Wearable exoskeleton robot for underwater rescue

Abstract

The invention relates to the technical field of underwater rescue equipment, and discloses a wearable exoskeleton robot for underwater rescue, which comprises a trunk suite worn on the trunk part of a human body and used for protecting the human body, and a helmet suite worn on the head of the human body is arranged at the upper part of the trunk suite and used for protecting the head of the human body; the remote controller is used for protecting the head of a person, supplying oxygen and communicating with remote control equipment; the two arm sheaths are mounted on the two sides of the upper portion of the trunk suite correspondingly and used for protecting the arms of the human body; the number of the leg protection sleeves is two, the leg protection sleeves are installed on the two sides of the lower portion of the trunk sleeve piece respectively and used for protecting the legs of the human body, and underwater propellers are installed at the bottoms of the leg protection sleeves. By arranging the energy storage belt mechanism, replacement and maintenance of a whole exoskeleton power battery are facilitated, the stability of continuous underwater work is ensured, and meanwhile by arranging the control system to work cooperatively with the exoskeleton, stable operation and accurate operation of the exoskeleton are ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater rescue equipment, and in particular to a wearable exoskeleton robot for underwater rescue. Background Art

[0002] With the increasing development and utilization of oceans, lakes and other water bodies by humans, underwater accidents also occur from time to time, such as ship sinking, diving accidents, and people trapped in floods and waterlogging disasters. Underwater rescue work faces huge challenges.

[0003] Traditional underwater rescue mainly relies on divers to perform manual rescue. In addition, some mechanical rescue equipment such as cranes and winches can play a certain role in specific situations, but they are often unable to cope with the complex underwater environment and the delicate rescue operations of trapped persons. However, divers are restricted by many factors when working underwater. Divers need to undergo professional training. The underwater environment is complex. Water pressure, water flow, low temperature and other factors put great pressure on divers' bodies. The diving time and operating depth are limited. Furthermore, divers' ability to move underwater is also subject to certain restrictions, and the rescue efficiency is relatively low. The main reason is that the equipment used has a single function and can only play a simple protective role, and the rescue effect is not high.

[0004] Therefore, the present invention aims to provide a wearable exoskeleton robot for underwater rescue, aiming to improve the shortcomings of the existing equipment used by divers. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a wearable exoskeleton robot for underwater rescue, which solves the problem that the equipment used by existing divers for underwater rescue has single functions and low rescue effects.

[0006] To achieve the above objectives, the present invention provides a wearable exoskeleton robot for underwater rescue, comprising:

[0007] A torso suit worn on the torso of a human body, used to protect the torso of a human body;

[0008] A helmet kit worn on the human head, arranged on the upper part of the torso kit, for protecting the human head and supplying oxygen, and having a communication module for communicating with a remote control device arranged therein;

[0009] Two arm guards are installed on both sides of the upper part of the torso kit to protect human arms;

[0010] Two leg guards are installed on both sides of the lower part of the torso kit to protect the legs of the human body;

[0011] An underwater propeller, mounted on the bottom of the leg sheath;

[0012] An energy storage belt mechanism, which is arranged at the middle and lower part of the torso kit and is used to provide electrical energy;

[0013] The oxygen supply mechanism is arranged at the rear of the torso kit and is used for providing oxygen to the helmet kit.

[0014] Preferably, the energy storage belt mechanism includes a connecting belt installed in the lower part of the torso kit, a plurality of locking grooves are equidistantly arranged in an annular shape on the outer wall of the connecting belt, a battery is slidably installed inside the locking groove, a connecting port for current communication is provided at the bottom of the battery, a plurality of power poles are equidistantly arranged in an annular shape on the bottom of the connecting belt, and one end of the power pole is electrically connected to the connecting port.

[0015] Preferably, the oxygen supply mechanism includes a rear plate fixedly connected to the middle part of the rear end of the torso kit, and a ventilation device connected to the lower part of the rear end of the torso kit, and a plurality of oxygen cylinders are equidistantly installed on the upper part of the ventilation device.

[0016] Preferably, the rear portion of the rear plate is movably connected to a rotating clamping plate for clamping the oxygen cylinder, and the rear portion of the rotating clamping plate is equidistantly fixedly connected to a plurality of angle fixing plates for preventing the oxygen cylinder from falling off, and ventilation valves for controlling oxygen communication are provided on both sides of the lower portion of the ventilation device.

[0017] Preferably, the oxygen supply mechanism further comprises an oxygen supply mask, which is limited at the lower part of the ventilation device by a locking rod which sequentially passes through the ear hooks on both sides of the oxygen supply mask.

[0018] Preferably, the elbow portion of the arm guard is also equipped with a hand guard, and the upper portion of the arm guard is also equipped with an inflatable shoulder guard for providing buoyancy.

[0019] Preferably, a tool plate is rotatably mounted on the front of the torso kit, a storage slot for placing rescue tools is provided inside the tool plate, and an alarm is also provided in the middle of the torso kit.

[0020] Preferably, the present invention further comprises a sensor module, a central processing module and a driving module;

[0021] The sensor module is used to collect motion state information and underwater environment information of the exoskeleton robot, and transmit the collected information to the central processing module;

[0022] The central processing module is used to analyze and process the received information, generate control instructions and send them to the driving module;

[0023] The driving module is used to drive the exoskeleton robot to perform corresponding actions according to the control instructions.

[0024] Preferably, the sensor module includes an acceleration sensor, a gyroscope and a pressure sensor, which are integrated and installed in a protective shell on the upper part of one of the leg sheaths;

[0025] The acceleration sensor is used to detect the movement acceleration of the exoskeleton robot;

[0026] The gyroscope is used to detect the angular velocity of the exoskeleton robot;

[0027] The pressure sensor is used to detect the water pressure at the location of the exoskeleton robot.

[0028] Preferably, the central processing module includes a microprocessor and a memory;

[0029] The microprocessor is used to analyze and process the information transmitted by the sensor module and generate control instructions;

[0030] The memory is used to store the motion control algorithm and underwater environment information of the exoskeleton robot.

[0031] The driving module includes a motor driver and a motor arranged inside the underwater thruster;

[0032] Preferably, the motor driver is used to drive the motor to operate according to the control instructions sent by the central processing module, thereby driving the motor inside the underwater thruster to operate to achieve underwater movement of the exoskeleton robot.

[0033] In some possible implementations, the helmet kit includes a visual system, which includes:

[0034] A multi-spectrum LED lighting system, which includes white light LEDs and blue light LEDs, is used to provide lighting in different underwater environments;

[0035] An infrared night vision system, comprising a near-infrared light source and an infrared camera, wherein the near-infrared light source is used to emit near-infrared light to illuminate the environment, the infrared camera is used to capture the near-infrared light reflected by the object and form an image, and the near-infrared light source and the infrared camera are used together to provide a field of view in a dark environment;

[0036] a sonar imaging system to provide sonar images of obstacles ahead in turbid waters;

[0037] Thermal imaging cameras, which detect temperature differences underwater to locate victims;

[0038] Wide-angle high-definition camera, used to provide a field of view greater than a preset angle and capture the contour, texture and color information of objects in the environment;

[0039] A helmet display system HUD for displaying in real time data from an accelerometer, gyroscope, pressure sensor, water quality sensor, and depth sensor, as well as navigation information received from a positioning system integrated into the helmet kit; and

[0040] An automatic switching system is electrically connected to the multi-spectrum LED lighting system, the infrared night vision system, the sonar imaging system, the thermal imaging camera and the wide-angle high-definition camera, and is used to automatically select the optimal imaging mode from the imaging modes respectively corresponding to the multi-spectrum LED lighting system, the infrared night vision system, the sonar imaging system, the thermal imaging camera and the wide-angle high-definition camera according to environmental conditions.

[0041] In some possible implementations, the automatic switching system includes:

[0042] Environmental parameter monitoring unit, used to obtain underwater environmental parameters in real time;

[0043] a data analysis unit, configured to evaluate current visual conditions based on the underwater environmental parameters acquired from the environmental parameter monitoring unit;

[0044] a mode selection unit, configured to select a most suitable imaging mode according to the current visual condition evaluated by the data analysis unit; and

[0045] A switching execution unit is used to achieve seamless switching among the multi-spectrum LED lighting system, the infrared night vision system, the sonar imaging system, the thermal imaging camera and the wide-angle high-definition camera according to the most suitable imaging mode selected by the mode selection unit.

[0046] In some possible implementations, the mode selection unit can analyze and make decisions based on the following conditions, and send corresponding switching instructions to the switching execution unit:

[0047] When it is detected that the turbidity of the water body exceeds a preset turbidity threshold, selecting the sonar imaging mode of the sonar imaging system;

[0048] When it is detected that the ambient light intensity is lower than a preset light threshold, selecting the infrared night vision mode of the infrared night vision system;

[0049] When it is detected that the temperature difference between the water body and the surrounding environment exceeds a preset temperature difference threshold, selecting the thermal imaging mode of the thermal imaging camera;

[0050] When it is detected that the turbidity of the water body is lower than a preset clarity threshold, selecting a high-definition optical camera mode of the wide-angle high-definition camera;

[0051] When it is detected that the water depth exceeds a preset depth threshold, selecting an enhanced lighting mode of the multi-spectrum LED lighting system;

[0052] When it is detected that the moving speed of the underwater rescue exoskeleton robot body exceeds a preset speed threshold, selecting the wide-angle mode of the wide-angle high-definition camera;

[0053] When it is detected that the terrain undulation or complexity exceeds a preset complexity threshold, selecting the 3D imaging mode of the sonar imaging system;

[0054] When it is detected that the spectral reflection or absorption characteristics of a specific wavelength exceed a preset spectral characteristic threshold, the target spectrum analysis mode of the multi-spectrum LED lighting system and the wide-angle high-definition camera is selected; wherein the target spectrum analysis mode is enabled at the same time: the multi-spectrum LED lighting system is used to emit light of a specific wavelength; the wide-angle high-definition camera is equipped with a spectral analysis filter for capturing and analyzing reflected light.

[0055] In some possible implementations, the helmet display system HUD includes:

[0056] A transparent display screen is arranged inside the helmet kit and is used as an information display interface;

[0057] A data processing unit, used to receive raw data acquired by various sensors and process the raw data into visual information;

[0058] The real-time data projection module is used to dynamically project the visual information processed by the data processing unit onto the transparent display screen by using augmented reality technology and superimpose it on the actual field of view of the rescue personnel.

[0059] In some possible implementations, the helmet display system HUD can display any of the following visual information:

[0060] Depth information, including current depth, maximum safe depth, and ascent or descent rate;

[0061] Oxygen supply information, including remaining oxygen volume, estimated usage time, and oxygen consumption rate;

[0062] Decompression information, including required decompression stop times and depths, and no-decompression limit times;

[0063] Water temperature information, including current water temperature and temperature change trend;

[0064] Physiological data, including heart rate, respiratory rate, and body temperature;

[0065] Communication status, including connection with teammates and command center;

[0066] Time information, including current time, elapsed diving time and remaining mission time;

[0067] Direction and navigation information, including electronic compass, deviation from preset course, and direction and distance to return point;

[0068] Environmental data, including water velocity, water direction and visibility index;

[0069] Equipment status information, including the working status and battery power of the main rescue equipment; the main rescue equipment includes oxygen supply system, communication equipment and thrusters;

[0070] Mission-related information, including the preset location of the rescue target, the straight-line distance between the rescuer and the rescue target, and the boundary coordinates of the designated search area;

[0071] Alarm and reminder messages, including visual warnings when safety parameters are exceeded;

[0072] Image enhancement data, used to enhance object outlines or overlay thermal imaging data in environments where underwater visibility is below a preset threshold;

[0073] 3D map, used to provide 3D environment map;

[0074] Teammate position information, used to display the relative position of teammates and the rescuer wearing the HUD of this helmet display system and the physiological status of teammates;

[0075] Sonar / radar data, used to display the position and motion status of surrounding objects, including the movement speed and direction of the surrounding objects;

[0076] Water quality data, including parameters such as pH and dissolved oxygen; and

[0077] Radioactive or hazardous material detection information is used to show the presence and concentration of radioactive or hazardous materials.

[0078] In some possible implementations, the communication module has the following functions:

[0079] Two-way voice communication, supports full-duplex voice intercom, equipped with automatic noise cancellation and echo suppression functions;

[0080] Data transmission function, allowing real-time transmission of video streams captured by helmet cameras and various sensor data;

[0081] Positioning capability, with real-time transmission of the diver's position via an integrated hydroacoustic positioning system; and

[0082] The emergency rescue function is used to send an emergency distress signal with one click.

[0083] In some possible implementations, the motor driver specifically includes:

[0084] A signal conversion module, used to convert the digital control instructions of the central processing module into control signals suitable for driving the motor;

[0085] a power control module, configured to adjust the voltage and current of the drive motor according to the control signal; and

[0086] Protection modules that continuously monitor the current, temperature, and voltage of the drive motor; quickly cut off or limit the power supply when an anomaly is detected; implement soft-start and soft-stop strategies to reduce sudden current peaks; immediately disconnect the circuit when a short circuit is detected; and reduce power output in the event of overheating.

[0087] In some possible implementations, the motion control algorithm of the exoskeleton robot stored in the memory includes:

[0088] Kinematics and dynamics algorithms to calculate the position and orientation of the end effector based on the angles, angular velocities, and angular accelerations of the joints;

[0089] Adaptive control algorithm, used to automatically adjust control parameters according to environmental changes;

[0090] Thruster control algorithms, used to control the speed and direction of underwater thrusters;

[0091] A safety control algorithm is used to provide a protection mechanism in emergency situations, which includes: automatically reducing output or stopping movement when detecting that the joint torque exceeds a safety threshold; automatically starting an emergency ascent procedure in an emergency; adjusting the posture to maintain stability when losing balance or encountering sudden external forces; and automatically adjusting the internal pressure according to the depth to prevent water pressure from damaging the equipment.

[0092] In some possible implementations, the sensor module further includes any of the following sensors:

[0093] Sonar sensors are used to build a three-dimensional map of the underwater environment and / or detect obstacles. Obstacle detection refers to calculating the distance and approximate shape of obstacles based on the reflection time and intensity of sound waves;

[0094] Water quality sensors to detect water quality parameters including water temperature, salinity, pH and dissolved oxygen;

[0095] Force / torque sensors, used to measure the force and torque of the joints and end effectors of exoskeleton robots;

[0096] Inertial measurement unit IMU, used to provide posture and motion information of the exoskeleton robot;

[0097] Depth sensor, used to measure the current depth;

[0098] a galvanometer, which measures the speed and direction of water flow;

[0099] an optical camera for providing visual feedback having a resolution above a preset resolution threshold;

[0100] Infrared thermal imaging cameras are used to locate life forms by detecting heat sources in underwater environments where visibility is below a preset visibility threshold;

[0101] magnetometers, which measure the Earth's magnetic field to provide a directional reference relative to Earth's magnetic north;

[0102] Proximity sensor, used to detect objects closer than a preset distance threshold;

[0103] biosensors to detect algal toxins, heavy metals or specific proteins in water;

[0104] Radiation sensors, which detect radiation levels underwater;

[0105] Gas sensors, used to detect harmful gases present underwater;

[0106] Conductivity sensor, used to measure the conductivity of water;

[0107] A photometer, which measures light intensity underwater; and

[0108] The acoustic positioning system is used to provide the exoskeleton robot's own position information.

[0109] In some possible implementations, the hand portion of the arm guard is designed as a replaceable modular system, including:

[0110] The standard interface integrated at the end of the arm sheath is used to connect different multifunctional rescue tools and is used to switch different multifunctional rescue tools according to the control instructions of the intelligent control system;

[0111] Multifunctional rescue tool, each multifunctional rescue tool is equipped with a connection part matching the standard interface at the end of the arm sheath, and the multifunctional rescue tool includes:

[0112] Oxygen cutting tools for cutting metal obstacles;

[0113] Hydraulic pliers, used to cut metal cables or pipes;

[0114] The gripping device is a multi-finger gripper used to pick up and manipulate objects of various shapes and sizes;

[0115] High-pressure water jet cutting tools for cutting non-metallic materials;

[0116] Sonic detectors, used to detect buried or hidden objects or life forms;

[0117] Underwater welding tools, used to repair or reinforce damaged structures by underwater arc welding; and

[0118] The intelligent controller integrated in the arm sheath is used to automatically identify the installed multi-functional rescue tool, and works in conjunction with the standard interface based on the identification result to control the switching of the multi-functional rescue tool.

[0119] The present invention provides a wearable exoskeleton robot for underwater rescue, which has the following beneficial effects:

[0120] The present invention provides forward momentum for rescuers underwater through the underwater thrusters at the bottom of the leg sheath, enabling rescuers to quickly reach the rescue site, greatly improving the response speed of the rescue operation. At the same time, the coordinated work of the sensor module, the central processing module and the drive module realizes the precise movement and rescue operation of the exoskeleton robot underwater, improving the accuracy and efficiency of the rescue.

[0121] The torso kit, helmet kit, arm guards and leg guards provided by the present invention provide comprehensive body protection for rescuers and reduce the risk of rescuers being injured underwater. The helmet kit can not only protect the head, but also supply oxygen and communicate with remote control equipment, thereby ensuring the rescuers' breathing needs underwater and information exchange with the outside world, and improving the safety of rescue. The system composed of oxygen cylinders, ventilation devices, rear plates, rotating clamps, angled fixing plates, etc. in the oxygen supply mechanism provides rescuers with reliable oxygen supply and ensures the rescuers' breathing safety underwater.

[0122] The energy storage belt mechanism in the present invention provides electrical energy for the entire exoskeleton robot through the batteries on the connecting belt. The arrangement of multiple batteries and the design of the positioning slots facilitate the replacement and maintenance of the batteries, ensuring the continuous operation of the exoskeleton robot in different rescue missions. The sensor module monitors the water pressure at the human body's position during the rescue process in real time, providing underwater environmental information for the rescue operation, so that the exoskeleton robot can adapt to rescue environments of different water depths.

[0123] The communication function between the helmet kit of the present invention and the remote control device enables rescuers to receive instructions and information from the shore in a timely manner, and can also feed back the underwater situation to the command center on the shore, realizing efficient collaborative rescue. The control system composed of the sensor module, central processing module, drive module and power module works in coordination with the various components of the exoskeleton robot, ensuring the stable operation and precise operation of the exoskeleton robot underwater, and improving the coordination of rescue. BRIEF DESCRIPTION OF THE DRAWINGS

[0124] Figure 1 It is a front perspective view of the present invention;

[0125] Figure 2 It is a rear perspective view of the present invention;

[0126] Figure 3 A schematic diagram of the installation position of the sensor module of the present invention;

[0127] Figure 4 It is a schematic diagram of the internal structure of the tool plate of the present invention;

[0128] Figure 5 It is a schematic diagram of the installation position of the underwater propeller of the present invention;

[0129] Figure 6 It is a schematic diagram of the structure of the energy storage belt mechanism of the present invention;

[0130] Figure 7 It is a schematic diagram of the overall structure of the oxygen supply mechanism of the present invention;

[0131] Figure 8 It is a schematic diagram of the installation position of the locking rod of the present invention;

[0132] Fig. 9 This is a schematic diagram of the arm guard of the present invention in an unfolded state;

[0133] Fig.10 This is a schematic diagram of the leg cover of the present invention in an unfolded state;

[0134] Fig.11 It is a schematic diagram of the trunk kit of the present invention in an unfolded state.

[0135] Description of Figure Numbers:

[0136] 1. Torso kit; 2. Helmet kit; 3. Arm sheath; 4. Leg sheath; 5. Underwater thruster; 6. Sensor module;

[0137] 7. Energy storage belt mechanism; 701. Connecting belt; 702. Clamping slot; 703. Battery; 704. Connecting port; 705. Power supply column;

[0138] 8. Oxygen supply mechanism; 801. Rear plate; 802. Ventilation device; 803. Oxygen cylinder; 804. Rotating card plate; 805. Angle fixing plate; 806. Ventilation valve; 807. Locking rod; 808. Oxygen supply mask;

[0139] 9. Hand guard; 10. Inflatable shoulder guard; 11. Tool board; 12. Storage slot; 13. Alarm. DETAILED DESCRIPTION

[0140] 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.

[0141] See also Figures 1 to 11 , an embodiment of the present invention provides a wearable exoskeleton robot for underwater rescue, comprising: a torso kit 1 worn on the torso of a human body, used to protect the human body, and a helmet kit 2 worn on the head of a human body is arranged on the upper part of the torso kit 1, which is used to protect the head of the human body and supply oxygen, and communicate with a remote control device. The remote control device may include but is not limited to a shore-based control center, a ship-borne operating station, an aerial command platform, an underwater control station or a mobile control unit. The aerial control platform is, for example, a control device on a helicopter or a drone, the underwater control station is, for example, a control device on a submarine or an underwater workstation, and the mobile control unit is a portable control device that can be used in different locations.

[0142] For details, please refer to Figure 1 Among the above components, the torso kit 1 fits tightly to the human torso and is made of high-strength, waterproof material, which can effectively protect the human body from various potential dangers underwater. It provides a stable installation base for other components and plays a key role in connecting and supporting the entire exoskeleton robot. At the same time, through reasonable design, it ensures that there will be no excessive restrictions on the normal movement of the human body during underwater activities, allowing rescuers to move flexibly.

[0143] For details, please refer to Figures 4 to 8 The helmet kit 2 is worn on the human head. First, it is made of strong materials and can provide reliable protection for the head to prevent rescuers from being injured due to accidents such as collisions during underwater rescue. Secondly, the inside of the helmet is connected to the oxygen supply mechanism 8 at the rear to ensure that rescuers can continue to obtain sufficient oxygen supply. During the oxygen supply process, the oxygen from the oxygen cylinder 803 is transported through the ventilation device 802, and the ventilation valves 806 on both sides of the lower part of the ventilation device 802 accurately control the connection of oxygen to ensure a stable supply of oxygen. At the same time, the helmet kit 2 also has a communication module that can communicate with the remote control device in real time, so that rescuers can receive instructions and information from the shore in a timely manner, and can also feed back the underwater situation to the command center on the shore to achieve efficient collaborative rescue.

[0144] For details, please refer to Figures 1 to 3There are two arm guards 3, which are respectively installed on both sides of the upper part of the torso kit 1 to protect the human arms. During the rescue process, the hand guard 9 installed on the elbow part of the arm guard 3 can effectively prevent the hands from being injured by collisions, scratches, etc. during the operation. In addition, the inflatable shoulder guard 10 installed on the upper part of the arm guard 3 can provide buoyancy underwater, reduce the burden on the rescuer's arms, and make the rescuer more relaxed and comfortable when moving underwater. At the same time, the design of the arm guard 3 fully considers ergonomics, ensuring that the rescuer's arms can move flexibly when performing various rescue operations, thereby improving the rescue efficiency.

[0145] For details, please refer to Figures 1 to 3 There are two leg guards 4, which are installed on both sides of the lower part of the torso kit 1 to protect the human legs. Underwater thrusters 5 are installed at the bottom or ankle of the leg guards 4, and the leg guards 4 provide solid protection for the human legs. Its unique design can adapt to the leg sizes of different rescuers, ensuring a close fit without affecting the normal movement of the legs. An underwater thruster 5 is installed at the bottom of the leg guard 4, and the underwater thruster 5 is driven by the motor driver and the motor in the drive module. When the central processing module receives the motion state information and underwater environment information transmitted by the sensor module, it generates corresponding control instructions and sends them to the drive module. The motor driver drives the motor to operate according to the control instructions, thereby driving the underwater thruster 5 to work, providing powerful forward power for the rescuers underwater, so that the rescuers can quickly reach the rescue site. The leg guard adopts a semi-open form, and the operator can extend the leg from its side to complete the wearing. For details, please refer to Fig.10 .

[0146] For details, please refer to Figure 2 The sensor module 6 is installed on the upper part of one of the leg sheaths 4. It can monitor the water pressure information of the rescuer's position in real time and transmit the water pressure information to the pressure sensor in the sensor module. The pressure sensor then transmits the water pressure information to the central processing module, and the microprocessor in the central processing module analyzes and processes the water pressure information. By understanding the water pressure situation, the rescuer can better judge the depth he is in and the danger level of the underwater environment, providing an important reference for the rescue operation.

[0147] For details, please refer to Figure 4 and Figure 6, the energy storage belt mechanism 7 is arranged in the middle and lower part of the torso kit 1, and is used to provide electrical energy. The energy storage belt mechanism 7 is the power supply core of the exoskeleton robot. The connecting belt 701 is installed in the middle and lower part of the torso kit 1, providing a stable installation position for the battery 703. A plurality of slots 702 are equidistantly arranged in an annular shape on the outer wall of the connecting belt 701, and the battery 703 can be slidably installed in the slots 702. This design facilitates the replacement and maintenance of the battery 703. When the battery 703 is installed in place, the connection port 704 at the bottom of the battery 703 is electrically connected to one end of the power pole 705 equidistantly arranged in an annular shape at the bottom of the connecting belt 701, forming a stable circuit connection. The power pole 705 transmits the power provided by the battery 703 to the various components of the exoskeleton robot to ensure the normal operation of the entire system. The setting of multiple batteries 703 can provide sufficient power reserves to meet the needs of long-term underwater rescue missions.

[0148] For details, please refer to Figure 4 and Figure 6 The oxygen supply mechanism 8 is arranged at the rear of the torso kit 1 to provide the rescuers with oxygen needed for life. The rear plate 801 fixedly connected to the middle of the rear end of the torso kit 1 provides a mounting base for the oxygen cylinder 803 and the rotating card plate 804. The ventilation device 802 is connected to the lower part of the rear end of the torso kit 1, and a plurality of oxygen cylinders 803 are equidistantly installed on its upper part to provide sufficient oxygen reserves for the rescuers. The rotating card plate 804 movably connected to the rear of the rear plate 801 and the angled fixing plate 805 at the rear of the rotating card plate 804 work together to tightly clamp the oxygen cylinder 803 to prevent the oxygen cylinder 803 from falling off during underwater activities. When oxygen supply is needed, the ventilation valves 806 on both sides of the lower part of the ventilation device 802 are opened, and oxygen flows out of the oxygen cylinder 803, passes through the ventilation device 802 and the ventilation valve 806, and is transported to the helmet kit 2 through the corresponding built-in or external first delivery pipeline.

[0149] In one embodiment, the first delivery pipeline can be built-in or partially external, integrated in a specific channel inside or on the surface of the torso kit 1, and extends from the ventilation device 802 to the helmet kit 2. In an underwater environment, an external pipeline may be more susceptible to damage or entanglement, which will affect the reliability and safety of oxygen supply. The internal pipeline can reduce the resistance of rescuers during underwater activities and reduce the risk of the pipeline being accidentally hooked or damaged.

[0150] The rear of the rear plate 801 is movably connected to a rotating clamping plate 804 for clamping the oxygen cylinder 803, and the rear of the rotating clamping plate 804 is equidistantly fixedly connected to multiple angle fixing plates 805 for preventing the oxygen cylinder 803 from falling off, and ventilation valves 806 for controlling oxygen communication are provided on both sides of the lower part of the ventilation device 802.

[0151] The ventilation device 802 is conducive to centralized oxygen supply to these oxygen cylinders and reduces the frequency of changing oxygen cylinders underwater. The ventilation device 802 is a hollow square plate, and interfaces for connecting to each oxygen cylinder are arranged on its upper part. The ventilation device 802 itself serves as a connecting carrier, and the specific control of oxygen connection still needs to rely on the ventilation valve 806 for control. This ventilation valve 806 is electrically controlled. The ventilation device 802 is mainly set to allow oxygen to flow out from two ports, and to provide oxygen to the helmet assembly and the oxygen mask for external rescue at the same time or selectively.

[0152] The oxygen supply mechanism 8 may further include an oxygen mask 808, which is limited at the lower part of the ventilation device 802 by a locking rod 807 that sequentially passes through the ear hanging parts on both sides of the oxygen mask 808, and can be unlocked by pulling the locking rod 807. This design ensures the safety and reliability of oxygen supply, and provides a strong guarantee for the life safety of rescuers underwater. When the oxygen supply is unexpectedly cut off (or the pipeline is broken) and emergency oxygen supply is required (in an emergency state), the ventilation valves 806 on both sides of the lower part of the ventilation device 802 are opened, and oxygen flows out from the oxygen cylinder 803, passes through the ventilation device 802 and the ventilation valve 806, and is transported to the oxygen mask 808 through the corresponding second delivery pipeline, and then the front cover of the helmet body of the helmet kit 2 is opened, and the oxygen mask 808 is used to directly supply oxygen to the diver.

[0153] For further information, see Figure 3 The elbow part of the arm guard 3 is also equipped with a hand guard 9, and the upper part of the arm guard 3 is also equipped with an inflatable shoulder guard 10 for providing buoyancy. The hand guard 9 is made of high-strength and wear-resistant material. During underwater rescue, rescuers' hands often need to perform various operations, such as carrying objects, operating tools, etc. The hand guard 9 can effectively protect the hands from collisions, scratches and other injuries, ensuring the safety of the rescuers' hands. At the same time, the design of the hand guard 9 fully considers ergonomics and will not affect the normal movement of the hands, allowing rescuers to perform various operations flexibly. The arm guard 3 adopts the form of opening and closing the upper part, so that the operator can wear it on his hand, please refer to Fig. 9 .

[0154] The inflatable shoulder guard 10 adopts the principle of rapid inflation of the airbag type. When the rescuer encounters an emergency during underwater activities, the gas in the inflatable shoulder guard 10 can generate upward buoyancy to assist the rescuer to float up quickly. The material of the inflatable shoulder guard 10 has good sealing and durability, ensuring that there will be no leakage and other problems when used underwater for a long time.

[0155] See also Figure 4A tool plate 11 is rotatably installed on the front of the torso kit 1, providing a convenient tool storage location for rescuers. The tool plate 11 is provided with a storage slot 12 for placing rescue tools inside. Rescuers can store commonly used tools such as wrenches, pliers, cutters, etc. in the storage slot 12, which is convenient for them to use whenever needed. The rotating design of the tool plate 11 makes it more convenient and quick for rescuers to use tools, without having to look for tools from other places, saving rescue time. At the same time, the material of the tool plate 11 has the characteristics of being waterproof and corrosion-resistant, and can be used for a long time in harsh underwater environments. This torso kit 1 is made of other lightweight and high-strength materials such as carbon fiber materials, and has good performance. When wearing it, just open the front chest armor, pass your hands through the connection holes on both sides of the interior, and then cover them. Please refer to the attached Fig.11 Opening diagram of .

[0156] See also Figure 4 The middle part of the torso kit 1 is provided with an alarm 13, which can send out an alarm signal in case of emergency. When the rescuer encounters dangerous situations underwater, such as insufficient oxygen, equipment failure, encountering dangerous creatures, etc., he can ask for help from the outside world by triggering the alarm 13. The strong signal sent by the alarm 13 can attract the attention of the rescuers on the shore, and take rescue measures in time to ensure the life safety of the rescuers. The alarm 13 can also be connected to the communication system of the helmet kit 2 to transmit the alarm information to the remote control device in real time, so as to achieve a more efficient rescue response.

[0157] Furthermore, the present embodiment also provides a control system for a wearable exoskeleton robot for underwater rescue, which is applied to a wearable exoskeleton robot for underwater rescue mentioned in the present embodiment, including a sensor module, a central processing module, a driving module and a power module; the sensor module is used to collect motion state information and underwater environment information of the exoskeleton robot, and transmit the collected motion state information and underwater environment information to the central processing module; the central processing module analyzes and processes the received information, generates control instructions and sends them to the driving module; the driving module drives the exoskeleton robot to perform corresponding actions according to the control instructions; the power module provides power for the entire control system.

[0158] The sensor module 6 includes an acceleration sensor, a gyroscope and a pressure sensor; the acceleration sensor and the gyroscope are used to detect the acceleration and angular velocity of the exoskeleton robot; the pressure sensor is used to detect the water pressure at the location of the exoskeleton robot. The sensor module 6 is also provided with an expansion interface for expanding and installing a variety of different types of sensor devices.

[0159] The central processing module includes a microprocessor and a memory; the microprocessor is used to analyze and process the information transmitted by the sensor module and generate control instructions; the memory is used to store the motion control algorithm and underwater environment information of the exoskeleton robot.

[0160] Specifically, underwater environmental information is collected based on the installed sensors. Through the expansion interface in the sensor module 6, various types of sensors can be installed, such as sensors dedicated to detecting water temperature, water flow speed and direction, water depth, water quality, etc., which respectively collect various underwater environmental information and display various real-time data for remote control equipment and divers. For example, water temperature data is crucial for rescuers to understand the comfort and potential dangers of the underwater environment. Different water temperatures may affect the physical condition of the rescued and rescuers, especially at extreme temperatures, which may cause hypothermia or heat stress reactions. For example, in cold waters, the rescued may develop hypothermia more quickly, and the rescuers need to rely on the collected data to pay attention to their own warming measures to ensure that they maintain a good physical condition during the rescue process.

[0161] The drive module includes a motor driver and a motor; the motor driver drives the motor to operate according to the control instructions sent by the central processing module, thereby driving the exoskeleton robot to perform corresponding actions.

[0162] Specifically, in the above modules, the acceleration sensor and gyroscope in the sensor module detect the acceleration and angular velocity of the exoskeleton robot, and the pressure sensor detects the underwater pressure, and transmits the collected motion state information and underwater environment information to the central processing module. The microprocessor in the central processing module analyzes and processes this information, generates control instructions based on the motion control algorithm of the exoskeleton robot and the underwater environment data stored in the memory, and sends them to the drive module. The motor driver in the drive module drives the motor to operate according to the control instructions, thereby driving the exoskeleton robot to perform corresponding actions, realizing the precise movement and rescue operations of the exoskeleton robot underwater. At the same time, the power module provides power to the entire control system to ensure the stable operation of the control system.

[0163] In summary, the wearable exoskeleton robot of the embodiment of the present invention mainly includes the following parts during specific operation:

[0164] The wearable exoskeleton robot is mainly composed of a torso kit, a helmet kit, an arm sheath, a leg sheath, a sensor module, an energy storage belt mechanism and an oxygen supply mechanism. The torso kit is the core connection part, providing a base for the installation of other components and protecting the human torso. The helmet kit is worn on the human head, which not only protects the head, but also provides oxygen and communicates with the remote control device to ensure the breathing needs of the rescuers underwater and the exchange of information with the outside world. The arm sheath and the leg sheath protect the human arms and legs respectively, and the underwater thrusters installed at the bottom or side of the leg sheath provide forward power for the rescuers underwater. The sensor module is installed on the upper part of the leg sheath to monitor the water pressure of the human body in real time during the rescue process and provide underwater environmental information for the rescue operation. The energy storage belt mechanism is set in the lower middle part of the torso kit, and the battery on the connecting belt provides power for the entire exoskeleton robot. The oxygen supply mechanism is set at the rear of the torso kit, including an oxygen cylinder, a ventilation device, a rear plate, a rotating clamp, an angle fixing plate, etc., which provides oxygen for the helmet kit to ensure the breathing safety of rescuers underwater.

[0165] The connecting belt in the energy storage belt mechanism is installed in the lower middle part of the torso kit. A plurality of slots are arranged in an equidistant ring on the outer wall of the connecting belt, and the battery can be slidably installed in the slots. The connecting port at the bottom of the battery is electrically connected to one end of the power pole arranged in an equidistant ring at the bottom of the connecting belt. When the battery is installed in place, the power pole and the connecting port form a circuit connection, providing a stable power supply for each component of the exoskeleton robot.

[0166] The oxygen cylinder in the oxygen supply mechanism is installed on the upper part of the ventilation device. The rotating clamping plate that is movably connected to the rear of the rear plate and the angled fixing plate behind the rotating clamping plate are used to clamp the oxygen cylinder to prevent it from falling off. Ventilation valves are set on both sides of the lower part of the ventilation device to control the connection of oxygen. When oxygen supply is needed, oxygen flows out of the oxygen cylinder, passes through the ventilation device and the ventilation valve, and then enters the helmet kit through the air supply pipeline to be delivered to the rescuer, ensuring the rescuer's breathing needs underwater.

[0167] The hand guard installed on the elbow of the arm guard can protect the rescuer's hands during the rescue process. The inflatable shoulder guard installed on the upper part of the arm guard can provide buoyancy to reduce the burden of the rescuer underwater. The tool plate installed on the front of the torso kit is equipped with a storage slot inside to place rescue tools, which is convenient for rescuers to use at any time underwater. The alarm installed in the middle of the torso kit can send an alarm signal in case of emergency to seek help from the outside world.

[0168] The accelerometer and gyroscope in the sensor module detect the acceleration and angular velocity of the exoskeleton robot, and the pressure sensor detects the underwater pressure. The collected motion state information and underwater environment information are transmitted to the central processing module. The microprocessor in the central processing module analyzes and processes this information, generates control instructions based on the motion control algorithm of the exoskeleton robot and the underwater environment data stored in the memory, and sends them to the drive module. The motor driver in the drive module drives the motor to operate according to the control instructions, thereby driving the exoskeleton robot to perform corresponding actions, realizing the precise movement and rescue operations of the exoskeleton robot underwater. At the same time, the power module provides power to the entire control system to ensure the stable operation of the control system.

[0169] The following is a detailed description of the visual system of the helmet kit, which specifically includes:

[0170] The helmet is equipped with a multi-spectrum LED lighting system, which is equipped with a high-brightness, waterproof multi-spectrum LED light group, including white light LED and blue light LED. The white light LED is used to provide general lighting to ensure clear visibility in various underwater environments, while the blue light LED is particularly suitable for use in turbid waters because it can penetrate farther. The brightness of the system can be adjusted to adapt to different water depths and visibility conditions to ensure the best lighting effect.

[0171] The helmet-integrated infrared night vision system, which includes a near-infrared (NIR) light source and an infrared camera, allows users to have a clear view even in a completely dark environment. The infrared light source has little impact on aquatic life, avoiding interference with the ecological environment, while ensuring the concealment and safety of night missions. The near-infrared light source is used to emit near-infrared light to illuminate the environment, and the infrared camera is used to capture the near-infrared light reflected by the object and form an image. The near-infrared light source and the infrared camera are used together to provide a view in a dark environment.

[0172] To cope with low visibility in turbid waters, the helmet is equipped with a forward-looking sonar imaging system, which provides real-time sonar images of obstacles ahead, greatly enhancing the user's situational awareness and allowing them to see the environment ahead clearly even in the worst conditions.

[0173] The helmet-integrated thermal imaging camera is used to detect temperature differences underwater. This is very helpful for locating victims or other targets in low-visibility environments, and thermal imaging can provide valuable visual information even in complete darkness.

[0174] The wide-angle HD camera installed on the front of the helmet provides a wide field of view, ensuring that the user can capture more details of the environment. The wide-angle camera also has an anti-shake function, which can keep the image stable and clear even in motion. The wide-angle HD camera is used to provide a field of view greater than the preset angle and capture the outline, texture and color information of objects in the environment.

[0175] The Helmet Display System (HUD) is a transparent display screen integrated into the helmet, which is used to display data from various sensors such as accelerometers, gyroscopes, pressure sensors, water quality sensors, and depth sensors in real time, as well as navigation information received from the positioning system integrated in the helmet kit. The display system projects key mission information directly into the user's field of view without diverting attention, improving the efficiency and safety of mission execution.

[0176] The automatic switching system in the helmet is electrically connected to the multi-spectral LED lighting system, infrared night vision system, sonar imaging system, thermal imaging camera and wide-angle HD camera, and is used to automatically select the optimal imaging mode from the imaging modes corresponding to the multi-spectral LED lighting system, infrared night vision system, sonar imaging system, thermal imaging camera and wide-angle HD camera according to environmental conditions. For example, in turbid waters, the system will automatically switch to the sonar imaging mode to ensure that the best field of view and perception capabilities are always maintained in different mission scenarios.

[0177] Specifically, the automatic switching system is an intelligent function designed to automatically select the optimal imaging mode based on current environmental conditions to ensure that rescuers always have the clearest and most useful visual information. Its working principle includes four main steps: First, the system monitors underwater environmental parameters in real time through multiple sensors, including but not limited to water depth, water temperature, turbidity, light intensity, and sound wave reflection characteristics. Next, the algorithm analyzes the above sensor data to evaluate the current visual conditions. Then, the most suitable imaging mode is selected based on the analysis results, and finally seamless switching is achieved, quickly switching between different imaging systems to maintain visual continuity and the smooth progress of the mission.

[0178] Accordingly, the automatic switching system includes: an environmental parameter monitoring unit, which is used to obtain underwater environmental parameters in real time; a data analysis unit, which is used to evaluate the current visual conditions based on the underwater environmental parameters obtained from the environmental parameter monitoring unit; a mode selection unit, which is used to select the most suitable imaging mode based on the current visual conditions evaluated by the data analysis unit; and a switching execution unit, which is used to achieve seamless switching between the multi-spectral LED lighting system, the infrared night vision system, the sonar imaging system, the thermal imaging camera and the wide-angle high-definition camera based on the most suitable imaging mode selected by the mode selection unit.

[0179] In some embodiments, the mode selection unit can analyze and make decisions based on the following conditions and send corresponding switching instructions to the switching execution unit: when it is detected that the turbidity of the water body exceeds the preset turbidity threshold, the sonar imaging mode of the sonar imaging system is selected; when it is detected that the ambient light intensity is lower than the preset light threshold, the infrared night vision mode of the infrared night vision system is selected; when it is detected that the temperature difference between the water body and the surrounding environment exceeds the preset temperature difference threshold, the thermal imaging mode of the thermal imaging camera is selected; when it is detected that the turbidity of the water body is lower than the preset clarity threshold, the high-definition optical camera mode of the wide-angle high-definition camera is selected; when it is detected that the water depth exceeds the preset depth threshold, the multi-spectrum LED lighting is selected. The system has an enhanced lighting mode; when it is detected that the movement speed of the underwater rescue exoskeleton robot body exceeds the preset speed threshold, the wide-angle mode of the wide-angle high-definition camera is selected; when it is detected that the terrain undulation or complexity exceeds the preset complexity threshold, the 3D imaging mode of the sonar imaging system is selected; when it is detected that the spectral reflection or absorption characteristics of a specific wavelength exceed the preset spectral characteristic threshold, the target spectrum analysis mode of the multi-spectral LED lighting system and the wide-angle high-definition camera is selected; wherein, the target spectrum analysis mode simultaneously enables: the multi-spectral LED lighting system, which is used to emit light of a specific wavelength; the wide-angle high-definition camera, equipped with a spectral analysis filter, which is used to capture and analyze reflected light.

[0180] Specifically, when rescuers encounter high concentrations of suspended solids and low optical visibility in the water, the automatic switching system will detect a sharp drop in the image quality of the optical camera. At this time, the system will automatically activate sonar imaging to provide an outline image of the obstacle ahead, helping rescuers to move forward safely even when their vision is blocked.

[0181] Switching to infrared night vision for night operations means that at night or in low-light environments, if the water is relatively clear, the photometric sensor will detect that the light is below a certain threshold. At this time, the system will start the infrared LED lighting and automatically switch to infrared camera mode to ensure that rescuers can still get a clear view in a dark environment.

[0182] The temperature abnormality area switches to thermal imaging, which means that during the mission, if the temperature sensor detects a significant difference in the surrounding water temperature, the system will identify the area where the temperature abnormality may exist. Then, the automatic switching system will activate the thermal imaging camera to help rescuers locate possible victims or heat sources, especially in extremely low visibility environments. This function is particularly important.

[0183] Clear water uses high-definition optical cameras, which means that when rescuers enter an area with clear water and sufficient natural or artificial lighting, the water quality sensor will display the high clarity of the water. At this time, the system will automatically switch to high-definition optical camera mode to provide rescuers with the most detailed visual information, ensuring that the advantages of high-definition images are fully utilized under ideal conditions.

[0184] The deep-water environment switches to enhanced lighting mode, which means that as the rescuers go deeper underwater, the depth sensor will detect that the water depth exceeds the preset value and the natural light gradually weakens. The system will increase the LED lighting intensity and may switch to a more sensitive low-light camera mode at the same time to ensure that sufficient lighting and clear images are still provided in deep-water environments.

[0185] Switch to wide-angle mode when moving quickly, which means that when performing fast-moving or large-scale search tasks, the motion sensor will detect the high-speed movement of rescuers. The system will automatically switch to wide-angle camera mode to provide rescuers with a wider field of view, ensuring that they can still grasp the surrounding environment during high-speed movement.

[0186] Complex Terrain Switch to 3D Imaging Mode, which means that when rescuers enter complex structural areas such as shipwrecks or underwater caves, sonar or laser scanning will detect complex three-dimensional environments. At this time, the system will activate the 3D imaging system to generate a three-dimensional environment map to help rescuers navigate and operate more accurately and avoid collisions and getting lost in narrow or complex spaces.

[0187] Switching to target spectral analysis when harmful substances are present means that when harmful substances are suspected to be present in the water, the chemical sensor will detect the presence of abnormal substances. The automatic switching system will switch to the target spectral analysis mode based on this information to help identify and locate these harmful substances, provide key information to rescuers, and avoid potential dangers.

[0188] The advantage of this automatic switching system is that it can quickly adapt to the changing underwater environment without the need for manual adjustments by rescuers, allowing them to focus on the rescue mission itself. As the system becomes more intelligent, it becomes more adaptable in complex and changing underwater environments, greatly improving the efficiency and safety of rescue.

[0189] Specifically, the working principle of the infrared night vision system is to use near-infrared light (wavelength of about 700-1400nm), illuminate the environment by actively emitting near-infrared light, and then capture the near-infrared light reflected by the object to form an image. This system can provide daytime-like images in a dark environment, showing the details and outlines of objects. Its main advantage is that it can help rescuers see the surrounding environment clearly in low-light or no-light environments. However, the limitation of this system is that it requires a certain degree of light source, whether natural or artificial near-infrared light, so it has limited effect in completely dark or extremely turbid environments.

[0190] The working principle of thermal imaging cameras is to detect mid- and far-infrared radiation (wavelength of about 8-14μm) to form images. Unlike infrared night vision, thermal imaging is a passive system that does not require an additional light source because it directly detects the thermal radiation emitted by objects. This allows thermal imaging cameras to display temperature differences and work even in extremely poor lighting conditions. The advantage of thermal imaging is that it can see through smoke, dust, and even certain materials to provide a temperature profile of the environment. Nevertheless, thermal imaging systems cannot display the fine structure of an object, only the temperature profile, so they are limited in identifying the details of an object.

[0191] In underwater rescue scenarios, infrared night vision systems can provide clear images of the underwater environment to help rescuers navigate and identify objects, especially in turbid but not completely opaque waters. This system can identify underwater obstacles, equipment or structures, which is crucial for environmental perception during mission execution.

[0192] On the other hand, thermal imaging cameras can also work in completely lightless waters. They can detect subtle differences in water temperature, making them ideal for locating people who have fallen into the water, as human body temperature is usually higher than the surrounding water temperature. In addition, thermal imaging can detect heat leaks in mechanical equipment or pipes, providing support for troubleshooting in complex environments.

[0193] The two systems are complementary in function. The infrared night vision system provides rich environmental details to help with identification and navigation, while the thermal imaging system is good at detecting temperature differences, especially in low-visibility environments. In actual underwater rescue operations, the combined use of these two systems can provide the most comprehensive environmental information and significantly improve rescue efficiency and success rate.

[0194] Specifically, the Helmet Display (HUD) is an advanced wearable technology that projects key information directly into the rescuer's field of view, allowing them to obtain necessary data without having to look down at a separate display. This system is particularly important in underwater rescue because it allows rescuers to have real-time access to mission-related information while remaining alert to their surroundings. The core advantage of HUD is that it integrates multiple data sources to provide comprehensive situational awareness, greatly improving the efficiency and safety of rescue operations. In some embodiments, the Helmet Display (HUD) system includes: a transparent display screen, which is arranged inside the helmet kit and is used as an information display interface; a data processing unit, which is used to receive raw data obtained by various sensors and process the raw data into visual information, such as visual graphics, text or symbols; a real-time data projection module, which uses augmented reality technology to dynamically project the visual information processed by the data processing unit onto the transparent display screen and superimpose it on the actual field of view of the rescuer.

[0195] The transparent display is the core component of the HUD system. It is integrated inside the helmet kit and does not obstruct the normal vision of the rescuer. The display can display various information while maintaining high transparency to ensure that the rescuer can clearly observe the surrounding environment. The design of the transparent display takes into account both information visibility and openness of vision, ensuring that it will not affect normal operation when used in complex underwater environments.

[0196] The real-time data projection module uses augmented reality (AR) technology to overlay various data on the rescuers' actual field of view, achieving a seamless integration of information and the environment. In this way, rescuers can obtain key information such as depth, oxygen supply, navigation information, etc. in real time while performing their tasks without having to divert their attention to other equipment, thereby improving work efficiency and response speed.

[0197] The customizable interface allows rescuers to customize the type and layout of information displayed according to mission requirements. This flexibility enables the HUD to adapt to different mission scenarios. Whether it is search, rescue or repair, rescuers can quickly switch display modes to ensure that they obtain the most relevant and necessary information, so as to make fast and accurate decisions in complex and changing environments.

[0198] The waterproof and anti-fog function ensures that the HUD can work properly in underwater environments. The helmet display system is specially designed to maintain reliability in high-pressure and humid environments underwater, and has a built-in anti-fog system to ensure that the display screen provides a clear view under all conditions. This feature is crucial for rescuers working in deep, cold or turbid waters.

[0199] The HUD system can display data and information from various sensors in real time. Depth information is one of the important displays, providing current depth, maximum safe depth, and ascent / descent rate. This information helps rescuers stay safe during diving and avoid diving accidents caused by pressure changes.

[0200] Oxygen supply information displays the current amount of oxygen remaining and the estimated time it will last, while also monitoring the oxygen consumption rate. This data helps rescuers manage oxygen resources, ensuring they always have enough oxygen during the mission and avoiding dangerous oxygen shortages.

[0201] Decompression information shows the required decompression stop time and depth, as well as the no-decompression limit time. This information is essential to avoid decompression sickness, especially during long and deep dives, and helps rescuers accurately plan ascent and stop steps.

[0202] The water temperature information displays the current water temperature and the temperature change trend, which helps rescuers understand the temperature changes in the environment and determine possible areas of abnormal temperature, which may indicate potential dangers or the location of targets.

[0203] The HUD system can also monitor and display the rescuer's heart rate and physiological data, including heart rate, respiratory rate and body temperature. These data help the command center and the rescuers themselves monitor their physical condition and ensure their safety when working in extreme environments.

[0204] Communication status displays the connection status with teammates and the command center, including a signal strength indicator. Maintaining good communication status is essential for coordinating rescue operations, passing information and requesting backup, and this feature ensures that rescuers are always connected to the team.

[0205] Time information provides the current time, elapsed dive time and time remaining in the mission, which helps rescuers manage time effectively, ensuring the mission proceeds as planned and avoids exceeding safe time limits.

[0206] Direction and navigation information displays the current direction through an electronic compass and indicates deviations from the preset route. The HUD also displays the direction and distance to the return point, helping rescuers maintain the correct direction in complex underwater environments and avoid getting lost.

[0207] Environmental data includes water speed, direction and visibility index, which helps rescuers assess environmental conditions and adjust action strategies according to water flow and visibility, thereby improving the success rate of the mission.

[0208] The HUD system also provides equipment status information, monitoring the working status of major equipment such as thrusters and lighting, as well as battery power. Rescuers can understand the operation of the equipment in real time and make adjustments or repairs in time to ensure the smooth progress of the mission.

[0209] Mission-related information displays the preset location of the rescue target, the straight-line distance between the rescuer and the rescue target, and the boundary coordinates of the specified search area. By providing this information, the HUD helps rescuers focus on locating and searching for the target and avoid missing or exceeding the search area.

[0210] The alarm and reminder function provides visual warnings when safety parameters are exceeded, such as abnormalities in depth, oxygen, temperature, etc., and also warns of equipment failure or other dangerous conditions. Timely alarms and reminders can help rescuers respond quickly and prevent potential risks from becoming real dangers. Among them, safety parameters include any number of the following: depth parameters, used to monitor whether the current water depth exceeds the preset maximum safe depth; oxygen parameters, used to monitor whether the oxygen remaining is below the safety threshold; temperature parameters, including water temperature and rescuer body temperature, used to monitor whether it is within the safe range; decompression time parameters, used to monitor whether the safe decompression time limit is exceeded; ascent speed parameters, used to monitor whether the safe ascent speed limit is exceeded; nitrogen concentration parameters, used to monitor whether the nitrogen concentration in the body is close to or exceeds the safety limit; battery power parameters, used to monitor whether the remaining power of major equipment is below the safety threshold; communication signal strength parameters, used to monitor whether the communication quality with other rescuers or the command center has dropped to an unsafe level; equipment status parameters, used to monitor whether key equipment has functional abnormalities or failures; environmental hazard parameters, used to monitor whether there are potential hazards in the surrounding environment, such as strong water currents or large moving objects.

[0211] In an environment where underwater visibility is below a preset threshold, the HUD can help rescuers identify objects and the environment more clearly by superimposing enhanced contours or thermal imaging data through image enhancement. This function is particularly useful in turbid waters or at night, significantly improving mission visibility.

[0212] The 3D map function provides rescuers with a simplified 3D environmental map showing the surrounding terrain. This is particularly important for missions in complex terrain or confined spaces, allowing rescuers to better understand and navigate the environment and avoid collisions and getting lost.

[0213] The teammate location function displays the relative position of teammates and themselves and the physiological status of teammates (such as oxygen remaining, body temperature, heart rate), helping the team coordinate actions and ensuring that each member can stay in close contact during the mission and understand each other's position, thereby improving collaboration efficiency.

[0214] Sonar / radar data displays the location and motion status of surrounding objects, including the speed and direction of movement of objects, which helps avoid collisions, especially in low visibility or complex environments, and provides critical environmental awareness information in search missions.

[0215] If equipped with relevant sensors, the HUD can also display water quality data, including parameters such as pH value and dissolved oxygen. This information helps rescuers understand the chemical properties of the water and assess potential environmental risks.

[0216] The radioactive or hazardous material detection function can display the presence and concentration of radioactive or hazardous materials, helping rescue workers identify and avoid potentially harmful areas and ensure the safe execution of the mission.

[0217] The information display of the helmet display system HUD adopts a layered strategy, dividing the information into core, secondary and auxiliary layers to ensure that the most critical information such as depth and oxygen supply is always visible, while allowing quick access to other important data. The system should have situational awareness and automatically adjust the display content according to the current situation, such as highlighting depth information when approaching the maximum depth. To meet the needs of different rescuers, the interface should be customizable and allow display preferences to be set before the mission. Information switching can be achieved in a variety of ways, including voice commands, gesture control and eye tracking, so as to enable rapid operation in complex environments. For information that is not urgent but needs to be checked regularly, the system can use intelligent reminders or periodic rotation displays. When a dangerous situation is detected, it should automatically switch to a simplified emergency display mode. The spatial layout of the helmet display system should be optimized, and different categories of information should be displayed in partitions, and graphical representations should be used as much as possible to reduce visual clutter. The system should also be able to dynamically adjust the display focus according to the different stages of the rescue mission. When implemented, the core layer information is displayed by default, and other layers of information are switched through simple controls, allowing rescuers to customize display preferences, achieve intelligent situational awareness, set information rotation areas, and preset display modes for different mission types. This comprehensive approach ensures visibility of critical information while also enabling flexibility in responding to various situations and avoiding information overload, thereby improving rescue efficiency and safety.

[0218] Specifically, the communication module is one of the components in the helmet kit, which is designed to achieve real-time and reliable communication between the diver and the remote control device. The module uses advanced underwater communication technology to ensure stable data transmission and efficient communication in various complex underwater environments, providing a strong guarantee for the success and safety of diving missions.

[0219] The communication module adopts a dual-mode design of ultrasonic communication and optical communication, with an operating frequency of 30-300kHz for ultrasonic and 450-500nm (blue-green light) for optical. The data transmission rate can reach up to 100kbps, depending on the water quality. The communication range can reach 500 meters under ideal conditions, and the AES-256 bit encryption standard is used to ensure data security. The power supply is provided by a rechargeable lithium battery with a battery life of about 10 hours, which meets the needs of long-term underwater operations.

[0220] The communication module has many powerful functions. Two-way voice communication supports full-duplex voice intercom, equipped with automatic noise cancellation and echo suppression functions, and allows users to adjust the volume and sensitivity to ensure clear call quality. The data transmission function allows real-time transmission of video streams captured by the helmet camera and various sensor data, such as depth, temperature, and oxygen concentration, while supporting the sending of text messages and preset instructions. The positioning function transmits the diver's location information in real time through the integrated hydroacoustic positioning system, and supports GPS signal reception when surfacing. In addition, the communication module also provides an emergency distress function, sending emergency signals with one click, and can automatically detect abnormal situations such as rapid ascent or lack of oxygen, and send alarms in time.

[0221] Specifically, in the underwater rescue wearable exoskeleton robot system, the role of the motor driver includes: it first receives digital control instructions from the central processing module and converts these instructions into electrical signals suitable for driving the motor, such as pulse width modulation (PWM) signals, thereby realizing signal conversion. In addition, the motor driver is responsible for power control, adjusting the voltage and current of the motor according to the control instructions, thereby accurately controlling the speed, torque and rotation direction of the motor. In order to ensure the precise positioning and speed control of the motor, the driver usually integrates a feedback mechanism, such as reading the feedback data of the encoder to ensure the accuracy of the action. At the same time, the motor driver has a protection function that can prevent the motor from overloading, overheating or short circuiting, and cut off the power supply in time under abnormal conditions to protect the safety of the entire system. The feedback module is used to read the feedback data of the encoder. These feedback data include the actual speed, position or other parameters of the motor. There are two main ways to use the feedback data: first, they are sent back to the central processing module for closed-loop control, so that the system can compare the expected output with the actual output and make necessary adjustments; second, these data may also be used for real-time adjustment of the power control module to ensure that the motor performance meets expectations.

[0222] The motor driver is closely related to the underwater thruster, which directly controls the underwater thruster installed at the bottom of the exoskeleton leg sheath. By adjusting the speed and direction of the thruster motor, the motor driver achieves precise control of the underwater thruster, thereby controlling the underwater movement and positioning of the rescuer. In addition, the motor driver works in conjunction with other motors in the system, such as the joint motors of the exoskeleton legs and arms, to achieve overall coordinated underwater movement. Based on feedback from the water pressure sensor, the driver can also dynamically adjust the propulsion force to adapt to changes in water pressure at different water depths to ensure smoothness and accuracy of movement.

[0223] Intelligent control is one of the important functions of the motor driver. By executing the instructions of the central processing module, the motor driver can realize the intelligent control of the underwater thruster. For example, in a complex rescue mission, the driver can automatically adjust the propulsion force according to the mission requirements to maintain the stability of the exoskeleton or achieve rapid movement. This intelligent control enables rescuers to respond to different underwater environments and mission requirements more flexibly, significantly improving the success rate of the mission.

[0224] In terms of energy management, the motor drive works closely with the energy storage belt mechanism in the system to optimize the distribution and use of energy. The electric drive ensures that when the thruster needs maximum power, sufficient power is provided to maintain the efficient operation of the thruster. This sophisticated energy management not only extends the system's endurance, but also ensures that the thruster can perform at its best performance at critical moments such as emergency acceleration or adjustment.

[0225] Motor drives play a key role in safety considerations. For example, when the system detects an abnormal situation (such as rapid ascent or other emergency situations), the motor drive can quickly adjust the power output of the thrusters to ensure the safety of rescuers. Through rapid response and power adjustment, the drive can provide necessary protection at critical moments to prevent potential dangers from occurring.

[0226] Multi-mode operation is also one of the important functions of the motor drive. It may support manual control, semi-automatic and fully automatic modes to adapt to different rescue scenarios and mission requirements. Rescuers can choose the most appropriate operation mode according to the current mission environment. This flexibility ensures that the system can operate efficiently in various complex underwater rescue scenarios.

[0227] Specifically, the manual control mode is an operating mode that provides the highest degree of flexibility and precise control in the underwater rescue wearable exoskeleton robot system. In this mode, the operator directly controls all the movements of the exoskeleton robot, enabling it to quickly adapt to the ever-changing underwater environment. This mode is particularly suitable for complex rescue missions that require delicate operations, or situations that rely on human judgment in unknown or high-risk environments. Manual control is achieved through the control interface in the helmet kit or the operator's gesture commands. The motor driver will immediately respond to the operator's instructions to control the underwater thrusters and other mechanical components to ensure precise operation.

[0228] Semi-automatic mode combines the advantages of manual control and automated systems, allowing the system to provide automated support while retaining the flexibility for operators to make decisions at critical moments. Semi-automatic mode can reduce operator fatigue during long underwater operations and is particularly suitable for tasks that require high stability and precision, such as underwater cutting or welding operations. This mode is implemented by the system automatically maintaining the depth, posture and position of the exoskeleton, while the operator can intervene at any time to adjust or override automatic control. In this mode, the motor drive works in conjunction with real-time input data according to preset programs to ensure a smooth transition to manual control at critical moments.

[0229] Fully automatic mode is the highest level of operation mode in which the system operates autonomously. It relies on preset programs and real-time environmental data to minimize human intervention, thereby significantly improving efficiency and safety. In fully automatic mode, the system can independently complete routine inspections or monitoring tasks, conduct preliminary explorations in dangerous underwater environments, or perform well in long-distance underwater movement and fixed-point waiting tasks. The implementation of this mode relies on the processing of sensor data by artificial intelligence algorithms. The system will autonomously plan paths, avoid obstacles, and perform designated tasks. The motor driver automatically adjusts all actions of the exoskeleton robot based on the decisions of the AI ​​to ensure the smooth completion of the task and the safety of the operator.

[0230] The advantage of multi-mode operation is its strong adaptability, which can flexibly switch the operation mode according to different rescue needs and environmental conditions, so as to show the best performance in different scenarios. This flexibility not only improves the safety of the system, allowing the operator to choose the safest operation mode in complex or dangerous situations, but also significantly optimizes the rescue efficiency by selecting the operation mode suitable for the nature of the task. In addition, multi-mode operation is also very operator-friendly, which can reduce physical fatigue in long-term missions and flexibly train according to the operator's experience level, thereby gradually improving the operator's skills and operational proficiency.

[0231] Specifically, the motion control algorithm of the exoskeleton robot stored in the memory includes the following specific contents:

[0232] Kinematic and dynamic models are the foundation of exoskeleton robotic systems, which determine how the robot moves and interacts with the environment. Forward kinematics is used to calculate the position and orientation of the end effector (such as the hand) based on the angles, angular velocities, and angular accelerations of the joints, while inverse kinematics calculates the required angles of each joint based on a predetermined target position. These models become more complex in underwater environments because external factors that affect motion, such as water resistance and buoyancy, need to be considered. Dynamic models further expand the understanding of motion and help robots accurately perform tasks in complex underwater environments.

[0233] Balance and stability control are key to ensuring that the robot maintains its posture and stability in underwater environments. Through center of gravity calculation and adjustment algorithms, the system can maintain balance under different water flow conditions. Attitude stability control helps the robot remain stable when facing changes in water flow, so as not to be affected by unexpected water flow or fluctuations, thus ensuring the smooth progress of the rescue mission.

[0234] The path planning algorithm provides the exoskeleton robot with intelligent navigation capabilities. The algorithm can detect surrounding obstacles and avoid them based on real-time environmental data. In addition, path planning also takes energy consumption and time efficiency into consideration to generate the optimal path to ensure that the task is completed while minimizing energy consumption.

[0235] Force feedback control enables the robot to interact with the environment in a delicate manner by sensing and responding to contact forces. Whether grasping an object or making contact with the surrounding environment, force feedback control ensures the smoothness of the action, adapting to different underwater environments and mission requirements, allowing the robot to complete tasks safely and efficiently.

[0236] Gait generation and control involve the way the exoskeleton moves underwater. When moving underwater, the gait generation algorithm will plan according to the current water depth and water flow conditions, and adjust the movement mode in real time to ensure that the robot can move smoothly and perform rescue missions.

[0237] Adaptive control algorithms enable the exoskeleton robot to automatically adjust control parameters according to changes in the environment. For example, when water pressure or temperature changes, the system automatically optimizes its control strategy based on these changes. At the same time, through learning and optimization algorithms, the robot is able to improve its adaptability and performance in a constantly changing environment.

[0238] Multi-joint coordinated control involves the synchronous control of multiple joints to achieve complex rescue actions. The algorithm optimizes the distribution of energy, allowing the robot to operate more efficiently when performing energy-intensive tasks, thereby extending its endurance and improving the success rate of the mission.

[0239] The human-machine interaction algorithm ensures that the exoskeleton robot can accurately understand and execute the operator's instructions. In semi-automatic mode, the algorithm can effectively integrate human input and automatic control, allowing the robot to follow the operator's commands and perform automated operations when necessary, improving the flexibility and efficiency of the task.

[0240] Fault detection and fault tolerance algorithms are key to ensuring system reliability. By monitoring the system status in real time, the algorithm can quickly detect potential faults and initiate emergency control strategies when some components fail, ensuring that the robot can still operate safely in emergency situations.

[0241] The thruster control algorithm is responsible for precisely controlling the speed and direction of the underwater thrusters. The algorithm optimizes propulsion efficiency based on mission requirements and environmental conditions, allowing the exoskeleton robot to move efficiently underwater and complete its mission.

[0242] Data fusion algorithms provide more accurate positioning and environmental awareness by integrating data from multiple sensors. Filtering algorithms are used to reduce the impact of sensor noise to ensure that the system can still operate reliably in complex underwater environments.

[0243] The safety control algorithm provides the robot with a protection mechanism in emergency situations. Whether it is automatically starting the protection mechanism under extreme conditions (such as ultra-deep or hypoxia) or executing the emergency floating procedure, the algorithm ensures the safety of the operator and avoids dangerous situations. The protection mechanism includes: automatically reducing the output or stopping the movement when it detects that the joint torque exceeds the safety threshold; automatically starting the emergency floating procedure in an emergency; adjusting the posture to maintain stability when losing balance or encountering sudden external forces; and automatically adjusting the internal pressure according to the depth to prevent water pressure from damaging the equipment.

[0244] The mission planning and execution algorithm automatically plans a series of actions based on the rescue mission objectives, enabling the exoskeleton robot to autonomously perform the mission in a fully automatic mode. The algorithm can adjust the execution plan in real time to adapt to changing mission requirements and environmental conditions to ensure the successful completion of the rescue mission.

[0245] In a further embodiment, the sensor module may include the following sensors in addition to the acceleration sensor, the gyroscope and the pressure sensor:

[0246] Sonar sensors play a vital role in turbid or low-visibility waters. They can help exoskeleton robots build a three-dimensional map of the underwater environment and / or detect obstacles by emitting sound waves and receiving reflected signals. Obstacle detection refers to calculating the distance and approximate shape of obstacles based on the sound wave reflection time and intensity. The advantage of this sensor is that it can provide long-range detection capabilities, assist in path planning and obstacle avoidance even in limited vision, and improve the success rate of rescue missions.

[0247] Water quality sensors are responsible for detecting water quality parameters including water temperature, salinity, pH value and dissolved oxygen. By monitoring these environmental parameters in real time, the rescue system can assess the safety of the current environment and provide critical environmental information to rescuers. This not only helps protect the safety of rescuers, but also provides a scientific basis for the execution of specific tasks, such as operations in polluted waters.

[0248] Force / torque sensors are used to measure the force and torque of the joints and end effectors of exoskeleton robots. This data is the basis for precise force feedback control, which allows exoskeleton robots to better perceive the interaction with the environment when performing tasks, thereby achieving more sophisticated operations. For example, when grasping or manipulating objects, force / torque sensors can ensure the accuracy and safety of the action.

[0249] The inertial measurement unit (IMU) provides more accurate attitude and motion information for the exoskeleton robot. By integrating data from accelerometers and gyroscopes, the IMU can estimate the attitude and motion state of the system in real time. This precise attitude control is essential for maintaining balance and performing complex tasks underwater, especially in environments with turbulence or changing water currents.

[0250] The depth sensor can accurately measure the current depth of the exoskeleton robot, which is particularly important for vertical position control. By monitoring and controlling the depth, the system can ensure that the rescuer does not exceed the set maximum depth, thereby avoiding decompression sickness or other deep water related risks.

[0251] The galvanometer is used to measure the speed and direction of the water flow, which is particularly critical in complex water flow environments. By obtaining this information in real time, the system can adjust its movement strategy and optimize the efficiency of the thrusters to ensure that the exoskeleton robot can remain stable and successfully complete the task in a strong water flow environment.

[0252] The optical camera provides visual feedback to the exoskeleton robot with a resolution higher than the preset resolution threshold in clear waters, helping with environmental recognition and task execution. It can capture detailed visual information, enabling rescuers to perform precise operations and analysis in underwater environments, such as identifying obstacles, searching for missing persons, or performing complex maintenance tasks.

[0253] Thermal imaging cameras help locate life forms or other heat sources by detecting heat sources in underwater environments where visibility is below a preset visibility threshold. Ideal for use in dark or turbid waters, they can effectively detect targets that may not be visible by optical means, providing critical support for search and rescue operations.

[0254] Magnetometers are used to measure the Earth's magnetic field and provide an absolute direction reference, that is, a direction reference relative to the Earth's magnetic north, thereby enhancing the system's positioning and navigation capabilities. In underwater environments, where GPS signals may be limited, magnetometers can serve as a supplementary means to ensure that the exoskeleton robot always knows its position and avoids getting lost.

[0255] Proximity sensors focus on detecting close objects, i.e. objects that are closer than a preset distance threshold, to ensure that the exoskeleton robot can interact safely with its surroundings. This sensor is very helpful in precisely controlling the distance to objects in a small space, preventing the robot from accidentally colliding with or damaging surrounding structures while performing tasks.

[0256] Biosensors are able to detect algal toxins, heavy metals or specific proteins in water, which is particularly important in environmental monitoring or special rescue missions. For example, biosensors can detect toxic substances or other biochemical threats, provide early warnings to rescuers, and help them take necessary protective measures.

[0257] Radiation sensors are crucial in rescue missions near nuclear facilities or in radiation leak areas. They can detect radiation levels underwater and ensure that rescuers have the necessary safety information and take appropriate protective measures before entering potentially dangerous areas.

[0258] Gas sensors are used to detect harmful gases that may be present underwater. This is very important in rescue operations after industrial accidents or natural disasters, as harmful gases may pose a serious threat to rescue personnel and equipment. Through real-time monitoring, gas sensors can help the system respond in a timely manner and ensure the safe execution of rescue missions.

[0259] Conductivity sensors are used to measure the conductivity of water, which not only helps to assess water quality, but can also be used to detect certain types of pollutants. For example, in industrial pollution accidents, conductivity sensors can help quickly identify contaminated areas and provide important decision-making basis for rescue workers.

[0260] The photometer measures the light intensity underwater, helping the system automatically adjust the brightness of the lighting equipment and optimize the performance of the vision system. This is very useful for performing tasks under different lighting conditions, ensuring that the optical camera can capture clear images in a variety of lighting environments.

[0261] The Acoustic Positioning System provides precise location information through sound wave signals, which is particularly effective in deep water environments where GPS signals cannot reach. The system can help the exoskeleton robot navigate accurately underwater, ensuring that it can perform tasks in complex environments without getting lost.

[0262] These additional sensors will greatly enhance the exoskeleton's perception capabilities, enabling it to more fully understand and adapt to complex underwater environments. The multi-dimensional data they provide will be integrated by the central processing module to achieve more precise motion control, environmental analysis, and task execution, thereby improving the efficiency and reliability of the entire system.

[0263] In a further embodiment, the hand can be designed as a quick-change modular system, allowing rescuers to quickly switch tools according to different mission requirements. The quick-change modular system includes:

[0264] The standard interface integrated at the end of the arm sheath connects different multifunctional rescue tools and is used to switch different multifunctional rescue tools according to the control instructions of the intelligent control system; the application of the standard interface enables newly developed tools to be easily integrated into the system, enhancing the flexibility and scalability of the system. This modular design ensures that the exoskeleton robot can adapt to various complex underwater rescue scenarios and greatly improves the success rate of rescue missions. The standard interface has: a mechanical quick locking mechanism to ensure the stable installation and precise positioning of the tool; a multi-pin electrical connector to provide power, data and control signal transmission; and an optional hydraulic / pneumatic quick connector for tools that require additional power.

[0265] Multifunctional rescue tools, each equipped with a connection part that matches the standard interface at the end of the arm sheath. Multifunctional rescue tools give the exoskeleton robot powerful operating capabilities. Oxygen cutting tools can be used to cut metal obstacles such as ship hulls or underwater structures. The flame intensity can be adjusted to adapt to different thicknesses and materials, and a safety mechanism is integrated to prevent injuries caused by misoperation. Hydraulic pliers can cut solid objects such as metal cables and pipes, and the clamping force can be adjusted to adapt to different materials and sizes. The gripping device is a multi-finger flexible gripper that can pick up and manipulate objects of various shapes and sizes. The force feedback system allows the operator to feel the gripping force to ensure precise operation. High-pressure water jet cutting tools are particularly suitable for environments where thermal cutting cannot be used. They can cut non-metallic materials and meet different cutting requirements by adjusting the water pressure. Acoustic detectors can detect buried or hidden objects or life forms, and are particularly suitable for penetrating mud or debris for detection. Underwater welding tools are used for emergency repair or reinforcement of damaged structures through underwater arc welding. An automatic adjustment system is integrated to ensure efficient operation in underwater environments.

[0266] The intelligent controller integrated in the arm guard monitors the status and performance of the multifunctional rescue tool in real time by integrating corresponding sensors, so that the system can automatically identify the installed tools, and work with the standard interface according to the identification results to control the switching of the multifunctional rescue tools. Furthermore, the corresponding control parameters, such as force, speed, accuracy and other parameters directly related to the tool operation, are adjusted accordingly; and the operation interface is updated, including but not limited to displaying the control options, data display and operation instructions related to the current tool. This system also provides force feedback and tactile feedback to enhance the accuracy of the operation, so that rescuers can be more handy when performing tasks.

[0267] The wearable exoskeleton robot for underwater rescue provided by the present invention has good functionality and has good application effects in underwater rescue under various conditions.

[0268] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A wearable exoskeleton robot for underwater rescue, It is characterized in that include: A torso kit (1) worn on the torso of a human body, used to protect the torso of a human body; A helmet kit (2) worn on a human head, arranged on the upper part of the torso kit (1), used for protecting the human head and supplying oxygen, and having a communication module for communicating with a remote control device arranged therein; Two arm guards (3) are respectively installed on both sides of the upper part of the torso kit (1) to protect the arms of the human body; Two leg guards (4) are respectively installed on both sides of the lower part of the torso kit (1) to protect the legs of the human body; An underwater propeller (5) installed at the bottom of the leg sheath (4); An energy storage belt mechanism (7), which is arranged at the middle and lower part of the trunk kit (1) and is used to provide electric power; An oxygen supply mechanism (8) is arranged at the rear of the torso kit (1) and is used to provide oxygen to the helmet kit (2).

2. A wearable exoskeleton robot for underwater rescue according to claim 1, It is characterized in that The energy storage belt mechanism (7) comprises a connecting belt (701) installed in the lower part of the torso kit (1); a plurality of locking grooves (702) are equidistantly arranged in an annular shape on the outer wall of the connecting belt (701); a battery (703) is slidably installed inside the locking groove (702); a connecting port (704) for current communication is arranged at the bottom of the battery (703); a plurality of power supply posts (705) are equidistantly arranged in an annular shape at the bottom of the connecting belt (701); one end of the power supply post (705) is electrically connected to the connecting port (704).

3. A wearable exoskeleton robot for underwater rescue according to claim 1, It is characterized in that The oxygen supply mechanism (8) comprises a rear plate (801) fixedly connected to the middle of the rear end of the trunk kit (1), and a ventilation device (802) connected to the lower part of the rear end of the trunk kit (1), and a plurality of oxygen cylinders (803) are equidistantly installed on the upper part of the ventilation device (802).

4. A wearable exoskeleton robot for underwater rescue according to claim 3, It is characterized in that The rear portion of the rear plate (801) is movably connected to a rotating clamping plate (804) for clamping the oxygen cylinder (803), and the rear portion of the rotating clamping plate (804) is equidistantly fixedly connected to a plurality of angle fixing plates (805) for preventing the oxygen cylinder (803) from falling off, and ventilation valves (806) for controlling oxygen communication are provided on both sides of the lower portion of the ventilation device (802).

5. A wearable exoskeleton robot for underwater rescue according to claim 1, It is characterized in that The elbow portion of the arm guard (3) is also provided with a hand guard (9), and the upper portion of the arm guard (3) is also provided with an inflatable shoulder guard (10) for providing buoyancy.

6. A wearable exoskeleton robot for underwater rescue according to claim 1, It is characterized in that A tool plate (11) is rotatably mounted on the front of the trunk kit (1), a storage slot (12) for storing rescue tools is provided inside the tool plate (11), and an alarm (13) is also provided in the middle of the trunk kit (1).

7. A wearable exoskeleton robot for underwater rescue according to claim 1, It is characterized in that It also includes a sensor module (6), a central processing module and a drive module; The sensor module (6) is used to collect motion state information and underwater environment information of the exoskeleton robot, and transmit the collected information to the central processing module; The central processing module is used to analyze and process the received information, generate control instructions and send them to the driving module; The driving module is used to drive the exoskeleton robot to perform corresponding actions according to the control instructions.

8. A wearable exoskeleton robot for underwater rescue according to claim 7, It is characterized in that The sensor module (6) comprises an acceleration sensor, a gyroscope and a pressure sensor, which are integrated and installed in a protective shell on the upper part of one of the leg guards (4); The acceleration sensor is used to detect the movement acceleration of the exoskeleton robot; The gyroscope is used to detect the angular velocity of the exoskeleton robot; The pressure sensor is used to detect the water pressure at the location of the exoskeleton robot.

9. A wearable exoskeleton robot for underwater rescue according to claim 7, It is characterized in that The central processing module includes a microprocessor and a memory; The microprocessor is used to analyze and process the information transmitted by the sensor module (6) and generate control instructions; The memory is used to store the motion control algorithm and underwater environment information of the exoskeleton robot.

10. A wearable exoskeleton robot for underwater rescue according to claim 7, It is characterized in that The driving module comprises a motor driver and a motor arranged inside the underwater propeller (5); The motor driver is used to drive the motor to operate according to the control instructions sent by the central processing module, thereby driving the motor inside the underwater propeller (5) to operate and realize the underwater movement of the exoskeleton robot.

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