Intelligent diving suit for underwater rescue

Abstract

The embodiment of the invention provides an intelligent diving suit for underwater rescue. The intelligent diving suit comprises a diving suit body, a propelling system, a power system, a breathing system, a visual system, a rescue tool system, a man-machine interaction system, a sensor system, a communication system and a central controller. The propelling system is arranged on the external ankle part or the sole of the diving suit body and comprises a plurality of propellers. The breathing system is arranged at the external waist position and provides oxygen for the diver. The visual system is arranged on the helmet and used for collecting underwater images and providing illumination. The man-machine interaction system is arranged in the helmet and used for displaying information and receiving operation instructions. The sensor system monitors environmental parameters, diving suit states and diver physical signs in real time. And the communication system is used for real-time communication with a remote monitoring station. The central controller is electrically connected with all the systems and controls the systems to work. Multiple intelligent technologies are integrated, and the safety, efficiency and success rate of underwater rescue are remarkably improved.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater rescue equipment, and in particular relates to an intelligent diving suit for underwater rescue. Background Art

[0002] Traditional diving suits are mainly used to protect divers from water pressure and low temperatures, and play an important role in regular diving activities. These diving suits are usually made of waterproof materials, equipped with basic breathing devices and pressure regulation systems, and can provide divers with necessary life support within a certain depth range. However, with the expansion of the scope and complexity of underwater activities, especially in high-risk scenarios such as underwater rescue, the limitations of traditional diving suits are becoming increasingly prominent.

[0003] In the field of underwater rescue, existing diving equipment faces many challenges. First, traditional diving suits lack an effective propulsion system, which limits underwater maneuverability and makes it difficult for divers to quickly reach the rescue target location. In addition, the power supply system of conventional diving equipment usually cannot meet the power supply requirements of multi-functional intelligent systems, which limits the expansion of diving suit functions. Existing diving suits generally lack an integrated rescue tool system, which limits the rescue capabilities of divers in emergency situations. The human-computer interaction interface design is also relatively simple, making it difficult to effectively display complex information or receive a variety of operating instructions, which increases the difficulty of diver operation. In addition, conventional diving suits lack a comprehensive sensor system, which affects overall safety and efficiency.

[0004] Therefore, the development of such an intelligent and multifunctional underwater rescue diving suit will greatly improve the efficiency and safety of underwater rescue and meet the growing needs of complex underwater rescue. Summary of the invention

[0005] In view of this, an object of an embodiment of the present invention is to provide an intelligent diving suit for underwater rescue, so as to improve the maneuverability, safety, perception ability and operational efficiency of underwater rescue.

[0006] To achieve the above-mentioned purpose, an embodiment of the present invention provides a smart diving suit for underwater rescue, which includes:

[0007] Wetsuit body;

[0008] A propulsion system provided at an ankle portion or a sole of the outside of the diving suit body, the propulsion system comprising a plurality of propellers;

[0009] A power supply system disposed inside the diving suit body, used to supply power to various systems;

[0010] A breathing system arranged at the waist position of the outer part of the diving suit body, used to provide the diver with oxygen required for breathing;

[0011] A visual system disposed on the helmet of the diving suit body, for collecting underwater images and providing lighting;

[0012] A rescue tool system provided on the hands of the diving suit body;

[0013] A human-computer interaction system disposed in the helmet of the diving suit body, the human-computer interaction system being used to display information and receive operation instructions;

[0014] A sensor system disposed on the diving suit body, for real-time monitoring of environmental parameters, the working state of the diving suit body and the physiological indicators of the diver;

[0015] A communication system provided on the diving suit body, used for real-time communication with a remote monitoring station; and

[0016] A central controller disposed inside the diving suit body is electrically connected to the propulsion system, the power system, the breathing system, the visual system, the rescue tool system, the human-computer interaction system, the sensor system and the communication system, and is used to control the operation of each system.

[0017] In some possible implementations, the propulsion system includes a plurality of electric thrusters, which are respectively disposed on the left and right ankles and the left and right soles of the diving suit body; the electric thrusters are electrically connected to the power supply system and controlled by the central controller.

[0018] In some possible implementations, the battery pack of the power system is a lithium battery pack and is equipped with an intelligent power management system for monitoring the power level of the lithium battery pack in real time and dynamically allocating power according to the power consumption requirements and priorities of each system.

[0019] In some possible embodiments, the respiratory system comprises:

[0020] An oxygen tank disposed at the waist position outside the diving suit body, used to store high-pressure oxygen;

[0021] An oxygen supply device disposed inside the helmet, for supplying oxygen to the diver;

[0022] A pressure reducing valve disposed at the waist position outside the diving suit body and close to the oxygen tank, used to reduce the pressure of the high-pressure oxygen to a pressure suitable for breathing;

[0023] a flow meter disposed between the pressure reducing valve and the oxygen supply device, for measuring the oxygen supply amount and sending the measured oxygen supply amount to the central controller;

[0024] The oxygen tank is connected to the pressure reducing valve through a first hose, the pressure reducing valve is connected to the flow meter through a second hose, the flow meter is connected to the oxygen supply device through a third hose, and the oxygen supply device is communicated with the interior of the helmet.

[0025] In some possible implementations, the oxygen supply device includes:

[0026] An oxygen storage chamber is used to temporarily store decompressed oxygen;

[0027] an oxygen supply pipeline, connecting the oxygen storage chamber and the interior of the helmet;

[0028] A solenoid valve, arranged on the oxygen supply pipeline, for adjusting the oxygen flow;

[0029] The solenoid valve is electrically connected to the central controller, and the opening of the solenoid valve is controlled according to the instruction of the central controller.

[0030] In some possible implementations, the respiratory system further comprises:

[0031] A carbon dioxide absorption device provided on the back of the diving suit body is used to absorb the carbon dioxide exhaled by the diver;

[0032] a circulation fan disposed between the carbon dioxide absorption device and the oxygen supply device, for promoting the circulation of a mixed gas containing oxygen and carbon dioxide;

[0033] The carbon dioxide concentration sensor arranged inside the helmet is used to monitor the carbon dioxide concentration data in the gas after being processed by the carbon dioxide absorption device, and send the carbon dioxide concentration data to the central controller.

[0034] In some possible implementations, the visual system includes:

[0035] An underwater camera, arranged at the front of the helmet, for collecting underwater images and transmitting them to the display screen of the human-computer interaction system and a remote monitoring station communicating with the intelligent diving suit;

[0036] A lighting device is arranged around the helmet and on the shoulders to provide underwater lighting;

[0037] a night vision device, including an image sensor disposed at the front of the helmet, having a sensitivity higher than a preset sensitivity threshold, for capturing images in a dark underwater environment where the human eye cannot distinguish objects;

[0038] The thermal imaging device is arranged inside the helmet and is used to detect and obtain underwater temperature distribution data, including temperature values, temperature gradients and heat source location information at different positions, and generate a thermal imaging map based on the underwater temperature distribution data.

[0039] In some possible embodiments, the rescue tool system includes replaceable modular cutting tools, pliers and clamps, which are connected to the hands of the diving suit body through a standardized interface, and receive the diver's operating instructions through the human-computer interaction system, and the central controller controls the operation of the rescue tool system based on the operating instructions; the operating instructions include voice instructions, eye tracking selections and hand movement instructions.

[0040] In some possible implementations, the human-computer interaction system includes:

[0041] Display screen, used to display underwater images, status of various systems and environmental parameters;

[0042] A voice control system, comprising a bone conduction microphone and a speaker, wherein the bone conduction microphone is used to collect voice commands of the diver and send them to the central controller for processing, and the speaker is used to play audio information;

[0043] The eye tracking system includes an eye tracking camera and an image processing module, wherein the eye tracking camera is used to collect images of diver's eye movement, and the image processing module is used to analyze the eye movement images and determine the diver's line of sight focus, so as to select options on the display screen according to the diver's line of sight focus.

[0044] In some possible implementations, the sensor system includes:

[0045] Environmental sensor modules for measuring environmental parameters, including:

[0046] A depth sensor, arranged at the waist position outside the diving suit body, for measuring the current diving depth;

[0047] Pressure sensors are distributed at multiple locations outside the diving suit body and are used to measure water pressure data at locations where the diving suit is located;

[0048] An external temperature sensor, disposed outside the diving suit body, for measuring water temperature data;

[0049] A water quality sensor, arranged at an external arm position of the diving suit body, for detecting water pollutant data;

[0050] The diving suit status sensor module is used to monitor the working status of the smart diving suit, including:

[0051] An internal temperature sensor is arranged inside the diving suit body and is used to measure the internal temperature data of the diving suit body;

[0052] an oxygen concentration sensor, arranged near the oxygen supply device of the respiratory system, for monitoring oxygen content data in the respiratory gas and sending the oxygen content data to the central controller;

[0053] An inertial measurement unit, disposed inside the helmet, for real-time monitoring of the posture data of the diving suit body;

[0054] Physiological sensor module, used to measure diver's physiological indicators, including:

[0055] A photoplethysmographic sensor is disposed inside the diving suit body at a position in contact with the diver's ear and is used to measure the diver's heart rate and blood oxygen saturation;

[0056] A breathing belt sensor is arranged inside the diving suit body at a position in contact with the diver's chest and is used to measure the diver's breathing rate;

[0057] A body temperature sensor is arranged inside the diving suit body at a position in contact with the diver's armpit or neck skin, and is used to measure the diver's body temperature;

[0058] The acceleration sensor is arranged at the chest position inside the diving suit body and is used to collect the activity intensity data of the diver.

[0059] In some possible implementations, the central controller includes any one of the following:

[0060] A pressure regulating module, used to control a pressure regulating valve provided at a position where the diving suit body is connected to the outside according to the water pressure data, and to adjust the internal pressure of the diving suit body by adjusting the amount of gas entering and leaving the diving suit body;

[0061] a temperature regulating module, for controlling a heating element disposed inside the diving suit body and electrically connected to the power supply system according to the water temperature data and the internal temperature data, so as to regulate the internal temperature of the diving suit body;

[0062] An oxygen supply regulating module, used to control the opening of the solenoid valve and regulate the oxygen supply according to the oxygen content data, the current diving depth and the diver's activity intensity data;

[0063] A water quality alarm module is used to issue a warning to the diver and the remote monitoring station based on the water pollutant data and trigger one or more of the following operations: adjusting the working state of the propulsion system to keep the diver away from the polluted area determined based on the water pollutant data; sending detailed water pollutant data and current location information to the remote monitoring station to request further instructions; initiating emergency procedures, including shortening the diving time and / or adjusting the ascent speed;

[0064] A posture control module, used to control the power and direction of each propeller of the propulsion system according to the posture data of the diving suit, so as to adjust the posture and motion state of the diving suit;

[0065] The carbon dioxide control module is used to control the rotation speed of the circulating fan according to the carbon dioxide concentration data and to issue a warning to the diver when the carbon dioxide concentration data exceeds a preset threshold.

[0066] In some possible implementations, the oxygen supply regulation module is specifically used for:

[0067] Acquiring the oxygen content data, the current diving depth and the diver's activity intensity data;

[0068] Determine the basic oxygen supply according to the preset corresponding relationship between diving depth and oxygen supply;

[0069] Making a first correction to the basic oxygen supply according to the diver's activity intensity data;

[0070] Performing a second correction on the oxygen supply amount after the first correction according to the oxygen content data;

[0071] The opening degree of the solenoid valve is controlled according to the oxygen supply quantity data corrected for the second time.

[0072] In some possible implementations, the communication system includes wireless communication information, which includes an underwater acoustic transducer, a signal processing module, and a communication controller;

[0073] The hydroacoustic transducer is installed on the outside of the helmet, and is used to convert the electrical signal from the communication controller into a sound wave signal and transmit it, and to receive an external sound wave signal and convert it into an electrical signal;

[0074] The signal processing module is used to amplify, filter and perform analog-to-digital conversion on the electrical signal received by the hydroacoustic transducer, and convert the electrical signal in an analog state into a digital signal;

[0075] The communication controller is used to manage the encoding, encryption, sending and receiving of the digital signal processed by the signal processing module;

[0076] The signal processing module and the communication controller are integrated inside the helmet.

[0077] In some possible implementations, the communication system further includes a wired communication system, which includes:

[0078] A communication cable, one end of which is connected to the diving suit body and the other end of which extends to a remote monitoring station;

[0079] A cable interface, provided on the diving suit body, for connecting the communication cable;

[0080] The wired signal processing unit is used to process the signal transmitted through the communication cable.

[0081] In some possible implementations, the communication system further includes: a communication switching module, configured to switch between the wireless communication system and the wired communication system or use two communication modes simultaneously;

[0082] The communication switching module is specifically used to: monitor the signal quality and stability of the wireless communication system and the wired communication system in real time; automatically switch to the wired communication system when it is detected that the quality of the wireless communication signal has decreased; immediately switch back to the wireless communication system when a failure occurs in the wired communication system; and in an emergency, send a distress signal simultaneously through the two communication systems.

[0083] The above technical solution has the following beneficial effects:

[0084] By setting up a propulsion system outside the diving suit, the maneuverability and efficiency of underwater rescue are significantly improved; the built-in power supply system provides reliable power supply for each functional module, supporting the long-term operation of the smart diving suit; the external waist breathing system ensures the oxygen supply needs of the diver and enhances the safety of underwater operations. The visual system on the helmet integrates image acquisition and lighting functions, improving the perception of the underwater environment, while the rescue tool system on the hand expands the diver's operating capabilities and improves the rescue efficiency. The human-computer interaction system in the helmet realizes the effective display of information and the convenient input of operation instructions, optimizing the operation experience. The comprehensive sensor system monitors the environment, equipment and diver status in real time, enhancing the safety and controllability of the rescue; the communication system ensures real-time data exchange with the remote monitoring station, enhancing the coordination of the rescue operation. The central controller uniformly manages and coordinates various systems, improving the overall rescue efficiency and reliability. As a whole, the smart diving suit system significantly improves the safety, efficiency and success rate of underwater rescue, and provides comprehensive technical support for rescue operations in complex underwater environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0085] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0086] Figure 1 is an overall functional block diagram of an intelligent diving suit for underwater rescue according to an embodiment of the present invention;

[0087] Figure 2 is a specific functional block diagram of an intelligent diving suit for underwater rescue according to an embodiment of the present invention;

[0088] Figure 3 is a functional block diagram of a human-computer interaction system, a sensor system, and a communication system according to an embodiment of the present invention;

[0089] Figure 4 is a specific structural schematic diagram of a respiratory system according to an embodiment of the present invention;

[0090] Figure 5 Schematic diagram of another specific structure of the respiratory system according to an embodiment of the present invention.

[0091] Description of Figure Numbers:

[0092] 100, diving suit body; 200, propulsion system; 300, power supply system; 400, breathing system; 500, visual system; 600, rescue tool system; 700, human-computer interaction system; 800, sensor system; 900, communication system; 1000, central controller;

[0093] 201. Electric propulsion;

[0094] 301. battery pack; 302. intelligent power management system;

[0095] 401, oxygen tank; 402, oxygen supply device; 403, pressure reducing valve; 404, flow meter; 405, carbon dioxide absorption device; 406, circulating fan; 407, carbon dioxide concentration sensor;

[0096] 501. Underwater camera; 502. Lighting equipment; 503. Night vision device; 504. Thermal imaging device;

[0097] 601, cutting tool; 602, pliers; 603, clamps; 604, standardized interface;

[0098] 710, display screen; 720, voice control system; 721, bone conduction microphone; 722, speaker;

[0099] 730. Eye tracking system; 731. Eye tracking camera; 732. Image processing module;

[0100] 810, environmental sensor module; 811, depth sensor; 812, pressure sensor; 813, external temperature sensor; 814, water quality sensor;

[0101] 820, diving suit status sensor module; 821, internal temperature sensor; 822, oxygen concentration sensor; 823, inertial measurement unit;

[0102] 830, physiological sensor module; 831, photoelectric volumetric pulse wave sensor; 832, breathing belt sensor; 833, body temperature sensor;

[0103] 910, wireless communication system; 911, underwater acoustic transducer; 912, signal processing module; 913, communication controller;

[0104] 920. Wired communication system; 921. Communication cable; 922. Cable interface; 923. Wired signal processing unit;

[0105] 930, communication switching module;

[0106] 1001. Pressure regulating module; 1002. Temperature regulating module; 1003. Oxygen supply regulating module; 1004. Water quality alarm module; 1005. Posture control module; 1006. Carbon dioxide control module. DETAILED DESCRIPTION

[0107] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0108] The embodiment of the present invention provides an underwater rescue intelligent diving suit that integrates multifunctional systems such as propulsion, breathing, vision, communication, rescue tools and intelligent control to improve the maneuverability, safety, perception ability and operational efficiency of underwater rescue.

[0109] Embodiment 1

[0110] like Figure 1 As shown, an embodiment of the present invention provides an intelligent diving suit for underwater rescue, which includes: a diving suit body 100, a propulsion system 200, a power system 300, a breathing system 400, a visual system 500, a rescue tool system 600, a human-computer interaction system 700, a sensor system 800, a communication system 900 and a central controller 1000.

[0111] The diving suit body 100 is a full-body sealed diving suit made of high-strength, pressure-resistant and waterproof materials, which can adapt to the deep-sea environment. The diving suit body 100 includes structures such as hands, helmet 101, waist, ankles and soles, which provide installation and protection for other systems. The diving suit body 100 refers to the main structure of the entire diving equipment, which is used to protect the diver from water pressure and low temperature. The propulsion system 200 is arranged on the external ankle or sole of the diving suit body 100, including a plurality of electric propellers 201. The electric propeller 201 can be an electric propeller propeller for providing underwater propulsion. The power supply system 300 is arranged inside the diving suit body 100 for powering each system. The power supply system 300 may include a rechargeable battery pack and a power management unit. The breathing system 400 is arranged at the external waist position of the diving suit body 100 to provide the diver with oxygen required for breathing. The breathing system 400 may include an oxygen storage device and a supply device. The visual system 500 is arranged on the helmet of the diving suit body 100, and is used to collect underwater images and provide lighting. The visual system 500 may include an underwater camera and a lighting device. The rescue tool system 600 is arranged on the hand of the diving suit body 100, and is used to perform various rescue operations. The rescue tool system 600 may include various special tools or multifunctional tools. The human-computer interaction system 700 is arranged in the helmet of the diving suit body 100, and is used to display information and receive operation instructions. The human-computer interaction system 700 is an interface system for realizing information exchange between the diver and the intelligent diving suit. The sensor system 800 is arranged on the diving suit body 100, and is used to monitor environmental parameters, the working state of the diving suit body and the physiological indicators of the diver in real time. The communication system 900 is arranged on the diving suit body 100, and is used to communicate with the remote monitoring station in real time. The remote monitoring station is a control center located on the surface of the water, on the shore or at other locations, and is used to monitor and command underwater rescue operations. The communication system 900 can adopt underwater communication technology, such as acoustic wave communication. The central controller 1000 is arranged inside the diving suit body 100, and is electrically connected to all other systems to control the operation of each system. The central controller 1000 can be an embedded computer system. The central controller 1000 is the brain of the entire intelligent diving suit, responsible for processing information and controlling the coordinated operation of each system.

[0112] The working principle of the intelligent diving suit for underwater rescue includes: at startup, the central controller 1000 starts and initializes each system. Subsequently, the sensor system 800 collects environmental data, and the central controller 1000 adjusts the parameters of the breathing system 400 and other related systems according to the environmental data. The diver inputs the movement instruction through the human-computer interaction system 700, and the central controller 1000 controls the propulsion system 200 to achieve underwater movement based on the movement instruction. The visual system 500 continuously collects underwater image information and provides lighting, and the underwater image information is displayed to the diver and the remote monitoring station through the human-computer interaction system 700. During the rescue process, the diver selects and controls the rescue tool system 600 to perform the rescue task through the human-computer interaction system 700. At the same time, the sensor system 800 continuously monitors the environment, equipment status and physiological indicators of the diver, which are processed by the central controller 1000 and issue warnings through the human-computer interaction system 700 when necessary. The communication system 900 ensures real-time data exchange with the remote monitoring station, including sending status information and receiving instructions. The power supply system 300 continuously supplies power to each system and is monitored and managed by the central controller 1000 .

[0113] Although divers can directly observe the surrounding environment through the transparent mask of the diving suit, displaying underwater image information through the human-computer interaction system 700 has the following important advantages: in turbid, low-light or dark underwater environments, direct visual observation may not be effective. The visual system 500 is equipped with low-light enhancement or thermal imaging functions, which can provide clearer images than direct observation by the human eye. It can provide additional information. The displayed image can superimpose important information, such as depth, direction, oxygen remaining data, etc., to provide comprehensive information for divers. It is conducive to expanding the field of vision. The visual system 500 may include multiple cameras installed in different positions of the diving suit, which can display areas outside the direct field of vision of the diver, such as behind or to the side. The system can record visual information, allowing divers to review previous images, which is useful in complex rescue missions. By sharing the same visual information with a remote monitoring station, remote guidance and assistance can be better received.

[0114] The central controller 1000 adjusts the parameters of other related systems, including: for the propulsion system 200, the power output and direction of the propeller are adjusted according to environmental data such as water flow and water pressure to maintain stability or achieve more efficient movement. For the visual system 500, the parameters of the camera (such as sensitivity, contrast, etc.) and the lighting intensity are adjusted according to the underwater light conditions. For the rescue tool system 600, the working parameters of the tool, such as the pressure of the hydraulic tool, are adjusted according to data such as water pressure and water temperature. For the human-computer interaction system 700, the brightness and contrast of the display screen are adjusted according to environmental data to adapt to different light conditions. For the communication system 900, the strength and frequency of the communication signal are adjusted according to factors such as water depth and water quality to ensure stable communication. For the temperature control system, the internal temperature of the diving suit is adjusted according to the external water temperature and the intensity of the diver's activity. These adjustments are all to ensure that the entire intelligent diving suit system can maintain optimal performance in various complex underwater environments and improve rescue efficiency and safety. The central controller 1000 dynamically adjusts these parameters by processing data from the sensor system 800 in real time, so that the diving suit can adapt to different underwater conditions.

[0115] The intelligent diving suit significantly improves underwater maneuverability and expands the scope of rescue operations through the propulsion system 200; the power system 300 provides long-term and stable power supply for each functional module; the breathing system 400 ensures the oxygen supply needs of the diver and enhances the safety of underwater operations. The visual system 500 enhances the perception of the underwater environment and can adapt to various light conditions; the rescue tool system 600 expands the diver's operating capabilities and improves the rescue efficiency. The human-computer interaction system 700 optimizes the operating experience, provides intuitive information display and multi-mode operation; the sensor system 800 realizes comprehensive status monitoring and improves the safety and controllability of the rescue. The communication system 900 ensures real-time data exchange with the remote monitoring station and enhances the coordination of the rescue operation; the central controller 1000 realizes the intelligent coordination of various systems and improves the efficiency and reliability of the overall rescue.

[0116] Embodiment 2

[0117] In some embodiments, the propulsion system includes a plurality of electric thrusters, which are respectively arranged at the left and right ankles and the left and right soles of the diving suit body, and the electric thrusters are electrically connected to the power system and controlled by the central controller. The battery pack of the power system is a lithium battery pack, and is equipped with an intelligent power management system for real-time monitoring of the power of the lithium battery pack and dynamically allocating power according to the power consumption requirements and priorities of each system.

[0118] like Figure 2As shown, in this embodiment, the propulsion system 200 includes four electric propellers 201, which are respectively arranged at the left ankle, right ankle, left sole and right sole of the diving suit body 100. Each electric propeller 201 is a propeller-type propeller driven by a brushless DC motor and can rotate 360 ​​degrees. The shell of the electric propeller 201 is made of corrosion-resistant titanium alloy material to ensure long-term reliable operation in a seawater environment. The electric propeller 201 is electrically connected to the power supply system 300 arranged inside the diving suit body 100 through a waterproof cable. At the same time, each propeller 201 is equipped with an independent control module, which is connected to the central controller 1000 through a data bus. This design enables the central controller 1000 to accurately control the rotation speed and direction of each propeller to achieve flexible underwater motion control.

[0119] like Figure 2 As shown, the power system 300 includes a lithium battery pack 301 and an intelligent power management system 302. The lithium battery pack 301 uses a lithium polymer battery with high energy density. The battery pack 301 is divided into multiple independent modules. This modular design improves the reliability and maintainability of the system. The intelligent power management system 302 includes a battery management unit and a power distribution unit. The battery management unit monitors the voltage, current and temperature of each battery module in real time to ensure that the battery operates within a safe range. The power distribution unit dynamically adjusts the power supply strategy according to the power consumption requirements and work priorities of each system. For example, in an emergency, it can prioritize the power supply to the propulsion system and the breathing system, while reducing the power supply to non-critical systems.

[0120] The intelligent power management system 302 also implements the following functions: automatically adjust the power supply ratio of each system according to the current task requirements; detect abnormalities of the battery and power supply system in real time and report to the central controller; during the charging process, optimize the charging strategy to extend the battery life.

[0121] The design of the propulsion system 200 significantly improves the maneuverability of the diving suit. The layout of the four thrusters realizes all-round propulsion capabilities, and its 360-degree rotation function enables the diving suit to achieve precise positioning and attitude control. The propulsion system 200 adopts an independent control module design to enhance the reliability of the system. Even if one thruster fails, the other thrusters can still ensure basic mobility. In addition, the high-power design ensures the effective propulsion of the diving suit in a strong water flow environment.

[0122] The power system is equipped with a high-capacity lithium battery pack, which provides long-term underwater operation capabilities. The modular battery design not only improves the reliability of the system, but also simplifies the maintenance process. The intelligent power management system realizes efficient use of energy, extends the working time of the diving suit, and ensures that key systems can obtain sufficient power supply under any circumstances through the dynamic power allocation function. Energy recovery technology further improves energy utilization efficiency, while real-time monitoring and fault diagnosis functions enhance the safety of the system.

[0123] Embodiment 3

[0124] like Figure 2 and Figure 4As shown, the basic breathing system 400 of this embodiment includes an oxygen tank 401, an oxygen supply device 402, a pressure reducing valve 403 and a flow meter 404. The oxygen tank 401 is arranged at the waist position of the diving suit body 100, and is made of high-strength composite materials. The internal storage pressure is 300bar of high-purity oxygen, and the capacity can be 10L. The oxygen supply device 402 is arranged inside the helmet 101 to supply oxygen to the diver. The pressure reducing valve 403 is arranged at the waist position of the diving suit body 100, close to the oxygen tank 401. It adopts a two-stage pressure reducing design, which can stably reduce the high-pressure oxygen of 300bar to the breathing pressure of 4-6bar. The flow meter 404 is arranged outside the diving suit body 100, between the pressure reducing valve 403 and the oxygen supply device 402, and adopts a thermal mass flow meter with a measurement accuracy of ±1% and a measurement range of 0-30L / min. The flow meter 404 is connected to the central controller 1000 through a data line to transmit the oxygen supply data in real time. Each component is connected by a hose, the oxygen tank 401 is connected to the pressure reducing valve 403 through the first hose 408a, the pressure reducing valve 403 is connected to the flow meter 404 through the second hose 408b, and the flow meter 404 is connected to the oxygen supply device 402 through the third hose 408c. All hoses are made of special materials that are resistant to high pressure and corrosion. The oxygen supply device 402 is connected to the inside of the helmet to provide the diver with oxygen required for breathing. The efficient oxygen supply system ensures long-term and stable oxygen supply through a large-capacity oxygen tank to meet various underwater operation needs. The two-stage decompression design further ensures the stability and safety of the breathing gas pressure. The flow meter monitors the oxygen supply in real time and provides accurate data support for intelligent control. The modular design enables each component to be maintained and replaced separately, improving the reliability and maintainability of the system. Placing the flow meter 404 outside the helmet 101 has multiple advantages. First, this design can be more convenient for inspection and maintenance, avoiding the trouble of frequently opening the helmet 101. Secondly, the internal space of the helmet is limited, and placing the flow meter 404 outside can provide more space for divers to move around and improve comfort. In addition, the flow meter 404 is closely related to the functions of the pressure reducing valve 403. Putting them together can simplify the system design and pipeline layout and improve the overall efficiency. The external setting can also effectively prevent the moisture exhaled by the diver from affecting the flow meter and extend its service life. Finally, when the flow meter 404 is connected to the central controller, the external arrangement can make the line layout more concise and ensure the stability of data transmission.

[0125] In some embodiments, Figure 3As shown, the oxygen supply device 402 further includes: an oxygen storage chamber for temporarily storing oxygen after decompression, with a capacity of 1L, which plays a buffering role. The oxygen supply pipeline connects the oxygen storage chamber and the inside of the helmet and is made of medical-grade silicone material. The solenoid valve is arranged on the oxygen supply pipeline and adopts a precisely controlled proportional solenoid valve to achieve continuous flow adjustment in the range of 0-100%. The solenoid valve is electrically connected to the central controller 1000, and the opening of the solenoid valve is controlled according to the instructions of the central controller 1000. The advantage is that the intelligent oxygen supply system dynamically adjusts the oxygen supply according to multiple parameters through the central controller, optimizes the oxygen utilization efficiency, and uses a proportional solenoid valve to achieve continuous and precise flow control. The oxygen supply strategy can be personalized according to the needs and environmental conditions of different divers to ensure optimal breathing support.

[0126] In some embodiments, Figure 2 and Figure 5 As shown, the breathing system 400 may further include: a carbon dioxide absorption device 405, which is arranged on the back of the diving suit body and adopts replaceable high-efficiency absorption material to effectively absorb the carbon dioxide exhaled by the diver, and the capacity is designed for continuous use for 8 hours. A circulating fan 406, which is arranged at the waist position of the diving suit body, is used to promote the gas flow of the entire breathing circulation system, and adopts a low-noise, high-efficiency multi-stage centrifugal fan system with a total air volume of 30L / min, and the speed can be adjusted as needed. A carbon dioxide concentration sensor 407 is arranged near the breathing area inside the helmet to monitor the carbon dioxide concentration in the diver's inhaled gas in real time. A miniature infrared absorption sensor is adopted, with a measurement range of 0-5% and an accuracy of ±0.1%. The carbon dioxide concentration sensor sends the monitored carbon dioxide concentration data to the central controller 1000 in real time for evaluating the working effect of the breathing system and the safety status of the diver. The working principle of the breathing circulation system is as follows: the gas exhaled by the diver is transported to the carbon dioxide absorption device 405 through a specially designed gas circulation channel, where the carbon dioxide is effectively absorbed. The absorbed gas is mixed with the fresh oxygen provided by the oxygen supply device 402, and then transported back to the breathing area in the helmet under the action of the circulating fan 406. The whole process forms a closed circulation system to ensure that the diver always breathes clean and safe gas. The central controller 1000 dynamically adjusts the speed of the circulating fan 406 and the oxygen supply of the oxygen supply device 402 according to the data of the carbon dioxide concentration sensor 407 to maintain the best breathing environment.

[0127] The system significantly improves oxygen utilization and reduces oxygen consumption through gas recycling technology, and ensures the safety of breathing gas through carbon dioxide absorption devices and concentration monitoring, thereby extending underwater operation time. The real-time monitoring function is provided by the carbon dioxide concentration sensor, which enables the central controller to respond to environmental changes in a timely manner and automatically adjust the circulation fan speed and oxygen supply according to the carbon dioxide concentration, realizing intelligent regulation and optimizing system performance.

[0128] Embodiment 4

[0129] like Figure 2 As shown, the visual system 500 of this embodiment includes an underwater camera 501 , a lighting device 502 , a night vision device 503 and a thermal imaging device 504 .

[0130] The underwater camera 501 is set at the front of the helmet to collect underwater images and transmit them to the display screen of the human-computer interaction system and the remote monitoring station that communicates with the intelligent diving suit. The underwater camera 501 adopts high-definition camera technology with a resolution of 4K (3840×2160 pixels) and a frame rate of 60fps. The camera adopts a waterproof design and can withstand a water depth of 300 meters. It is equipped with a wide-angle lens with a field of view of 120 degrees, ensuring a wide field of view. The underwater camera 501 is connected to the display screen of the human-computer interaction system 700 and the communication system 900 via a high-speed data cable, and can transmit high-definition images to the display screen and the remote monitoring station in real time.

[0131] The lighting equipment 502 is arranged around the helmet and shoulders to provide underwater lighting. Eight high-brightness LED lights are arranged around the helmet, and the luminous flux of each LED light is 1000 lumens. Four adjustable angle LED searchlights are arranged on the shoulders, and the luminous flux of each searchlight is 2000 lumens. All lighting equipment adopts a waterproof design, and the brightness and angle can be adjusted through the human-computer interaction system 700 to adapt to different underwater environments.

[0132] The night vision device 503 includes a high-sensitivity image sensor disposed on the front of the helmet, with a sensitivity higher than a preset sensitivity threshold, and is used to capture images in dark underwater environments where the human eye cannot distinguish objects. The sensor uses back-illuminated CMOS technology, has a pixel size of 1.55μm, and a sensitivity higher than a preset sensitivity threshold of 0.001lux. It is equipped with a large aperture (f / 1.4) lens and an image enhancement processor to capture clear images in extremely low light conditions (such as deep sea or night underwater environments). The night vision device 503 can automatically switch working modes and start when light is insufficient.

[0133] The thermal imaging device 504 is set inside the helmet and adopts uncooled micro-bolometer technology. Its detector resolution is 640×480 pixels and the thermal sensitivity is less than 0.05°C. The working wavelength range is 8-14μm, which is suitable for use in underwater environments. The thermal imaging device 504 can detect temperature changes in the range of -20°C to +120°C and has a temperature measurement accuracy of ±2°C.

[0134] The thermal imaging device 504 converts the detected thermal radiation data into temperature distribution information through a dedicated image processor. The processor can generate a thermal image containing the following information: temperature values ​​at different locations, which intuitively display the temperature of each point in a color-coded manner; temperature gradients, which display the temperature change trend through isotherms or gradient colors; heat source location information, and this embodiment automatically marks temperature anomalies or heat source locations. The generated thermal image is transmitted to the display screen of the human-computer interaction system 700 via a data cable, and can be superimposed on an ordinary visible light image to provide divers with comprehensive environmental information.

[0135] The working principle of the visual system 500 is as follows: Under normal lighting conditions, the underwater camera 501 provides the main visual information, and the lighting device 502 provides auxiliary lighting as needed. When entering a low-light environment, the system automatically switches to night vision mode and activates the night vision device 503. When temperature information is required, the thermal imaging device 504 provides thermal images. All visual information will be displayed on the display screen of the human-computer interaction system 700 and can be transmitted to a remote monitoring station as needed.

[0136] The system provides all-weather visual capabilities by combining high-definition video, powerful lighting, night vision and thermal imaging technology to ensure clear visual information in various underwater environments. High-definition images can be transmitted to a remote monitoring station in real time to achieve remote guidance. The thermal imaging function further enhances environmental perception and helps identify hidden targets or potential dangers. The multi-point, adjustable and flexible lighting system adapts to various complex underwater environments, while the high-sensitivity night vision device can still provide effective visual protection in extremely dark conditions. The display integrates various visual information to provide divers with comprehensive environmental awareness, significantly improving the safety of underwater operations.

[0137] Embodiment 5

[0138] In some embodiments, the rescue tool system includes replaceable modular cutting tools, pliers and clamps, which are connected to the hands of the diving suit body through a standardized interface, and receive the diver's operating instructions through a human-computer interaction system. The central controller controls the operation of the rescue tool system based on the operating instructions; the operating instructions include voice instructions, eye tracking selections and hand movement instructions.

[0139] like Figure 2As shown, the rescue tool system 600 of this embodiment includes any number of replaceable modular cutting tools 601, pliers 602 and clamps 603, which are connected to the hands of the diving suit body 100 through a standardized interface 604. The rescue tool system 600 receives the diver's operating instructions through the human-computer interaction system 700, and the central controller 1000 controls the operation of the rescue tool system 600 based on the operating instructions. The cutting tool 601 is made of high-strength alloy material and has a sharp cutting edge, which can be used to cut obstacles such as entanglements and broken fishing nets. The pliers 602 are made of sturdy and durable materials and have a large clamping force, which can be used to grab and move heavier objects. The clamp 603 is exquisitely designed, suitable for delicate operations, and can be used to clamp small or delicate objects.

[0140] like Figure 2 As shown, in a further embodiment, all modular tools use a unified standardized interface 604, which can be quickly installed on the diving suit hand. The standardized interface 604 includes: a mechanical connection part 604a, which adopts a snap-on design to ensure that the tool is firmly connected; an electrical connection part 604b, which is used to transmit control signals and power supply; a data transmission interface 604c, which is used for data exchange between the tool and the central controller 1000.

[0141] The human-computer interaction system 700 supports multiple operation instruction modes, including voice instructions, eye tracking selection and hand movement instructions. Figure 3 As shown, the diving suit helmet is equipped with a high-sensitivity bone conduction microphone 721, which can receive the diver's voice commands and support the recognition of multiple languages ​​and dialects. The helmet is equipped with an eye tracking camera 731, which selects operations by analyzing the diver's eye movements. The diver only needs to look at the virtual buttons on the helmet display to select different tools or operations. The diving suit hand is equipped with multiple sensors that can recognize hand postures and movements. For example, a clenched fist can represent "grasp" and an open palm can represent "release". The central controller 1000, as the core of the entire system, is responsible for receiving and parsing the operation instructions from the human-computer interaction system 700, and controlling the corresponding tools to perform the specified actions. At the same time, the central controller 1000 also monitors the working status of each system in real time, performs safety checks, ensures the accuracy of operations and prevents misoperation, thereby ensuring the overall safety and reliability of the system.

[0142] The workflow is as follows: divers select and install appropriate modular tools according to rescue needs; divers issue operating instructions through voice (using a microphone), eye movement (using an eye tracking camera) or gestures (using a hand sensor); the human-computer interaction system 700 receives and preliminarily processes the instructions and transmits them to the central controller 1000; the central controller 1000 parses the instructions, performs a safety check, and then sends a control signal to the corresponding tool; the tool executes the corresponding action to complete the rescue mission; throughout the process, the central controller 1000 continuously monitors the system status to ensure safe operation.

[0143] The system adopts a modular design, which significantly improves flexibility and adaptability, allowing divers to quickly change tools according to different rescue needs. Diversified operation modes, including voice, eye movement and gesture operation, greatly improve the convenience and efficiency of operation. Standardized interfaces ensure fast replacement and stable connection of tools, enhancing the reliability of the system. The central controller realizes intelligent control through real-time monitoring and safety inspection functions, further improving the safety and reliability of the system. In addition, the sophisticated control system enables divers to perform precise operations in complex underwater environments.

[0144] Embodiment 6

[0145] like Figure 3 As shown, the human-computer interaction system 700 of this embodiment includes a display screen 710 , a voice control system 720 and an eye tracking system 730 .

[0146] The display screen 710 uses 7-inch OLED technology with a resolution of 2560×1440 pixels and a brightness of up to 1000 nits, ensuring clear visibility under various underwater light conditions. The display screen 710 is installed inside the helmet, directly in front of the diver's line of sight. It is waterproof and can withstand pressure at a depth of 300 meters. The display screen 710 is mainly used to display the following information: real-time underwater camera images and thermal imaging images from the visual system 500, so that divers can observe the underwater environment in real time; system status information, including the remaining power of the power system 300, the oxygen balance and carbon dioxide concentration of the breathing system 400, and the working status of the propulsion system 200, to ensure that divers have a comprehensive understanding of the operation of the equipment; environmental parameters, such as current water depth, water temperature, water pressure and other data, are provided by the sensor system 800 to help divers grasp changes in the surrounding environment. In addition, the display screen 710 also provides an operation interface, showing various control options and menus for divers to select and operate through the eye tracking system 730.

[0147] The voice control system 720 includes a bone conduction microphone 721 and a speaker 722. The bone conduction microphone 721 is installed inside the helmet and contacts the diver's skull. It uses bone conduction technology to collect the diver's voice by detecting skull vibrations. This technology can effectively reduce the interference of underwater environmental noise and improve the accuracy of voice recognition. After preliminary processing, the voice signal collected by the bone conduction microphone 721 is sent to the central controller 1000 through a data line for further voice recognition and command parsing. The speaker 722 is also installed inside the helmet and adopts a waterproof design. It is used to play various audio information, including system prompt sounds, alarm sounds, and voice communications from a remote monitoring station. The speaker 722 uses bone conduction technology to clearly transmit sound to the diver in an underwater environment.

[0148] The eye tracking system 730 includes an eye tracking camera 731 and an image processing module 732. The eye tracking camera 731 is a high-speed camera with a frame rate of up to 250fps, which is installed inside the helmet and aimed at the diver's eyes. It uses infrared lighting technology to clearly capture eye movements under various lighting conditions. The image processing module 732 is a dedicated image processor that is directly connected to the eye tracking camera 731. It uses advanced computer vision algorithms to process the images collected by the eye tracking camera 731 in real time and analyze the eye movement trajectory and gaze point. Based on this data, the image processing module 732 can accurately determine the diver's visual focus.

[0149] The workflow is as follows: the display screen 710 continuously displays underwater images, system status, and environmental parameters. When an operation is required, the diver can issue commands by voice, such as "open menu", "select tool", etc. The bone conduction microphone 721 collects voice commands and sends them to the central controller 1000 for processing. The central controller 1000 parses the instructions and displays the corresponding operation interface on the display screen 710. The diver focuses his eyes on the required options by moving his eyes. The eye tracking camera 731 captures eye movements, and the image processing module 732 analyzes the data and determines the focus of vision. The central controller 1000 performs the corresponding operation or displays the next level menu according to the determined focus of vision. The operation results or system feedback are displayed through the display screen 710, and audio prompts are played through the speaker 722 when necessary.

[0150] The system adopts a multimodal interaction method, combining vision, voice and eye tracking, providing a rich means of human-computer interaction to adapt to various underwater operation scenarios. In terms of high-definition display, the OLED high-resolution display ensures the clear presentation of information and significantly enhances the diver's environmental perception ability. Anti-interference communication effectively reduces the impact of underwater environmental noise on voice control through bone conduction technology, and improves the accuracy of command recognition. Eye tracking technology enables divers to make selections through natural eye movements, greatly simplifying the operation process. At the same time, the real-time display of system status and environmental parameters helps divers to understand the surrounding environment and equipment conditions in a timely manner, improving safety. Through the voice system, effective communication with the remote monitoring station is achieved.

[0151] Embodiment 7

[0152] like Figure 3 As shown, the sensor system 800 of this embodiment includes an environmental sensor module 810 , a diving suit state sensor module 820 and a physiological sensor module 830 .

[0153] The environmental sensor module 810 is used to measure environmental parameters, including: a depth sensor 811, which is set at the waist position of the diving suit body 100, using a piezoresistive sensor, with a measurement range of 0-500 meters and an accuracy of ±0.1 meters, and is used to measure the current diving depth. A pressure sensor 812, which is distributed and set at multiple locations outside the diving suit body 100, including the head, chest, back and limbs, using a silicon piezoresistive sensor, with a measurement range of 0-60bar and an accuracy of ±0.1%, is used to measure the water pressure data at the location of the diving suit. An external temperature sensor 813, which is set on the outside of the diving suit body 100, using a platinum resistance temperature sensor, with a measurement range of -10℃ to +50℃ and an accuracy of ±0.1℃, is used to measure water temperature data. A water quality sensor 814, which is set at the arm position outside the diving suit body 100, using a multi-parameter water quality analyzer, can measure parameters such as pH value, dissolved oxygen, turbidity, conductivity, etc., and is used to detect water pollutant data.

[0154] The diving suit status sensor module 820 is used to monitor the working status of the intelligent diving suit, including: an internal temperature sensor 821, which is arranged inside the diving suit body 100, adopts a thermistor, has a measurement range of 0°C to +50°C, and an accuracy of ±0.2°C, and is used to measure the internal temperature data of the diving suit body. An oxygen concentration sensor 822, which is arranged near the oxygen supply device 402 of the breathing system 400, adopts an electrochemical sensor, has a measurement range of 0-100%, and an accuracy of ±1%, and is used to monitor the oxygen content data in the breathing gas, and send the oxygen content data to the central controller 1000. An inertial measurement unit 823, which is arranged inside the helmet, includes a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer, and has a sampling rate of 200Hz, and is used to monitor the posture data of the diving suit body 100 in real time.

[0155] The physiological sensor module 830 is used to measure the physiological indicators of the diver, including: a photoelectric volumetric pulse wave sensor 831, which is arranged inside the diving suit body 100 and in contact with the diver's ear, and adopts a reflective photoelectric sensor to measure the diver's heart rate (measuring range 30-240bpm, accuracy ±2bpm) and blood oxygen saturation (measuring range 70-100%, accuracy ±2%). A breathing belt sensor 832 is arranged inside the diving suit body 100 and in contact with the diver's chest, and adopts a resistive strain sensor with a measuring range of 0-60 times / minute and an accuracy of ±1 time / minute, and is used to measure the diver's breathing rate. A body temperature sensor 833 is arranged inside the diving suit body 100 and in contact with the diver's armpit or neck skin, and adopts a thermistor with a measuring range of 32°C to 42°C and an accuracy of ±0.1°C, and is used to measure the diver's body temperature. The acceleration sensor 834 is arranged at the chest position inside the diving suit body 100, and adopts a three-axis MEMS acceleration sensor with a range of ±16g, and is used to collect the diver's activity intensity data.

[0156] like Figure 2 As shown, the central controller 1000 includes any number of the following functional modules:

[0157] The pressure regulating module 1001 is used to control the pressure regulating valve provided at the connection point between the diving suit body 100 and the outside world according to the water pressure data, and adjust the internal pressure of the diving suit body by adjusting the amount of gas entering and exiting the diving suit body 100. It adopts a PID control algorithm to accurately control the opening of the pressure regulating valve according to the difference between the current water pressure and the target internal pressure. The pressure regulating valve includes an inlet valve and an exhaust valve. The inlet valve controls the flow of gas from the gas source (the gas tank storing compressed air) to the inside of the diving suit, while the exhaust valve controls the flow of gas from the inside of the diving suit to the external environment. The pressure regulating module 1001 accurately adjusts the internal pressure of the diving suit by simultaneously controlling the opening of these two valves.

[0158] Specifically, the working principle of the pressure regulating module 1001 includes: first, the external water pressure data is obtained in real time through the pressure sensor 812, and the internal pressure sensor is used to obtain the pressure data inside the diving suit. Then, the ideal internal pressure is calculated according to the current water depth, which is usually slightly higher than the external water pressure to ensure the structural integrity of the diving suit. Then, the pressure difference is obtained by calculating the difference between the target pressure and the current internal pressure. On this basis, the PID control algorithm plays a role, and the control signal of the pressure regulating valve is calculated through three parameters: proportional (P), integral (I) and differential (D). The proportional term is adjusted immediately according to the size of the pressure difference, the integral term accumulates historical errors to eliminate static errors, and the differential term predicts the pressure change trend to improve the system response speed. According to the output signal of the PID algorithm, the pressure regulating valve controls the pressure inside the diving suit by adjusting the opening of the intake valve and the exhaust valve. If the internal pressure is too low, the intake valve opening is increased and the exhaust valve opening is reduced; conversely, if the internal pressure is too high, the intake valve opening is reduced and the exhaust valve opening is increased. The whole process forms a closed-loop control system, which ensures the stability and safety of the system by continuously monitoring and adjusting the internal pressure through feedback. The pressure regulating valve plays a vital role in this process. As an actuator that accurately controls the internal pressure, the intake valve controls the amount of high-pressure gas entering, while the exhaust valve adjusts the amount of gas discharged. Through the coordination of the two, the gas flow in the diving suit is accurately controlled, thereby ensuring the safety of the diver.

[0159] The temperature adjustment module 1002 is used to control the heating element arranged inside the diving suit body 100 and electrically connected to the power supply system 300 according to the water temperature data and the internal temperature data, so as to adjust the internal temperature of the diving suit body 100. It adopts a fuzzy control algorithm to dynamically adjust the heating power according to the internal and external temperature difference and the temperature change trend to achieve the best temperature control effect. The fuzzy control algorithm adopted by the temperature adjustment module 1002 is an intelligent control method based on fuzzy logic, which simulates the human decision-making process and can effectively handle complex and nonlinear temperature adjustment problems. In this system, two input variables are first defined: the difference between the internal temperature of the diving suit and the external water temperature (ΔT) and the rate of change of the internal temperature over time (dT / dt). These input variables are converted into fuzzy sets through the fuzzification process. For example, ΔT is divided into "small", "medium" and "large", and dT / dt is divided into "rapid decline", "slow decline", "stable", "slow rise" and "rapid rise". Next, the system performs fuzzy reasoning based on the pre-designed rule base. For example, if ΔT is "small" and dT / dt is "slowly decreasing", the heating power is "medium"; if ΔT is "large" and dT / dt is "rapidly decreasing", the heating power is "high". Finally, the result of fuzzy reasoning is converted into an accurate heating power value through the defuzzification process to control the working state of the heating element. This fuzzy control algorithm has many advantages: it can adapt to various complex temperature changes, provide smooth temperature control, avoid temperature fluctuations caused by traditional switch control, and thus improve the comfort of divers. At the same time, by accurately controlling the heating power, the system effectively saves energy and has predictiveness, and can respond to temperature changes in advance. In addition, the system has good robustness to parameter changes and external interference. This intelligent control method ensures that the temperature adjustment module 1002 always maintains the optimal temperature inside the diving suit in various complex underwater environments, ensuring the comfort and safety of divers.

[0160] The oxygen supply adjustment module 1003 is used to control the opening of the solenoid valve and adjust the oxygen supply according to the oxygen content data, the current diving depth and the diver's activity intensity data. The specific working process is as follows: obtain the oxygen content data, the current diving depth and the diver's activity intensity data; determine the basic oxygen supply according to the preset corresponding relationship between the diving depth and the oxygen supply; make a first correction to the basic oxygen supply according to the diver's activity intensity data; make a second correction to the oxygen supply after the first correction according to the oxygen content data; and control the opening of the solenoid valve according to the oxygen supply data after the second correction.

[0161] The specific working process of the oxygen supply adjustment module 1003 is as follows:

[0162] In the data acquisition step, the oxygen concentration in the current breathing gas is obtained from the oxygen concentration sensor 822, the real-time diving depth data is obtained from the depth sensor 811, and the diver's motion status data is obtained from the acceleration sensor 834.

[0163] In the basic oxygen supply determination step, the basic oxygen supply is determined according to the preset corresponding relationship between diving depth and oxygen supply. This corresponding relationship is stored in the database of the central controller 1000 and is based on a large amount of experimental data and theoretical calculations. For example: at a depth of -10 meters, the basic oxygen supply is 0.5L / min; at a depth of 10-20 meters, the basic oxygen supply is 0.7L / min; at a depth of 20-30 meters: the basic oxygen supply is 0.9L / min; the module calculates the basic oxygen supply at the current depth by looking up a table or interpolating.

[0164] In the first correction step, the basic oxygen supply is corrected for the first time according to the diver's activity intensity data. The activity intensity data is calculated by the output of the acceleration sensor 834 and is divided into three levels: low, medium, and high. The correction formula is as follows: Corrected oxygen supply = basic oxygen supply * (1 + activity intensity coefficient); where the activity intensity coefficient is: low intensity: 0.1; medium intensity: 0.3; high intensity: 0.5.

[0165] In the second correction step, the oxygen supply after the first correction is corrected for the second time according to the oxygen content data. This step is to ensure that the oxygen concentration in the breathing gas is always kept within the safe range (21%-23%). The correction formula is as follows: Final oxygen supply = corrected oxygen supply * (target oxygen concentration / current oxygen concentration). Among them, the target oxygen concentration is usually set to 22%.

[0166] In the solenoid valve control step, the module calculates the required solenoid valve opening according to the oxygen supply data after the second correction. The solenoid valve adopts a proportional adjustment type, and the opening range is 0-100%. The control formula is as follows: Solenoid valve opening = (final oxygen supply / maximum oxygen supply) * 100%; wherein the maximum oxygen supply is determined by the design parameters of the respiratory system 400.

[0167] In the feedback adjustment step, the oxygen supply adjustment module 1003 continuously monitors the output of the oxygen concentration sensor 822. If it is detected that the actual oxygen concentration deviates from the target value, real-time fine-tuning will be performed to ensure the accuracy of the oxygen supply.

[0168] In the safety protection step, the module also has multiple safety protection mechanisms. For example, if a sudden abnormality in oxygen concentration is detected, an alarm will be triggered immediately and the module will switch to safe oxygen supply mode. In extreme cases (such as sensor failure), the fixed oxygen supply mode will be activated to ensure basic oxygen supply.

[0169] Through this multi-parameter, multi-stage dynamic adjustment strategy, the oxygen supply adjustment module 1003 can accurately control the oxygen supply, which not only ensures the oxygen demand of divers at different depths and activity intensities, but also avoids the risks of excessive oxygen supply. This precise oxygen supply control not only improves the safety of diving, but also optimizes the efficiency of oxygen use, prolongs the diving operation time, and provides strong life support for underwater rescue missions.

[0170] Excessive oxygen supply may bring the following risks: In a high-pressure environment, such as deep diving, excessive oxygen supply will lead to an increase in oxygen partial pressure, which will cause oxygen toxicity, resulting in lung damage, central nervous system damage, and may even cause epileptic seizures or loss of consciousness in extreme cases. In addition, excessive oxygen supply will disrupt the balance of nitrogen and oxygen mixed gases, reduce nitrogen partial pressure, affect the diver's breathing efficiency, and increase the risk of decompression sickness. In a closed environment, excessive oxygen supply may also cause an increase in air pressure, increase the pressure inside the diving suit, put an additional burden on the diver's body, and affect the normal operation of the diving suit and breathing system. Finally, excessive oxygen supply will accelerate oxygen consumption, shorten the diver's effective operating time, and lead to a waste of resources, especially in long or deep diving missions, oxygen is a precious resource.

[0171] The water quality alarm module 1004 is used to issue warnings to divers and remote monitoring stations based on the water pollutant data and trigger one or more of the following operations: adjust the working state of the propulsion system 200 to keep the diver away from the polluted area determined based on the water pollutant data; send detailed water pollutant data and current location information to the remote monitoring station to request further instructions; initiate emergency procedures, including shortening the diving time and / or adjusting the ascent speed.

[0172] The attitude control module 1005 is used to control the power and direction of each propeller of the propulsion system 200 according to the attitude data of the diving suit, so as to adjust the attitude and motion state of the diving suit. It adopts an adaptive control algorithm, which can adjust the control parameters in real time according to different water flow conditions and the load state of the diving suit to achieve the best attitude control effect. The adaptive control algorithm adopted by the attitude control module 1005 can automatically adjust the control parameters according to the dynamic characteristics of the system and the changes in the external environment. In this system, the dynamic model of the diving suit is first established, including the propeller characteristics, the mass distribution of the diving suit and the hydrodynamic characteristics. Then, the current attitude (such as pitch angle, roll angle, yaw angle) is estimated by the inertial measurement unit (IMU), and the water flow conditions and load state are estimated by the pressure sensor and the flow rate sensor. Then, according to the diver's operating instructions or the preset motion trajectory, the system generates the desired attitude and motion state. The adaptive control algorithm designs a basic control law, such as a PID controller, which is used to calculate the thrust and direction required for each propeller. The parameter adaptive mechanism updates the controller parameters in real time by designing the parameter adjustment law, and defines performance indicators such as attitude error and energy consumption. During the online parameter adjustment process, the system calculates the error between the actual output and the expected output in real time, and uses the parameter adjustment law to update the controller parameters based on the error and the current state. This adjustment process is continuous, allowing the controller to adapt to different operating conditions. Based on the updated controller parameters and the current state, the system calculates and generates thruster control signals and sends them to each thruster to ensure optimal attitude control.

[0173] For example, when a diving suit suddenly enters a strong current area, the state estimation module detects the change in current, and the adaptive algorithm quickly adjusts the controller gain to provide a stronger correction force and prioritizes the use of thrusters facing the current. If a load change is detected, the algorithm adjusts the center of gravity compensation parameters accordingly.

[0174] The advantage of this adaptive control method is that it can adapt to various complex underwater environments and load changes, has good robustness and energy efficiency optimization capabilities, and ensures more accurate attitude control and motion trajectory tracking. In the event of reduced propeller efficiency or failure of a propeller, the system can also automatically adjust the strategy to maintain basic functions. Through this intelligent adaptive control, the attitude control module 1005 can maintain the optimal attitude and motion state of the diving suit in a complex underwater environment, significantly improving the accuracy, efficiency and safety of underwater operations.

[0175] The CO2 control module 1006 is used to control the speed of the circulation fan 406 according to the CO2 concentration data and to warn the diver when the CO2 concentration data exceeds a preset threshold. It uses a PID control algorithm to dynamically adjust the speed of the circulation fan according to the difference between the current CO2 concentration and the target concentration.

[0176] The collaborative work of these sensor systems and the central controller module ensures that the smart diving suit can adapt to various complex underwater environments, ensure the safety of divers, and improve the efficiency and accuracy of underwater operations.

[0177] By integrating multiple environmental sensors and intelligent control modules, the system can adapt to the complex and changing underwater environment in real time. For example, the coordinated work of the pressure regulation module and the temperature regulation module not only ensures the comfort of the diver, but also significantly improves the adaptability of the diving suit under different depths and temperature conditions, allowing diving operations to be carried out under a wider range of environmental conditions.

[0178] The design of the physiological sensor module not only monitors conventional physiological indicators, but also collects diver activity intensity data through acceleration sensors. This comprehensive physiological monitoring combined with the oxygen supply regulation module enables personalized oxygen supply regulation for each diver, greatly improving oxygen utilization efficiency and extending diving time.

[0179] The design of the water quality alarm module is not just a simple alarm, but combines multiple intelligent response measures. For example, the automatic adjustment of the propulsion system to stay away from the polluted area, this active risk avoidance function greatly improves the safety of divers. At the same time, the function of sending detailed data to the remote monitoring station and requesting instructions enhances the team's ability to collaborate, making decision-making in complex situations more scientific and timely.

[0180] The attitude control module uses the data from the inertial measurement unit to achieve precise control of the diving suit's attitude. This not only improves the diver's underwater maneuverability, but also allows it to maintain stability in complex environments such as strong currents, greatly improving the accuracy and efficiency of underwater operations.

[0181] The multi-step regulation process of the oxygen supply regulation module (basic oxygen supply determination, activity intensity correction, oxygen content correction) creates a highly optimized closed-loop oxygen supply system. This approach not only ensures the accuracy of oxygen supply, but also dynamically adjusts according to real-time conditions, maximizing diving time while ensuring safety.

[0182] Comprehensive analysis of various sensor data enables the system to have predictive maintenance capabilities. For example, by analyzing data such as the temperature difference between the inside and outside of a diving suit and changes in pressure, the system can predict possible equipment failures or environmental risks, thereby taking preventive measures in advance.

[0183] This design not only improves the autonomous performance of the diving suit, but also provides divers with rich environmental information and physical status feedback through the human-machine interaction system. This human-machine collaborative approach greatly enhances divers' environmental perception and decision-making capabilities, and achieves the best combination of human judgment and precise machine control.

[0184] Embodiment 8

[0185] like Figure 3 As shown, the communication system 900 of this embodiment includes a wireless communication system 910 , a wired communication system 920 , and a communication switching module 930 .

[0186] The wireless communication system 910 adopts underwater acoustic communication technology, including an underwater acoustic transducer 911, a signal processing module 912 and a communication controller 913. The underwater acoustic transducer 911 is installed on the outside of the helmet, made of piezoelectric ceramic material, and has an operating frequency range of 20-30kHz. It can convert the electrical signal from the communication controller 913 into an acoustic signal and transmit it, and can also receive external acoustic signals and convert them into electrical signals. The signal processing module 912 is set inside the helmet, and its main function is to process the electrical signal received by the underwater acoustic transducer 911. It includes a low-noise amplifier, a bandpass filter and a high-speed analog-to-digital converter. The amplifier gain is adjustable in the range of 20-60dB; the passband of the bandpass filter is 18-32kHz; the sampling rate of the analog-to-digital converter is 100kHz and the resolution is 16 bits. The communication controller 913 is also set inside the helmet and adopts a low-power and high-performance digital signal processor. It is responsible for managing the digital signal processed by the signal processing module 912, encoding, encrypting, sending and receiving. The encoding adopts Orthogonal Frequency Division Multiplexing (OFDM) technology and the encryption adopts AES-256 algorithm to ensure the reliability and security of communication.

[0187] The wired communication system 920 includes a communication cable 921, a cable interface 922, and a wired signal processing unit 923. The communication cable 921 adopts a high-voltage and tensile-resistant optoelectronic composite cable, one end of which is connected to the diving suit body 100 and the other end extends to the remote monitoring station. The cable contains optical fiber and copper wire, which can transmit high-speed data and power supply at the same time. The cable interface 922 is set on the diving suit body 100 and adopts a waterproof design that can withstand the pressure of 300 meters of water depth. The interface includes an optical fiber connector and a power connector to ensure the reliable connection of the communication cable 921. The wired signal processing unit 923 is set inside the diving suit body 100 to process the signal transmitted through the communication cable 921. It contains an optoelectronic conversion module and a signal conditioning circuit, which can handle data transmission rates up to 1Gbps.

[0188] The communication switching module 930 is an intelligent control unit for switching between the wireless communication system 910 and the wired communication system 920 or using both communication modes at the same time. Its main functions include: real-time monitoring of the signal quality and stability of the wireless communication system 910 and the wired communication system 920. The monitoring indicators include signal-to-noise ratio, bit error rate and delay time; when the quality of the wireless communication signal is detected to be degraded (for example, the signal-to-noise ratio is lower than 10dB or the bit error rate is higher than 10 -3), automatically switch to the wired communication system 920; when a fault occurs in the wired communication system 920 (for example, a sudden drop in optical power or a cable disconnection is detected), immediately switch back to the wireless communication system 910. In an emergency (for example, abnormal vital signs of a diver are detected or an emergency rescue command is received), a distress signal is sent simultaneously through the two communication systems to maximize the success rate of transmission of the distress information.

[0189] The communication system significantly improves reliability by combining wireless and wired communication methods, and can maintain a stable communication link even in complex underwater environments. Hydroacoustic communication is suitable for various underwater environments, while wired communication provides higher bandwidth and stable connection. This dual-mode design enables the system to adapt to different operating environments and mission requirements. The intelligent design of the communication switching module ensures that the system can automatically select the best communication method according to the real-time situation without human intervention, thereby improving autonomy and efficiency. In an emergency, the system can use two communication methods at the same time to send a distress signal, greatly improving the probability of successful rescue and enhancing the safety of divers. The high-bandwidth characteristics of the wired communication system support real-time transmission of high-definition video and a large amount of sensor data, facilitating remote monitoring and scientific research data collection. Hydroacoustic communication uses advanced signal processing technology and encryption algorithms to improve anti-interference capabilities and communication security. In addition, the system can select the most suitable method according to communication needs, thereby optimizing energy use while ensuring communication quality. The modular design enhances the scalability of the system, making it easy to upgrade and update to adapt to future technological developments and changes in demand.

[0190] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0191] The present invention uses specific embodiments to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A smart diving suit for underwater rescue, It is characterized in that include: Wetsuit body; A propulsion system provided at an ankle portion or a sole of the outside of the diving suit body, the propulsion system comprising a plurality of propellers; A power supply system disposed inside the diving suit body, used to supply power to various systems; A breathing system arranged at the waist position of the outer part of the diving suit body, used to provide the diver with oxygen required for breathing; A visual system disposed on the helmet of the diving suit body, for collecting underwater images and providing lighting; A rescue tool system provided on the hands of the diving suit body; A human-computer interaction system disposed in the helmet of the diving suit body, the human-computer interaction system being used to display information and receive operation instructions; A sensor system disposed on the diving suit body, for real-time monitoring of environmental parameters, the working state of the diving suit body and the physiological indicators of the diver; A communication system provided on the diving suit body, used for real-time communication with a remote monitoring station; as well as A central controller disposed inside the diving suit body is electrically connected to the propulsion system, the power system, the breathing system, the visual system, the rescue tool system, the human-computer interaction system, the sensor system and the communication system, and is used to control the operation of each system.

2. The smart diving suit according to claim 1, It is characterized in that The propulsion system includes a plurality of electric propellers, which are respectively arranged at the left and right ankles and the left and right soles of the diving suit body, and the electric propellers are electrically connected to the power supply system and controlled by the central controller; The battery pack of the power supply system is a lithium battery pack, and is equipped with an intelligent power management system for real-time monitoring of the power of the lithium battery pack and dynamically allocating power according to the power consumption requirements and priorities of each system.

3. The smart diving suit according to claim 1, It is characterized in that The respiratory system includes: An oxygen tank disposed at the waist position outside the diving suit body, used to store high-pressure oxygen; An oxygen supply device disposed inside the helmet, for supplying oxygen to the diver; A pressure reducing valve disposed at the waist position outside the diving suit body and close to the oxygen tank, used to reduce the pressure of the high-pressure oxygen to a pressure suitable for breathing; a flow meter disposed between the pressure reducing valve and the oxygen supply device, for measuring the oxygen supply amount and sending the measured oxygen supply amount to the central controller; The oxygen tank is connected to the pressure reducing valve through a first hose, the pressure reducing valve is connected to the flow meter through a second hose, the flow meter is connected to the oxygen supply device through a third hose, and the oxygen supply device is communicated with the interior of the helmet.

4. The smart diving suit according to claim 3, It is characterized in that The oxygen supply device comprises: An oxygen storage chamber is used to temporarily store decompressed oxygen; an oxygen supply pipeline, connecting the oxygen storage chamber and the interior of the helmet; A solenoid valve, arranged on the oxygen supply pipeline, for adjusting the oxygen flow; The solenoid valve is electrically connected to the central controller, and the opening of the solenoid valve is controlled according to the instruction of the central controller.

5. The smart diving suit according to claim 1, It is characterized in that The visual system comprises: An underwater camera, arranged at the front of the helmet, for collecting underwater images and transmitting them to the display screen of the human-computer interaction system and a remote monitoring station communicating with the intelligent diving suit; A lighting device is arranged around the helmet and on the shoulders to provide underwater lighting; a night vision device, including an image sensor disposed at the front of the helmet, having a sensitivity higher than a preset sensitivity threshold, for capturing images in a dark underwater environment where the human eye cannot distinguish objects; The thermal imaging device is arranged inside the helmet and is used to detect and obtain underwater temperature distribution data, including temperature values, temperature gradients and heat source location information at different positions, and generate a thermal imaging map based on the underwater temperature distribution data.

6. The smart diving suit according to claim 1, It is characterized in that The rescue tool system includes replaceable modular cutting tools, pliers and clamps, which are connected to the hands of the diving suit body through a standardized interface, and receive the diver's operating instructions through the human-computer interaction system. The central controller controls the operation of the rescue tool system based on the operating instructions; the operating instructions include voice instructions, eye tracking selections and hand movement instructions.

7. The smart diving suit according to claim 1, It is characterized in that The human-computer interaction system comprises: Display screen, used to display underwater images, status of various systems and environmental parameters; A voice control system, comprising a bone conduction microphone and a speaker, wherein the bone conduction microphone is used to collect voice commands of the diver and send them to the central controller for processing, and the speaker is used to play audio information; The eye tracking system includes an eye tracking camera and an image processing module, wherein the eye tracking camera is used to collect images of diver's eye movement, and the image processing module is used to analyze the eye movement images and determine the diver's line of sight focus, so as to select options on the display screen according to the diver's line of sight focus.

8. The smart diving suit according to claim 1, It is characterized in that The sensor system comprises: Environmental sensor modules for measuring environmental parameters, including: A depth sensor, arranged at the waist position outside the diving suit body, for measuring the current diving depth; Pressure sensors are distributed at multiple locations outside the diving suit body and are used to measure water pressure data at locations where the diving suit is located; An external temperature sensor, disposed outside the diving suit body, for measuring water temperature data; A water quality sensor, arranged at an external arm position of the diving suit body, for detecting water pollutant data; The diving suit status sensor module is used to monitor the working status of the smart diving suit, including: An internal temperature sensor is arranged inside the diving suit body and is used to measure the internal temperature data of the diving suit body; an oxygen concentration sensor, arranged near the oxygen supply device of the respiratory system, for monitoring oxygen content data in the respiratory gas and sending the oxygen content data to the central controller; An inertial measurement unit, disposed inside the helmet, for real-time monitoring of the posture data of the diving suit body; Physiological sensor module, used to measure diver's physiological indicators, including: A photoplethysmographic sensor is disposed inside the diving suit body at a position in contact with the diver's ear and is used to measure the diver's heart rate and blood oxygen saturation; A breathing belt sensor is arranged inside the diving suit body at a position in contact with the diver's chest and is used to measure the diver's breathing rate; A body temperature sensor is arranged inside the diving suit body at a position in contact with the diver's armpit or neck skin, and is used to measure the diver's body temperature; The acceleration sensor is arranged at the chest position inside the diving suit body and is used to collect the activity intensity data of the diver.

9. The smart diving suit according to claim 8, It is characterized in that The central controller includes any one of the following: A pressure regulating module, used to control a pressure regulating valve provided at a position where the diving suit body is connected to the outside according to the water pressure data, and to adjust the internal pressure of the diving suit body by adjusting the amount of gas entering and leaving the diving suit body; a temperature regulating module, for controlling a heating element disposed inside the diving suit body and electrically connected to the power supply system according to the water temperature data and the internal temperature data, so as to regulate the internal temperature of the diving suit body; An oxygen supply regulating module, used to control the opening of the solenoid valve and regulate the oxygen supply according to the oxygen content data, the current diving depth and the diver's activity intensity data; A water quality alarm module is used to issue a warning to the diver and the remote monitoring station based on the water pollutant data and trigger one or more of the following operations: adjusting the working state of the propulsion system to keep the diver away from the polluted area determined based on the water pollutant data; sending detailed water pollutant data and current location information to the remote monitoring station to request further instructions; initiating emergency procedures, including shortening the diving time and / or adjusting the ascent speed; A posture control module, used to control the power and direction of each propeller of the propulsion system according to the posture data of the diving suit, so as to adjust the posture and motion state of the diving suit; The carbon dioxide control module is used to control the rotation speed of the circulating fan according to the carbon dioxide concentration data and to issue a warning to the diver when the carbon dioxide concentration data exceeds a preset threshold.

10. The smart diving suit according to claim 9, It is characterized in that The oxygen supply regulation module is specifically used for: Acquiring the oxygen content data, the current diving depth and the diver's activity intensity data; Determine the basic oxygen supply according to the preset corresponding relationship between diving depth and oxygen supply; Making a first correction to the basic oxygen supply according to the diver's activity intensity data; Performing a second correction on the oxygen supply amount after the first correction according to the oxygen content data; The opening degree of the solenoid valve is controlled according to the oxygen supply quantity data corrected for the second time.

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