutually cooperating U-shaped sliders and U-shaped grooves. The U-shaped groove and the U-shaped slider are both provided with connecting through holes for locking. The connecting through holes are arranged perpendicular to the sliding displacement direction of the U-shaped groove relative to the U-shaped slider, and then threaded pins are passed through the connecting through holes in sequence to lock the relative position between the connecting male plate 5 and the connecting female plate 4 and achieve connection stability.

[0095] For example, Figure 9 As shown, the quick-detachable modular expansion structure forms a locking opening 45 by setting two U-shaped sliders and slide grooves that cooperate with each other. One of them is set at the middle position of the robot body 1 to expand the water quality detection module 7, and the other is set at the front end of the robot body 1 to expand the binocular camera 8 or sonar module 9.

[0096] In some preferred embodiments, Figure 10 This is a schematic diagram of the structure of the water quality detection module in this application, such as Figure 10 As shown, the water quality detection module 7 includes a water quality detection housing 71, a pH meter 72, and a water quality detector 73. The pH meter 72 and the water quality detector 73 are fixed to the water quality detection housing 71, and the circuit board is fixed in the card slot 74. The data collected by the pH meter 72 and the water quality detector 73 will be transmitted to the circuit board through the line.

[0097] In some preferred embodiments, the circuit board housed in the card slot 74 includes a 24V-3.3V power module, a CAN communication board equipped with a single-chip microcomputer with a Cortex-M3 core and a CAN transceiver chip, and a signal processing board of a water quality detection module.

[0098] In some preferred embodiments of this application, a 24V power supply is connected from a waterproof connector to a power module, where it is stepped down to 3.3V and then connected to other circuit boards. The pH sensor and turbidity sensor transmit external parameter values to the signal processing board via a custom transmission protocol. After processing, the values are then transmitted to the microcontroller on the CAN communication board via UART and IIC protocols. The microcontroller then standardizes the data format and outputs it through the CAN port to the waterproof connector. The other side of the waterproof connector is connected to the interior of the pressure-resistant cabin 12, where the MCU on the circuit board inside the cabin is responsible for coordinating and controlling the information of the removable modules.

[0099] In some preferred embodiments, the flexible clamp 3 is mechanically connected to the robot body 1 through the quick-release modular expansion structure, so as to realize quick-release installation between the flexible clamp 3 and the robot body 1 and increase the convenience of assembly.

[0100] Specifically, Figure 11 This is a schematic diagram of the overall structure of the flexible clamp 3 in this application, Figure 12 This is a schematic diagram of the decomposed state of the flexible clamp 3 in this application, as shown Figure 11 、 Figure 12 As shown, the flexible clamping jaw 3 includes a clamping jaw body 31, a mechanical arm 32, a clamping jaw driving assembly 33 and a clamping jaw positioning shell 34. The mechanical arm 32 is connected to the clamping jaw positioning shell 34. The clamping jaw driving assembly 33 is housed in the clamping jaw positioning shell 34. The two ends of the clamping jaw driving assembly 33 are respectively provided with two independently controlled driving ends.

[0101] Two clamping jaws 31 are provided, and the two clamping jaws 31 are respectively connected to the two driving ends of the clamping jaw drive assembly 33 and are located on the same side of the clamping jaw positioning shell 34. When the flexible clamping jaw 3 clamps the coral, even if the coral has an irregular shape, the clamping jaws 31 located at different clamping positions can independently and adaptively grasp the coral according to the shape of the coral, thereby reducing damage to the coral during the grasping process.

[0102] In some preferred embodiments, the clamping jaw body 31 includes two clamping jaw arms 311 and a support portion 312. The two clamping jaw arms 311 cooperate to form a rigid clamping jaw with a clamping space. The two support portions 312 are respectively connected to the inner sides of different clamping jaw arms 311 and cooperate to form a flexible clamping jaw with a flexible support portion in the clamping space. Under the action of force, the support portion 312 deforms toward the clamping jaw arm 311 to adapt to the shape of the coral and achieve flexible clamping.

[0103] In some preferred embodiments, a deformation cavity 313 is provided on one side of the support portion 312 relative to the clamping arm 311 , and the deformation cavity 313 is used to provide a deformation margin for the support portion 312 .

[0104] In some preferred embodiments, the support portion 312 is made of a flexible rubber material, in order to fully utilize the good elasticity and good compression deformation capability of the rubber material.

[0105] In some preferred embodiments, a piezoresistor is provided in the support portion 312, and the piezoresistor can provide real-time force feedback. When the mechanical claw grasps the target, it slowly clamps it. The two-stage clamping ensures that the coral will not be crushed when clamped, thereby ensuring the integrity of the coral.

[0106] In some preferred embodiments, the claw's manufacturing process involves first creating a mold for the claw, then placing the varistor in the appropriate location and injecting it with silicone. Finally, aluminum foil tape is applied to the inner surface of the mold to prevent leakage. The circuit board can be placed externally on the claw for potting.

[0107] In some preferred embodiments, one end of the clamping jaw body 31 is in a closed shape, and the closed ends of the two clamping jaw arms 311 are engaged with the driving end of the clamping jaw drive assembly 33 through mutually cooperating gears. Under the driving action of the clamping jaw drive assembly 33, the two clamping jaw arms 311 at the other end of the clamping jaw body 31 open and close with their closed ends as fulcrums.

[0108] In some preferred embodiments, the clamping jaw drive assembly 33 includes a drive housing 331 and a drive motor 332. The number of the drive motors 332 is two. The two drive motors 332 are both accommodated in the drive housing 331, and their drive ends are arranged in a back-to-back manner to form two independent motor drive ends for independently controlling the two clamping jaw bodies 31 respectively.

[0109] Specifically, Figure 13 This is a schematic diagram of the disassembled state of the clamping jaw drive assembly 33 in this application, as shown in FIG. Figure 13As shown, the drive housing 331 includes a motor accommodating cabin 3312 and a positioning shaft 3313. The motor accommodating cabin 3312 is a through hole that passes through from top to bottom. Along the through direction of the motor accommodating cabin 3312, positioning shafts 3313 are respectively provided at both ends of the drive housing 331. The two drive motors 332 are both accommodated in the motor accommodating cabin 3312, and the driving end of the drive motor 332 and the positioning shaft 3313 located at the same end are located in the same horizontal plane. The closed ends of the two clamping arms 311 located on the same end face are respectively connected to the spline 3322 and the positioning shaft 3313, so as to transmit driving force to the clamping jaws connected to the positioning shaft 3313 through the drive motor 332.

[0110] In some preferred embodiments, the drive housing 331 also includes a motor wiring hole 3311, which is arranged on the side of the drive housing 331 and is connected to the motor accommodating compartment 3312. The wires of the drive motor 332 are led out through the motor wiring hole 3311 and connected to the connection socket of the multi-functional conversion module 14 to realize the transmission of the control signal of the electrical connection.

[0111] In some preferred embodiments, the driving motor 332 includes a motor body 3321 and a spline 3322 . The motor body 3321 is used to provide driving force to the spline 3322 , and the spline 3322 is the driving end of the driving motor 332 .

[0112] In some preferred embodiments, the jaw drive assembly 33 is connected to the jaw body 31 through the jaw positioning shell 34, and the jaw positioning shell 34 is connected to the robotic arm 32 to achieve stability of the connection, and the driving motor 332 is provided with waterproof protection through the jaw positioning shell.

[0113] Specifically, the clamping jaw positioning shell 34 includes a first positioning shell 341 and a second positioning shell 342. The first positioning shell 341 and the second positioning shell 342 are detachably connected in an upper and lower split type. The first positioning shell 341 and the second positioning shell 342 cooperate to form a shell structure with an internal accommodating cavity and side walls around it, which is used to accommodate the clamping jaw drive assembly 33 and position the connection position of the clamping jaw body 31.

[0114] In some preferred embodiments, the jaw drive assembly 33 is accommodated in the accommodating cavity of the jaw positioning shell 34, and the two driving ends of the jaw drive assembly 33 are respectively connected to the first positioning shell 341 and the second positioning shell 342, the closed end of one of the jaw bodies 31 is connected to the bottom driving end of the jaw drive assembly 33 through the second positioning shell 342, and the closed end of the other jaw body 31 is connected to the top driving end of the jaw drive assembly 33 through the first positioning shell 341, which is used to waterproof the jaw drive assembly 33, which is beneficial to the connection and positioning of the jaw body 31, so that the two jaw bodies 31 are arranged up and down, and are independently controlled to open and close by the two driving ends of the jaw drive assembly 33.

[0115] In some preferred embodiments, the first positioning shell 341 includes a first positioning hole 3411 and a second positioning hole 3412, the positioning shaft 3313 at the top of the clamping drive assembly 33 passes through the first positioning hole 3411 and is connected to one of the clamping arms 311, the spline 3322 passes through the second positioning hole 3412 and is connected to the other clamping arm 311, and one end of the two clamping arms 311 located on the same upper end surface that is meshed with gears is the first closed end, and the first closed end is located on the top surface outside the first positioning shell 341.

[0116] Correspondingly, the second positioning shell 342 includes a third positioning hole 3421, the positioning shaft 3313 at the bottom of the clamping drive assembly 33 is connected to one of the clamping arms 311 and is positioned in the third positioning hole 3421, the spline 3322 is connected to the other clamping arm 311, and one end of the two clamping arms 311 located on the same lower end surface that is meshed with gears is the second closed end, and the second closed end is located on the bottom surface inside the second positioning shell 342.

[0117] In some preferred embodiments, the second positioning shell 342 also includes a vertical positioning plate 3422 and a horizontal positioning plate 3423. The vertical positioning plate 3422 is located at the bottom of the accommodating cavity of the second positioning shell 342 and extends outward to support the clamping claw body 31 from vertical displacement; the horizontal positioning plate 3423 is located on the side of the vertical positioning plate 3422 and extends in the vertical direction to clamp the second closed end of the clamping claw body 31 in the accommodating cavity of the second positioning shell 342 without lateral displacement, thereby achieving positioning.

[0118] In some preferred embodiments, one end of the robotic arm 32 is connected to the bottom of the second positioning shell 342, and the other end is connected to the locking connection groove 53 of the connecting male plate 5, so as to realize the detachable connection between the flexible clamp 3 and the underwater robot body 1.

[0119] In some preferred embodiments, the outside of the underwater robot body 1 is connected to three groups of the thruster arrays 2, and each group of the thruster array 2 includes two thrusters. Along the central axis of the robot body 1, the two thrusters of each group are symmetrically arranged on both sides of the robot body 1, so that the robot body 1 can achieve basic central symmetry, making it easier for the robot body 1 to reach a balanced state in the water, thereby improving the efficiency of coral conservation.

[0120] In some preferred embodiments, at least three thrusters located on the same side of the central axis form at least three angles with the central axis, so that the thrusters provide thrust to the underwater robot body 1 in at least three propulsion directions.

[0121] Compared with the existing eight thrusters, the thruster array 2 in this embodiment can not only reduce the external space it occupies, but also realize a variety of motion postures and ensure the stability and flexibility of the movement of the robot body 1.

[0122] In some preferred embodiments, the routing of the thruster array 2 is arranged in the gap between the outer shell 11 and the pressure cabin 12, and is connected to the multi-functional conversion module 14, so as to make full use of the internal space of the robot body 1 and make the routing and switching operations of the thruster array 2 more convenient.

[0123] In some preferred embodiments, the underwater robot further includes a float 15 , wherein a control module is provided inside the float 15 , and the float 15 is electrically connected to the robot body 1 , for solving the problem of inaccurate navigation and control of the underwater robot during underwater movement.

[0124] Specifically, Figure 14 This is a schematic diagram of the overall structure of the float in this application, such as Figure 14 As shown, the float 15 includes an outer shell 150, an inner plug 151, a waterproof switch 152, and a gland 153. The outer shell 150 is a trough body with an open side. The inner plug 151 is detachably connected to the open side of the outer shell 150 by bolts to form a chamber with a sealed and waterproof effect, and the module unit is placed in the chamber.

[0125] In some preferred embodiments, the number of the waterproof switches 152 is two, and the waterproof switches 152 are fixed on the inner plug-in board 151 to control the switch of the internal module of the float. The large button design of the waterproof switch 152 allows for more convenient operation.

[0126] In some preferred embodiments, two glands 153 are provided, and both of the two glands 153 are fixed on the inner plug board 151 for waterproofing the cable. Compared with aviation connectors, glands are more cost-effective and the current size does not need to be considered.

[0127] Figure 15 This is the internal structure diagram of the float in this application, such as Figure 15 As shown, the float 15 also includes an inertial navigation module 155, a power carrier module 156, and a routing module 157 placed in its chamber, which are used to control the underwater movement of the underwater robot.

[0128] In some preferred embodiments, the float 15 further includes a sealing ring 154, which is placed in a groove connecting the outer shell 150 and the inner insert plate 151, so that when the inner insert plate 151 is connected to the outer shell 150, the sealing ring 154 can be squeezed to achieve a waterproof effect. Compared with the glue sealing method, the sealing ring sealing can better cope with the penetration of waves into the interior.

[0129] In some preferred embodiments, a positioning slot is provided on the open side of the shell 150, and the inner plug-in board 151 and the shell 150 are connected and fixed in position using mutually cooperating sliders and slots to facilitate connection and positioning without the need for additional bolts for positioning.

[0130] Figure 16 is a schematic structural diagram of the inner plug-in board 151, as shown in FIG. Figure 16 As shown, an inner board bracket is provided on the inner side of the inner board 151, and a lithium battery 158 is connected to the inner board bracket to power the inertial navigation module 155, the power carrier module 156, and the routing module 157. Compared with the floating antenna powered by some external cables, the floating antenna adopts internal power supply and has stronger adaptability to complex environments.

[0131] In some preferred embodiments, the present application also creatively sets up a variety of sensors to detect various information of the ROV underwater, including depth sensors and attitude sensors for reading hull information, as well as temperature and humidity sensors and air pressure sensors for detecting cabin information, as well as pH sensors and turbidity sensors for measuring water quality.

[0132] Based on the above sensors, we implemented the following algorithms:

[0133] 1) Posture correction algorithm

[0134] Existing six-axis attitude sensors suffer from zero-point drift, leading to cumulative errors in the yaw axis over extended periods of use. While nine-axis sensors avoid zero drift, their inclusion of a magnetometer can interfere with magnetic field signals. However, the ROVs we use are designed to operate underwater for extended periods, and their various electrical signals inevitably generate magnetic signals. Therefore, both six- and nine-axis sensors inevitably suffer from errors.

[0135] To solve this problem, this application placed a nine-axis attitude sensor JY901 and a six-axis sensor BMI088 in the cabin. Based on the prediction idea of Kalman filtering, this application integrated the attitude correction algorithm and adjusted the confidence of the two sensors with time as the variable. After fusion, more reasonable attitude data was obtained, which can eliminate some errors to a certain extent.

[0136] In some preferred embodiments, the angle value obtained by the six-axis sensor BMI088 is used as the predicted value, the angle value obtained by the nine-axis attitude sensor JY901 is used as the observed value, and the Kalman gain is calculated to finally obtain an optimal estimated value.

[0137] Since the six-axis attitude sensor has zero drift, there will be cumulative errors on the yaw axis when used for a long time; and although the nine-axis sensor avoids zero drift, it will be interfered by the magnetic field signal due to the addition of a magnetometer. However, the ROV we use is a robot that needs to operate underwater for a long time, and the various electrical signals in it will inevitably generate magnetic signals. Therefore, whether using a six-axis sensor or a nine-axis sensor, there are inevitable errors. In order to solve this problem, we placed a nine-axis attitude sensor JY901 and a high-precision six-axis sensor BMI088 in the cabin. Based on the idea of Kalman filtering, the angular velocity output by the six-axis sensor BMI088 and the angle data output by the nine-axis attitude sensor JY901 are used as input, and the data of the two sensors are processed to output a more reasonable predicted angle. For details of the specific process, please see Figure 17 .

[0138] 2) Depth correction

[0139] Since the depth sensor cannot be placed in the center of the robot body 1, the position of the depth sensor will deviate when the pitch angle of the ship changes. Figure 18 As shown, at this time, it is necessary to use the pitch angle calculated by the attitude sensor to correct the value obtained by the sensor to ensure that the measured depth is the position of its own center.

[0140] 3) pH correction

[0141] To ensure the correct pH value of the sample, the sample measurement and standard pH buffer calibration must be at the same temperature, so temperature compensation and slope compensation are necessary. In order to compensate the pH value, we added a temperature sensor next to the water quality sensor to compensate it.

[0142] 4) Water leakage detection algorithm

[0143] Traditionally, leak detection relies on a leak detection line, which uses a threshold value to determine if a ship is leaking. However, this method has a significant drawback: it takes a long time for water to enter the hull to be detected, during which time the leaked water may have already caused significant damage to the ship. To address this issue, the present application has redesigned a leak detection method.

[0144] In a well-sealed cabin, the mass of the gas inside the cabin remains constant after sealing. The ideal gas equation shows that the ratio of cabin pressure to temperature is constant. However, when water enters the cabin, the cabin pressure changes. Therefore, we can measure the ship's air pressure and temperature before launching to create a pressure-temperature curve. Then, after launching, we can measure the real-time temperature and pressure and compare them with the calculated values. If the difference between the two pressure values exceeds a set threshold, we determine that water has entered the cabin.

[0145] However, there is a possibility that the ship has taken on water but the air pressure has not changed (water leaks into the ship and the air in the ship is squeezed out. The two have equal effects on the air pressure, so the air pressure has not changed). In this case, a temperature and humidity sensor is needed to assist in judgment. If the humidity increases, it means that water has taken on the hull. The threshold is about 65%.

[0146] In some preferred embodiments, the present application also sets a control thread, such as Figure 19 As shown, the control threads are roughly divided into the following categories, and specific parts thereof can be implemented by multiple threads in cooperation.

[0147] a)Sensor reading thread

[0148] The sensor reading thread realizes the data reading and storage functions of each sensor module, and the corresponding sensors can be added or deleted according to the needs of the user.

[0149] b)Data sending thread

[0150] The data transmission thread implements the data upload function of the lower computer. The lower computer packages all the information to be uploaded according to a fixed communication protocol and then publishes it to the corresponding topic via MQTT. The upper computer then subscribes to the corresponding topic to receive the message, unpack it, obtain the information, and process it. The intermediate forwarding is required through the server. The data transmission thread also includes sending messages to each module via CAN to control various modules.

[0151] c)Data receiving thread

[0152] The data receiving thread implements the data receiving function of the lower computer. The process is basically the same as above. The upper computer packages the message and sends it to the lower computer, which unpacks and processes it. At the same time, the data receiving thread is also used to receive information from each module via CAN and unpack it.

[0153] d) Motion control thread

[0154] The motion control thread implements the motion control functions of the lower computer. After receiving the message from the upper computer, the lower computer extracts the parameters related to motion control (such as the desired angular velocity, propeller speed, mode switching, etc.), and then assigns the value to the corresponding function (such as PID control). The main control board will complete the motion control-related instructions in the motion control thread.

[0155] The above is a detailed introduction to the specific implementation methods of the present application. For those skilled in the art, several improvements and modifications can be made to the present application without departing from the principles of the present application. These improvements and modifications also fall within the scope of protection of the claims of the present application.

Claims

1. An underwater robot for coral conservation, characterized in that: include: A robot body (1), a thruster array (2), and a flexible gripper (3) connected to the bottom surface of the robot body (1). The robot body (1) is an externally closed shell structure, comprising an outer shell (11) and a pressure-resistant cabin (12), wherein the pressure-resistant cabin (12) is accommodated inside the outer shell (11); The flexible clamping jaw (3) comprises a clamping jaw body (31) and a clamping jaw drive assembly (33). The number of the clamping jaw bodies (31) is two. The two clamping jaw bodies (31) are independently controlled by two drive ends of the clamping jaw drive assembly (33) to open and close on the same side, and a flexible support portion is provided in the clamping space of the clamping jaw body (31). The clamping jaw body (31) comprises two clamping jaw arms (311) and a support portion (312), each support portion (312) being configured to have an arc-shaped convex structure facing the opposite support portion (312), and straight lines are arranged on the support portion (312); The underwater robot also includes a quick-detachable modular expansion structure for a universal quick-detachable detachable connection between a multifunctional module device and the robot body (1). The quick-detachable modular expansion structure includes a connecting motherboard (4), a connecting male board (5), and a limiting assembly (6). The connecting male board (5) and the connecting motherboard (4) are detachably connected to a slide groove through mutually cooperating sliders. A displacement port (442) is provided on one side of the slide groove. The slider is slidably connected to the slide groove along the length direction of the displacement port (442). The limiting assembly (6) is provided on the side of the displacement port (442) of the slide groove, and the locking end of the limiting assembly (6) telescopically moves along the length direction perpendicular to the displacement port. In the locked state, the locking end of the limit assembly (6) is located in the locking groove of the connecting male plate (5); the limit assembly (6) includes a mechanical box (61), a knob (62), and a locking baffle (63); the locking baffle (63) is horizontally passed through the inside and outside of the mechanical box (61); the driving end of the knob (62) is vertically passed through the inside of the mechanical box (61) and is connected to the middle part of the locking baffle (63) through a gear rack that cooperates with each other; when locked, the knob (62) is rotated, and the driving end of the knob (62) drives the locking baffle (63) to move in the horizontal penetration direction; when one end of the locking baffle (63) extends into the locking groove (55), the locking function is realized; The robot body (1) further includes a multifunctional conversion module (14), the multifunctional conversion module (14) being connected to the tail of the outer shell (11) and being electrically connected to the pressure-resistant cabin (12), the multifunctional conversion module (14) including a plurality of connection jacks, wherein a connection plug is provided in the connection jack, one end of the connection plug is connected to the pressure-resistant cabin (12), and the other end is used to connect to an external electrical structure, and when not in use, the connection plug is connected to a docking waterproof plug to achieve waterproof sealing; The underwater robot cabin is also equipped with a six-axis sensor and a nine-axis sensor. The angle value measured by the six-axis sensor is used as the predicted value, and the angle value measured by the nine-axis sensor is used as the observed value input. Based on the Kalman filter idea, the optimal estimated angle value of the underwater robot is obtained through the attitude correction algorithm. The attitude correction algorithm includes the following steps: s1, performing a priori estimation calculation; s2, predicting the covariance matrix P; s3, establishing a measurement equation; s4, calculating the Kalman gain K; s5, calculating the current optimal estimation value; s6, a posteriori estimation calculation. After the calculation, the angle is output on the one hand, and on the other hand, it is used as the starting value for the next iteration to perform step s1.

2. The underwater robot for coral conservation according to claim 1, characterized in that: The two clamping arms (311) cooperate to form a rigid clamp with a clamping space, and the two supporting portions (312) are respectively connected to the inner sides of different clamping arms (311) and cooperate to form a flexible clamp with elasticity in the clamping space. Under the action of force, the supporting portion (312) deforms to move toward the clamping arm (311).

3. The underwater robot for coral conservation according to claim 2, characterized in that: A deformation cavity (313) is provided on one side of the support portion (312) relative to the clamping arm (311), and the deformation cavity (313) is used to provide a deformation margin for the support portion (312).

4. The underwater robot for coral conservation according to claim 2, characterized in that: The clamping jaw drive assembly (33) comprises a drive housing (331) and a drive motor (332). Two drive motors (332) are provided. The two drive motors (332) are both accommodated in the drive housing (331), and the drive ends are arranged in a back-to-back manner. One end of the clamping jaw body (31) is in a closed shape, and the closed ends of the two clamping jaw arms (311) are meshed with the drive end of the clamping jaw drive assembly (33) through mutually matching gears.

5. The underwater robot for coral conservation according to claim 4, characterized in that: The drive housing (331) includes a motor accommodating compartment (3312) and a positioning rotating shaft (3313). The motor accommodating compartment (3312) is a through hole that passes through from top to bottom. Along the through direction of the motor accommodating compartment (3312), positioning rotating shafts (3313) are respectively provided at both ends of the drive housing (331). Both of the two drive motors (332) are accommodated in the motor accommodating compartment (3312), and the driving end of the drive motor (332) located at the same end and the positioning rotating shaft (3313) are located in the same horizontal plane.

6. The underwater robot for coral conservation according to claim 1, characterized in that: The flexible clamp (3) further comprises a mechanical arm (32) and a clamp positioning shell (34), wherein the mechanical arm (32) is connected to the clamp positioning shell (34), the clamp driving assembly (33) is housed in the clamp positioning shell (34), and the clamp driving assembly (33) is connected to the clamp body (31) via the clamp positioning shell (34).

7. The underwater robot for coral conservation according to claim 6, characterized in that: The clamping jaw positioning shell (34) comprises a first positioning shell (341) and a second positioning shell (342), wherein the first positioning shell (341) and the second positioning shell (342) are detachably connected in an upper and lower split manner, and the two driving ends of the clamping jaw driving assembly (33) are respectively connected to the first positioning shell (341) and the second positioning shell (342).

8. The underwater robot for coral conservation according to claim 1, characterized in that: The flexible clamping claw (3) is detachably mechanically connected to the robot body (1) via a quick-detachable modular expansion structure, and is detachably electrically connected to the robot body (1) via a multifunctional conversion module (14).

9. The underwater robot for coral conservation according to claim 1, characterized in that: The propeller array (2) is connected to the outside of the robot body (1), and the propeller array (2) provides thrust to the robot body (1) in at least three propulsion directions; the outside of the robot body (1) is connected to three groups of the propeller arrays (2), and each group of the propeller arrays (2) includes two propellers, and along the central axis of the robot body (1), the two propellers of each group are symmetrically arranged on both sides of the robot body (1).

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