High-efficiency wireless charging underwater unmanned vehicle

Abstract

The invention discloses a high-efficiency wireless charging underwater unmanned vehicle which comprises a main body, a closed main containing cavity is formed in the main body, a storage battery, a circuit control system, a forward and reverse rotation unpowered pump and a double-shaft speed regulating motor are arranged in the main containing cavity, and the storage battery, the forward and reverse rotation unpowered pump and the double-shaft speed regulating motor are fixed to the inner wall of the main body. The storage battery and the double-shaft speed adjusting motor are electrically connected with the circuit control system, and a radio signal transmission module is electrically connected into the circuit control system. By transmitting a radio signal to the radio signal transmission module, forward and reverse rotation control of the double-shaft speed-regulating motor and control of the electrically-driven regulating mechanism are realized, the rotating speed of the double-shaft speed-regulating motor is regulated, and then the propeller is driven to rotate, so that left-right movement in the water body is realized; the rudder swings back and forth in the horizontal direction by controlling the electric drive adjusting mechanism, so that the direction of left-right movement is deflected.

Description

Technical Field

[0001] The present invention relates to an underwater unmanned vehicle, and in particular to a high-efficiency wireless charging underwater unmanned vehicle. Background Art

[0002] An underwater unmanned vehicle is an unmanned vehicle that works underwater. It is controlled wirelessly or wired to dive to a certain depth and navigate at the target depth to achieve the purpose of detection or environmental recording, thereby understanding the water environment. For rechargeable underwater unmanned vehicles, the use of wireless charging technology not only makes charging easier, but also eliminates the need to set up a charging port, thereby increasing waterproof performance. However, existing underwater unmanned vehicles have low resource utilization efficiency, which easily leads to ineffective loss of energy, thereby causing energy waste, highlighting the shortcomings of existing technologies. Summary of the invention

[0003] The purpose of the present invention is to provide a high-efficiency wireless charging underwater unmanned vehicle to solve the technical problem of low resource utilization efficiency.

[0004] To achieve the above purpose, the present invention adopts the following technical solutions: A high-efficiency wireless charging underwater unmanned vehicle comprises a main body, wherein a closed main accommodating chamber is provided in the main body, wherein a battery, a circuit control system, a forward and reverse powerless pump and a dual-axis speed regulating motor are arranged in the main accommodating chamber, wherein the battery, the forward and reverse powerless pump and the dual-axis speed regulating motor are respectively fixed to the inner wall of the main body, wherein the battery and the dual-axis speed regulating motor are respectively electrically connected to the circuit control system, wherein a radio signal transmission module is electrically connected to the circuit control system, wherein the battery is electrically connected to a radio charging module, wherein the radio charging module is close to the inner wall of the main accommodating chamber, wherein an input shaft of the forward and reverse powerless pump is coaxially fixed with an output shaft of the dual-axis speed regulating motor The main body is connected with the main body in a sealed and rotatable manner, and the other output shaft of the dual-axis speed regulating motor is horizontally connected to the main body and penetrates the right part of the main body. The output shaft of the dual-axis speed regulating motor that penetrates the main body is coaxially fixed with a propeller. One port of the forward and reverse unpowered pump is connected to the outside through a pipeline, and the other port of the forward and reverse unpowered pump is connected to the outside through a spiral pipeline. The spiral pipeline gap is inserted outside the dual-axis speed regulating motor. The main body is also equipped with a camera, a lighting lamp, a rudder and an electric drive adjustment mechanism. The electric drive adjustment mechanism, the lighting lamp and the camera are electrically connected to the circuit control system respectively. The main body and its internal components have a tendency to sink in water.

[0005] On the basis of the above technical scheme, the electric drive adjustment mechanism includes a No. 1 servo motor, a No. 1 servo motor is fixed in the main accommodating cavity, the No. 1 servo motor is electrically connected to the circuit control system, the No. 1 servo motor is horizontally arranged, a worm is coaxially fixed to the rotating shaft of the No. 1 servo motor, the main body is sealed and rotatably connected with a vertical support shaft, the upper part of the support shaft passes through the main body and extends outside the main body, the rudder is vertically fixed to the upper part of the support shaft, a worm wheel is coaxially fixed to the bottom of the support shaft, the worm wheel is meshed with the worm, and the No. 1 servo motor is electrically connected to the circuit control system.

[0006] On the basis of the above technical scheme, the main body is also equipped with a lifting mechanism, which includes a water tank, a gear ring, a water storage tank, a piston, a push-pull rod, a No. 1 electric push rod, a No. 2 servo motor, a gear, a fork seat, and an access hole. The right part of the main accommodating chamber is horizontally cylindrical, and the middle part of the main accommodating chamber is coaxially sealed and rotatably connected with a cylindrical water tank, and a gear ring is coaxially fixed to the left end of the water tank. The circumference of the water tank is penetrated by multiples of two of the centripetal water storage tanks at equal angles, and each of the water storage tanks is sealed and slidably connected with a piston radially arranged relative to the water tank, and the end of each piston close to the axis of the water tank is fixed with a push-pull rod. A vertical No. 1 electric push rod and a horizontal No. 2 servo motor with a braking function are installed in the main accommodating chamber. The No. 1 electric push rod and the No. 2 servo motor are electrically connected to the circuit control system respectively. A gear is coaxially fixed to the rotating shaft of the No. 2 servo motor, and the gear is meshed with a gear ring. A horizontal fork seat is fixed to the bottom end of the push rod of the No. 1 electric push rod, and the fork seat can be inserted with a gap with the left part of the push-pull rod. A vertical entrance and exit hole passes through the bottom of the main body, and the entrance and exit hole corresponds to the water tank up and down. The water tank can seal the entrance and exit hole. The fourth camera is fixed at a circular equal angle to the middle right part of the main body.

[0007] Based on the above technical solution, the number of the water storage tanks is six, and two of the water storage tanks that are at an angle of 180 degrees to each other are fixed with an arc-shaped elastic sealing plate. The outer arc-shaped wall of the elastic sealing plate is cocircular with the outer circumferential wall of the water tank, and the elastic sealing plate can completely block the inlet and outlet holes.

[0008] On the basis of the above technical scheme, a soft positioning seat is fixed between the batteries, a compressed gas tank is tightly inserted in the positioning seat, an electromagnetic three-way stop valve is installed in the air pipe of the compressed gas tank, and the electromagnetic three-way stop valve is provided with an upper port and a lower port, the main body is composed of a left shell, a middle shell and a right shell sealed and plugged, the left shell is connected to the middle shell through a surplus cable, the cable is located in the left shell, the density of the left shell is greater than water, the left part of the middle shell and the left part of the right shell are both sealed and closed, a plurality of elastic air bags are fixed to the left end of the middle shell, a plurality of plug rods horizontally arranged along the left and right directions are fixed to the right part of the left shell, and a rubber plug is fixed to the right end of each of the plug rods, a plurality of cylinders extending horizontally along the left and right directions are fixed to the left part of the middle shell, each of the rubber plugs is sealed and slidably connected to the cylinder, each of the plug rods is gap-inserted in the cylinder, each of the cylinders is connected to the lower port through a pipeline, and the elastic air bag is connected to the upper port or the lower port through a pipeline.

[0009] On the basis of the above technical scheme, the elastic airbag includes a main elastic airbag and a secondary elastic airbag, the main elastic airbag is fixed at the middle part of the left end of the middle shell, and each of the secondary elastic airbags is fixed around the main elastic airbag at equal angles in a circle, the main elastic airbag is fixedly connected to a main inflation tube, and the secondary elastic airbag is fixedly connected to a secondary inflation tube, the main inflation tube is connected to a lower port through a pipeline, and the secondary inflation tube is horizontally arranged in the left and right directions, the right end of the secondary inflation tube is fixedly connected to a secondary inflation nozzle, and the side wall is fixedly connected to the main inflation nozzle, a piston column is sealingly and slidably connected in the secondary inflation tube, a puncturing blade is fixed at the left end of the piston column, the main inflation nozzle is located on the left side of the piston column, each of the secondary inflation nozzles is connected to the upper port through a pipeline, and each of the main inflation nozzles is connected to the lower port through a pipeline.

[0010] Based on the above technical solution, the piston column is radially penetrated by a storage groove, and the storage groove is filled with eye-catching and environmentally friendly water-based paint.

[0011] Based on the above technical solution, the left shell and the main elastic airbag are both made of transparent materials, the lighting lamp is fixed at the left end of the middle shell and is located in the main elastic airbag, one of the cameras is fixed at the left end of the middle shell and is located in the main elastic airbag, four tail plates are fixed at equal angles on the outer wall of the right shell, and a guide cylinder extending in the left and right directions is fixed on the right side of the right shell, and the guide cylinder gap is inserted outside the propeller.

[0012] On the basis of the above technical scheme, a support seat is fixed to the right part of the middle shell, and a waterproof No. 1 generator is fixed to the support seat. The No. 1 generator and the support seat jointly seal the right part of the middle shell, and the rotating shaft of the No. 1 generator is located outside the middle shell, and the rotating shaft of the No. 1 generator is axially slidably connected with a turbine, and the rotating shaft of the No. 1 generator is also radially fixed with a limit rod, and the density of the turbine is greater than the density of water. The limit rod and the turbine are gap-plugged to prevent the turbine from being separated from the rotating shaft of the No. 1 generator, and the front and rear parts of the support seat are each fixedly connected with a left connecting pipe, and the upper and lower parts of the right end of the support seat are each fixed with a vertical and waterproof No. 2 electric push rod, and the two push rods of the No. 2 electric push rods can be plugged into the middle shell and the right shell together when the push rods are extended to maintain the seal between the middle shell and the right shell. Sealed connection, the push rods of the two No. 2 electric push rods can be disengaged from the right shell body when they are retracted, and the left front and left rear parts of the right shell body are each fixedly connected with a right connecting pipe, and the left connecting pipe and the right connecting pipe correspond to each other on the left and right and are respectively located outside the virtual outer circle of the turbine, and the two left connecting pipes and the corresponding right connecting pipes are respectively connected through surplus hoses, one of the right connecting pipes is connected to the upper port through a pipe, and the other right connecting pipe is connected to the lower port through a pipe, the left connecting pipe indirectly connected to the upper port through the right connecting pipe and the hose is connected to the auxiliary inflation nozzle through a pipe, and the left connecting pipe indirectly connected to the lower port through the right connecting pipe and the hose is connected to the main inflation nozzle and the main inflation pipe through a pipe, and the right shell body and its internal parts have a tendency to sink when in water.

[0013] On the basis of the above technical scheme, a containing shell is fixed to the left part of the support seat, the middle part of the containing shell passes through left and right, and a bracket is fixed to each of the left and right parts, the bracket on the left part of the containing shell is fixed with the No. 2 generator along the left and right horizontal directions, the rotating shaft of the No. 2 generator is rotatably connected to the bracket on the right part of the containing shell, a cylindrical impeller is sealed and rotatably connected to the middle part of the containing shell, the blades of the impeller are located in the containing shell, the impeller is coaxially fixed with the rotating shaft of the No. 2 generator, a vertical non-centripetal intake pipe is fixedly connected to the outer circumferential wall of the containing shell, a non-coaxial exhaust pipe is fixedly connected to the left end of the containing shell, the left connecting pipe indirectly connected to the upper port through the right connecting pipe and the hose is connected to the intake pipe through a pipe, the exhaust pipe is connected to the auxiliary inflation nozzle through a pipe, and the No. 2 generator is electrically connected to the circuit control system.

[0014] Compared with the prior art, the present invention has the following advantages: the present invention transmits radio signals to the radio signal transmission module to realize the forward and reverse rotation control of the dual-axis speed regulating motor and the control of the electric drive regulating mechanism, and adjusts the speed of the dual-axis speed regulating motor, thereby driving the propeller to rotate, thereby realizing left and right movement in the water body, and controlling the electric drive regulating mechanism to make the rudder swing back and forth in the horizontal direction, thereby deflecting the direction of left and right movement to meet the needs of underwater navigation, illuminating the underwater environment through the lighting lamp, and then using the camera to record in real time, and transmitting through the radio transmission module, and the dual-axis speed regulating motor will drive the forward and reverse unpowered pump to rotate when rotating forward and reverse, so that the water body flows in the spiral pipe, and then the surrounding area of ​​the dual-axis servo motor can be cooled, thereby improving the utilization efficiency of the dual-axis servo motor for electric energy, and ensuring that it will not overheat when working for a long time.

[0015] Through the cooperation of the piston, water storage tank, water tank and elastic sealing plate, the control of floating and diving is realized, the purpose of sampling is achieved, and the utilization efficiency of the water tank and water storage tank is improved.

[0016] By releasing air through the compressed gas tank, the elastic airbag can be expanded to achieve rapid buoyancy. During the buoyancy process, it can drive the turbine and the No. 1 generator to rotate to generate electricity. When gas is discharged from the upper port, it enters the containment shell to drive the impeller to rotate, causing the No. 2 generator to rotate and generate electricity, thereby generating electricity and storing it in the battery. It can provide energy for electrical appliances to extend the use time. Floating and power generation are achieved using compressed air, which improves the efficiency of compressed air utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the axial side structure of the present invention.

[0018] Figure 2 It is a front sectional structural schematic diagram of the present invention.

[0019] Figure 3 It is a schematic diagram of the cooperation between the gear and the gear ring of the present invention.

[0020] Figure 4 It is a schematic diagram of the cooperation between the worm and the worm wheel of the present invention.

[0021] Figure 5 It is a front sectional structural schematic diagram of the present invention when the left shell and the right shell are separated.

[0022] Figure 6 It is a schematic diagram of the left structure of the rubber stopper of the present invention.

[0023] Figure 7 It is a schematic diagram of the structure when the turbine and the limit rod are separated according to the present invention.

[0024] Figure 8 It is a schematic diagram of the structure of the No. 2 generator, the impeller and the containing shell when they are matched with each other in the present invention.

[0025] In the figure: 1. main body, 2. main containing cavity, 3. battery, 4. circuit control system, 5. forward and reverse non-powered pump, 6. dual-axis speed regulating motor, 7. propeller, 8. rudder, 10. camera, 11. lighting lamp, 12. No. 1 servo motor, 13. worm, 14. supporting shaft, 15. worm gear, 16. water tank, 17. gear ring, 18. water storage tank, 19. piston, 20. push-pull rod, 21. No. 1 electric push rod, 22. No. 2 servo motor, 23. gear, 24. fork seat, 25. access hole, 26. elastic sealing plate, 27. positioning seat, 28. compressed gas tank, 29. electromagnetic three-way stop valve, 30. upper port, 31. lower port, 32. Left shell, 33, middle shell, 3301, rope, 34, right shell, 36, plug, 37, rubber plug, 38, cylinder, 39, main elastic airbag, 40, auxiliary elastic airbag, 41, main inflation tube, 42, auxiliary inflation tube, 43, auxiliary inflation nozzle, 44, main inflation nozzle, 45, piston rod, 46, piercing blade, 47, storage slot, 48, tail plate, 49, guide cylinder, 50, support seat, 51, No. 1 generator, 52, turbine, 53, limit rod, 54, left connecting pipe, 55, No. 2 electric push rod, 56, right connecting pipe, 57, containing shell, 58, bracket, 59, No. 2 generator, 60, impeller, 61, intake pipe, 62, exhaust pipe. DETAILED DESCRIPTION

[0026] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] like Figure 1-Figure 8As shown, a high-efficiency wireless charging underwater unmanned vehicle includes a main body 1, wherein the main body 1 is provided with a closed main accommodating chamber 2, wherein the main accommodating chamber 2 is provided with a battery 3, a circuit control system 4, a forward and reverse unpowered pump 5 and a dual-axis speed regulating motor 6, wherein the battery 3, the forward and reverse unpowered pump 5 and the dual-axis speed regulating motor 6 are respectively fixed to the inner wall of the main body 1, wherein the battery 3 and the dual-axis speed regulating motor 6 are respectively electrically connected to the circuit control system 4, wherein the circuit control system 4 is electrically connected with a radio signal transmission module, wherein the battery 3 is electrically connected with a radio charging module, wherein the radio charging module is close to the inner wall of the main accommodating chamber 2, wherein the input shaft of the forward and reverse unpowered pump 5 is coaxially fixedly connected with one output shaft of the dual-axis speed regulating motor 6, and the other output shaft of the dual-axis speed regulating motor 6 is coaxially fixedly connected with the input shaft of the forward and reverse unpowered pump 5. The main body 1 is sealed and rotatably connected and horizontally penetrates the right part of the main body 1. The dual-axis speed-regulating motor 6 penetrates the output shaft of the main body 1 and is coaxially fixed with a propeller 7. One port of the forward and reverse unpowered pump 5 is connected to the outside through a pipeline, and the other port of the forward and reverse unpowered pump 5 is connected to the outside through a spiral pipeline. The spiral pipeline gap is inserted outside the dual-axis speed-regulating motor 6. The main body 1 is also equipped with a camera 10, a lighting lamp 11, a rudder 8 and its electric drive adjustment mechanism. The electric drive adjustment mechanism, the lighting lamp 11 and the camera 10 are electrically connected to the circuit control system 4 respectively. The lighting lamp 11 can illuminate the environment outside the main body 1, and the camera 10 can capture the environmental image outside the main body 1. The main body 1 and its internal components have a tendency to sink in the water.

[0028] When in use, the radio charging module is used for charging, and the main body 1 is lowered to the corresponding depth of the water body through an external traction rope, or the main body 1 is directly put into the water body to make it sink to the bottom of the water body, and then the radio signal is transmitted to the radio signal transmission module to realize the forward and reverse rotation control of the dual-axis speed regulating motor 6 and the control of the electric drive adjustment mechanism, and the speed of the dual-axis speed regulating motor 6 is adjusted, and then the propeller 7 is driven to rotate, so as to realize left and right movement in the water body, and the rudder 8 is made to swing back and forth in the horizontal direction by controlling the electric drive adjustment mechanism, so as to deflect left and right. The direction of movement is to meet the needs of underwater navigation. The underwater environment is illuminated by the lighting lamp 11, and then the camera 10 is used to record in real time and transmit it through the radio transmission module. The dual-axis speed regulating motor 6 will drive the forward and reverse unpowered pump 5 to rotate when rotating forward and reverse, so that the water body flows in the spiral pipe, and then the temperature around the dual-axis speed regulating motor 6 can be cooled, thereby improving the efficiency of the dual-axis speed regulating motor 6 in utilizing electric energy and ensuring that it will not overheat when working for a long time (when the water temperature is not higher than the working temperature of the dual-axis speed regulating motor 6).

[0029] The electric drive adjustment mechanism includes a servo motor No. 12, and a servo motor No. 12 is fixed in the main accommodating chamber 2. The servo motor No. 12 is electrically connected to the circuit control system 4. The servo motor No. 12 is horizontally arranged, and a worm 13 is coaxially fixed to the rotating shaft of the servo motor No. 12. The main body 1 is sealed and rotatably connected with a vertical support shaft 14, and the upper part of the support shaft 14 passes through the main body 1 and extends outside the main body 1. The rudder 8 is vertically fixed to the upper part of the support shaft 14, and a worm gear 15 is coaxially fixed to the bottom of the support shaft 14. The worm gear 15 is meshed with the worm 13, and the servo motor No. 12 is electrically connected to the circuit control system 4.

[0030] By controlling the first servo motor 12 to rotate forward and reverse, the support shaft 14 can be rotated forward and reverse by utilizing the meshing of the worm 13 and the worm wheel 15, so that the rudder 8 can swing back and forth in the horizontal direction.

[0031] The main body 1 is also equipped with a lifting mechanism, which includes a water tank 16, a gear ring 17, a water storage tank 18, a piston 19, a push-pull rod 20, a No. 1 electric push rod 21, a No. 2 servo motor 22, a gear 23, a fork seat 24, and an access hole 25. The right part of the main accommodating chamber 2 is horizontally cylindrical, and the middle part of the main accommodating chamber 2 is coaxially sealed and rotatably connected with a cylindrical water tank 16, and the left end of the water tank 16 is coaxially fixed with a gear ring 17. The water tank 16 is circumferentially penetrated by multiples of two of the centripetal water storage tanks 18, and each of the water storage tanks 18 is sealed and slidably connected with a piston 19 radially arranged relative to the water tank 16, and the end of each piston 19 close to the axis of the water tank 16 is respectively fixed with a push-pull rod 20. A vertical No. 1 electric push rod 21 and a horizontal No. 2 servo motor 22 with a braking function are installed in the cavity 2. The No. 1 electric push rod 21 and the No. 2 servo motor 22 are electrically connected to the circuit control system 4 respectively. A gear 23 is coaxially fixed to the rotating shaft of the No. 2 servo motor 22, and the gear 23 is meshed with the ring gear 17. A horizontal fork seat 24 is fixed to the bottom end of the push rod of the No. 1 electric push rod 21, and the fork seat 24 can be inserted with a gap with the left part of the push-pull rod 20. A vertical access hole 25 is passed through the bottom of the main body 1, and the access hole 25 corresponds to the water tank 16 up and down. The water tank 16 can seal the access hole 25. The camera 10 mentioned above is fixed at a circular equiangle to the middle right part of the main body 1.

[0032] Furthermore, in order to facilitate the free diving or ascent of the vehicle underwater, by controlling the No. 2 servo motor 22 to rotate forward and reverse at corresponding angles, the engagement of the gear 23 and the ring gear 17 can be utilized to rotate the water tank 16 at corresponding angles, thereby connecting the water tank 18 with the inlet and outlet hole 25, or sealing the inlet and outlet hole 25 using the water tank 16. When the water tank 16 seals the inlet and outlet holes 25, the water tank 18 is located at the front and rear sides of the inlet and outlet holes 25. At this time, the push-pull rod 20 is located at the front and rear sides of the fork seat 24. Therefore, by controlling the No. 1 electric push rod 21 to extend and retract the push rod, the fork seat 24 can move up and down freely without contacting the fork seat 24 (this state is called a1). Initially, each piston 19 seals the part of the water tank 18 away from the middle of the water tank 16. When it is necessary to control the corresponding piston 19 to move, the part of the water tank 16 adjacent to the piston 19 is first sealed to the inlet and outlet holes 25, that is, it is in the a1 state at this time, and then the No. 1 electric push rod 21 is controlled to extend, and then the No. 2 servo motor 22 is controlled to rotate slightly, so that the water tank 18 and the inlet and outlet holes 2 5 is connected, and the push-pull rod 20 at the end of the piston 19 in the water storage tank 18 is just in the fork seat 24, then the No. 1 electric push rod 21 is controlled to retract the push rod, and the push-pull rod 20 can be used to pull the piston 19 to allow water to enter the water storage tank 18, thereby reducing the buoyancy of the aircraft and achieving diving; similarly, when it is necessary to operate other pistons 19, first move the fork seat 24 to the height of the corresponding push-pull rod 20 in the a1 state, and then use the rotation of the water tank 16 to make the push-pull rod 20 insert into the fork seat 24, and then control the No. 1 electric push rod 21 to extend the push rod, and when the piston 19 squeezes the water in the water tank and discharges it from the inlet and outlet 25, the total drainage volume will increase, and then the buoyancy will increase, so as to achieve floating.

[0033] There are six water storage tanks 18 , and two of the water storage tanks 18 , which are at an angle of 180 degrees to each other, are fixed with arc-shaped elastic sealing plates 26 . The outer arc-shaped wall of the elastic sealing plate 26 is cocircular with the outer circumferential wall of the water tank 16 , and the elastic sealing plate 26 can completely block the inlet and outlet holes 25 .

[0034] Furthermore, the water storage tank 18 fixed with the elastic sealing plate 26 can be used for sampling. On the basis of the above, by controlling the piston 19 in the water storage tank 18 to be close to the middle of the water tank 16, the fluid sample in the water body can be squeezed through the inlet and outlet holes 25 by the elastic sealing plate 26 under the action of the pressure difference to make it deform upward to release the blockage of the inlet and outlet holes 25, thereby entering the water storage tank 18. After the piston 19 stops moving, the elastic sealing plate 26 will restore the blockage of the inlet and outlet holes 25 under the action of its own elastic force, thereby preventing the sample from accidentally flowing out of the inlet and outlet holes 25. When the aircraft floats to the water surface, the aircraft is taken out of the water so that the water storage tank 18 corresponds to the inlet and outlet holes 25, and then the elastic sealing plate 26 is pushed up by a rod-shaped tool to discharge the fluid sample, thereby realizing the control of floating and diving and the purpose of sampling, thereby improving the utilization efficiency of the water tank 16 and the water storage tank 18.

[0035] A soft positioning seat 27 is fixed between the batteries 3, a compressed gas tank 28 is tightly inserted in the positioning seat 27, an electromagnetic three-way stop valve 29 is installed in the air pipe of the compressed gas tank 28, and the electromagnetic three-way stop valve 29 is provided with an upper port 30 and a lower port 31. The main body 1 is composed of a left shell 32, a middle shell 33 and a right shell 34 sealed and plugged together. The left shell 32 is connected to the middle shell 33 through a surplus rope 3201, and the rope 3201 is located in the left shell 32. The density of the left shell 32 is greater than that of water. The left part of the middle shell 33 and the right shell 34 are The left parts are sealed and closed, a plurality of elastic air bags are fixed to the left end of the middle shell 33, a plurality of plug rods 36 arranged horizontally along the left and right directions are fixed to the right part of the left shell 32, a rubber plug 37 is fixed to the right end of each of the plug rods 36, a plurality of cylinder bodies 38 extending horizontally along the left and right directions are fixed to the left part of the middle shell 33, each of the rubber plugs 37 is sealingly and slidably connected to the cylinder body 38, each of the plug rods 36 is gap-inserted in the cylinder body 38, each of the cylinder bodies 38 is connected to the lower through-port 31 through a pipeline, and the elastic air bags are connected to the upper through-port 30 or the lower through-port 31 through a pipeline.

[0036] When the battery 3 is about to be exhausted and needs to be urgently floated, the electromagnetic three-way stop valve 29 is controlled to first make the lower port 31 open for a period of time, and then the lower port 31 is closed and the upper port 30 is opened for a certain period of time and then closed. When the lower port 31 is opened, gas is filled into the cylinder 38, so that the rubber plug 37 is separated from the cylinder 38, so that the left shell 32 and the middle shell 33 can fall off, and the left shell 32 sinks and is pulled by the cable 3201. As the upper port 30 and the lower port 31 are opened, the elastic airbag gradually expands, thereby increasing the overall displacement of the aircraft, and then being able to quickly increase the buoyancy and achieve rapid floating.

[0037] The elastic airbag includes a main elastic airbag 39 and a secondary elastic airbag 40. The main elastic airbag 39 is fixed at the middle of the left end of the middle shell 33. Each of the secondary elastic airbags 40 is fixed around the main elastic airbag 39 at equal angles in a circle. The main elastic airbag 39 is fixedly connected to a main inflation tube 41, and the secondary elastic airbag 40 is fixedly connected to a secondary inflation tube 42. The main inflation tube 41 is connected to the lower through-port 31 through a pipeline. The secondary inflation tube 42 is horizontally arranged in the left and right directions. The right end of the secondary inflation tube 42 is fixedly connected to a secondary inflation nozzle 43, and the side wall is fixedly connected to a main inflation nozzle 44. A piston column 45 is sealed and slidably connected in the secondary inflation tube 42. A piercing blade 46 is fixed to the left end of the piston column 45. The main inflation nozzle 44 is located on the left side of the piston column 45. Each of the secondary inflation nozzles 43 is connected to the upper through-port 30 through a pipeline, and each of the main inflation nozzles 44 is connected to the lower through-port 31 through a pipeline.

[0038] Furthermore, on the basis of the above scheme, when the lower port 31 is connected, gas is filled into the cylinder 38, the main inflation nozzle 44 and the main inflation tube 41, and the cylinder 38 is inflated so that the rubber plug 37 is detached from the cylinder 38, so that the left shell 32 and the middle shell 33 can fall off, and the left shell 32 can sink. After the main inflation nozzle 44 and the main inflation tube 41 are inflated, the auxiliary elastic airbag 40 and the main elastic airbag 39 can be gradually expanded and floated close to the water surface. Subsequently, the lower port 31 is closed and the upper port 30 is opened for a certain period of time, and the piston rod 45 is pushed to the left by the compressed air and discharged from the auxiliary inflation tube 42, thereby piercing the auxiliary elastic airbag 40 with the piercing blade 46, and then the auxiliary elastic airbag 40 explodes, pushing away the surrounding water and floating objects (such as duckweed), thereby exposing the aircraft and making it easier for the staff to find it. The expansion of the main elastic airbag 39 can ensure sufficient buoyancy, thereby ensuring the stability of the aircraft's floating. The auxiliary elastic airbag 40 is used to achieve floating and remove floating objects, which indirectly improves the utilization efficiency of the auxiliary elastic airbag 40.

[0039] The piston column 45 is radially penetrated by a storage groove 47 , and the storage groove 47 is filled with eye-catching and environmentally friendly water-based paint.

[0040] Furthermore, when the piston rod 45 is discharged from the auxiliary inflation tube 42 and the piercing blade 46 pierces the auxiliary elastic airbag 40, the water is mixed with the water-based paint in the storage tank 47, thereby forming a striking warning around, which is easy for the staff to find, and indirectly improves the utilization efficiency of the piston rod 45.

[0041] The left shell 32 and the main elastic airbag 39 are both made of transparent materials, the lighting lamp 11 is fixed at the left end of the middle shell 33 and is located in the main elastic airbag 39, and the camera 10 is fixed at the left end of the middle shell 33 and is located in the main elastic airbag 39. Four tail plates 48 are fixed at equal angles on the outer wall of the right shell 34, and a guide tube 49 extending in the left and right directions is fixed on the right side of the right shell 34, and the guide tube 49 is inserted into the outside of the propeller 7.

[0042] The left shell 32 and the main elastic airbag 39 made of transparent material facilitate the light emitted by the lighting lamp 11 to pass through and illuminate the environment on the left side of the aircraft, thereby facilitating the use of the camera 10 in the main elastic airbag 39 to take pictures and record. The tail plate 48 and the guide tube 49 can make the propeller 7 push the water body, and the navigation of the aircraft is more stable.

[0043] A support seat 50 is fixed to the right part of the middle shell 33, and a waterproof No. 1 generator 51 is fixed to the support seat 50. The No. 1 generator 51 and the support seat 50 jointly seal the right part of the middle shell 33. The rotating shaft of the No. 1 generator 51 is located outside the middle shell 33. The rotating shaft of the No. 1 generator 51 is axially slidably connected with a turbine 52. The rotating shaft of the No. 1 generator 51 is also radially fixed with a limiting rod 53. The density of the turbine 52 is greater than the density of water. The limiting rod 53 is gap-connected with the turbine 52 to prevent the turbine 52 from being separated from the rotating shaft of the No. 1 generator 51. The front and rear parts of the support seat 50 are each fixedly connected with a left connecting pipe 54. The upper and lower parts of the right end of the support seat 50 are each fixed with a vertical and waterproof No. 2 electric push rod 55. When the push rods of the No. 2 electric push rod 55 are extended, they can be plugged into the middle shell 33 and the right shell 34 to maintain the sealed plug connection between the middle shell 33 and the right shell 34. When the push rods of the two No. 2 electric push rods 55 are retracted, they can be disengaged from the right shell body 34. The left front and left rear parts of the right shell body 34 are fixedly connected with right connecting pipes 56. The left connecting pipes 54 and the right connecting pipes 56 correspond to each other on the left and right and are respectively located outside the virtual outer circle of the turbine 52. The two left connecting pipes 54 and the corresponding right connecting pipes 56 are respectively connected through surplus hoses. One of the right connecting pipes 56 is connected to the upper port 30 through a pipeline, and the other right connecting pipe 56 is connected to the lower port 31 through a pipeline. The left connecting pipe 54 indirectly connected to the upper port 30 through the right connecting pipe 56 and the hose is connected to the auxiliary inflation nozzle 43 through a pipeline, and the left connecting pipe 54 indirectly connected to the lower port 31 through the right connecting pipe 56 and the hose is connected to the main inflation nozzle 44 and the main inflation pipe 41 through a pipeline. The right shell body 34 and its internal parts have a tendency to sink when in water.

[0044] Furthermore, when the aircraft needs to float urgently due to insufficient power, the No. 2 electric push rod 55 is controlled to retract the push rod. At this time, under the action of gravity and the buoyancy of the elastic airbag, the right shell 34 and its internal components sink together, while the middle shell 33 floats up, so that the middle shell 33 and the right shell 34 are separated, and a certain distance is maintained under the traction of the surplus hose, and they float up together. In this process, the turbine 52 moves away from the shaft of the No. 1 generator 51 under the action of gravity, and then the turbine 52 is pushed by the resistance of the water during the floating process to start rotating, thereby driving the No. 1 generator 51 to generate electricity and store it in the battery 3, which can provide energy for electrical appliances to extend the use time (for example, power the lighting lamp 11 to facilitate staff to find it). The effect of power generation is achieved by floating, which indirectly improves the utilization efficiency of compressed air.

[0045] A containing shell 57 is fixed to the left part of the support seat 50, and the middle part of the containing shell 57 passes through from left to right, and a bracket 58 is fixed to each of the left and right parts. The bracket 58 on the left part of the containing shell 57 is fixed with a second generator 59 along the left and right horizontal directions. The rotating shaft of the second generator 59 is rotatably connected to the bracket 58 on the right part of the containing shell 57. A cylindrical impeller 60 is sealed and rotatably connected to the middle part of the containing shell 57. The blades of the impeller 60 are located in the containing shell 57. The impeller 60 is coaxially fixed with the rotating shaft of the second generator 59. A vertical non-centripetal intake pipe 61 is fixedly connected to the outer circumferential wall of the containing shell 57, and a non-coaxial exhaust pipe 62 is fixedly connected to the left end of the containing shell 57. The left connecting pipe 54 indirectly connected to the upper port 30 through the right connecting pipe 56 and the hose is connected to the intake pipe 61 through a pipeline, and the exhaust pipe 62 is connected to the auxiliary inflation nozzle 43 through a pipeline. The second generator 59 is electrically connected to the circuit control system 4.

[0046] Furthermore, when gas is discharged from the upper port 30, it enters the containing shell 57 to drive the impeller 60 to rotate, and is finally discharged from the auxiliary inflation nozzle 43, so that the second generator 59 rotates to generate electricity, thereby generating electricity and storing it in the battery 3, which can provide energy for electrical appliances to extend the use time. Floating and power generation are achieved by using compressed air, thereby improving the utilization efficiency of compressed air.

[0047] The above is a preferred embodiment of the present invention. For ordinary technicians in this field, according to the teachings of the present invention, without departing from the principles and spirit of the present invention, changes, modifications, substitutions and variations made to the implementation methods are still within the scope of protection of the present invention.

Claims

1. A high-efficiency wireless charging underwater unmanned vehicle, comprising a main body (1), characterized in that: The main body (1) is provided with a closed main accommodating chamber (2), and the main accommodating chamber (2) is provided with a storage battery (3), a circuit control system (4), a forward and reverse non-powered pump (5) and a dual-axis speed regulating motor (6). The storage battery (3), the forward and reverse non-powered pump (5) and the dual-axis speed regulating motor (6) are respectively fixed to the inner wall of the main body (1), and the storage battery (3) and the dual-axis speed regulating motor (6) are respectively electrically connected to the circuit control system (4). A radio signal transmission module is electrically connected to the circuit control system (4), and the storage battery (3) is electrically connected to a radio charging module. The radio charging module is close to the inner wall of the main accommodating chamber (2). The input shaft of the forward and reverse non-powered pump (5) is coaxially fixedly connected to an output shaft of the dual-axis speed regulating motor (6). The dual-axis speed regulating motor (6) is electrically connected to the input shaft of the forward and reverse non-powered pump (5) and is coaxially fixedly connected to an output shaft of the dual-axis speed regulating motor (6). The other output shaft of the motor (6) is connected to the main body (1) in a sealed rotational manner and then horizontally penetrates the right part of the main body (1). The output shaft of the dual-axis speed regulating motor (6) that penetrates the main body (1) is coaxially fixed with a propeller (7). One port of the forward and reverse non-powered pump (5) is connected to the outside through a pipeline, and the other port of the forward and reverse non-powered pump (5) is connected to the outside through a spiral pipeline. The spiral pipeline is inserted into the outside of the dual-axis speed regulating motor (6). The main body (1) is also equipped with a camera (10), a lighting lamp (11), a rudder (8) and an electric drive adjustment mechanism. The electric drive adjustment mechanism, the lighting lamp (11) and the camera (10) are respectively electrically connected to the circuit control system (4). The main body (1) and its internal components have a tendency to sink in water.

2. A high-efficiency wireless charging underwater unmanned vehicle according to claim 1, characterized in that: The electric drive adjustment mechanism comprises a No. 1 servo motor (12), the No. 1 servo motor (12) being fixed in the main accommodating chamber (2), the No. 1 servo motor (12) being electrically connected to a circuit control system (4), the No. 1 servo motor (12) being arranged horizontally, a worm (13) being coaxially fixed to a rotating shaft of the No. 1 servo motor (12), the main body (1) being sealingly rotatably connected to a vertical support shaft (14), the upper portion of the support shaft (14) passing through the main body (1) and extending outside the main body (1), the rudder (8) being vertically fixed to the upper portion of the support shaft (14), a worm wheel (15) being coaxially fixed to the bottom of the support shaft (14), the worm wheel (15) being meshed with the worm wheel (13), and the No. 1 servo motor (12) being electrically connected to the circuit control system (4).

3. The high-efficiency wireless charging underwater unmanned vehicle according to claim 1, characterized in that: The main body (1) is also provided with a lifting mechanism, which comprises a water tank (16), a gear ring (17), a water storage tank (18), a piston (19), a push-pull rod (20), a No. 1 electric push rod (21), a No. 2 servo motor (22), a gear (23), a fork seat (24), and an access hole (25). The right middle portion of the main accommodating chamber (2) is horizontally cylindrical. The middle portion of the main accommodating chamber (2) is coaxially and sealingly connected to a cylindrical water tank (16). The left end of the water tank (16) is coaxially fixed with a gear ring (17). The water tank (16) is circumferentially penetrated by a plurality of water storage tanks (18) at equal angles. A piston (19) radially arranged relative to the water tank (16) is respectively and sealingly and slidably connected in each of the water storage tanks (18). The end of each of the pistons (19) close to the axis of the water tank (16) is respectively fixed with a push-pull rod (20). A vertical No. 1 electric push rod (21) and a horizontal No. 2 servo motor (22) with a brake function are installed in the main accommodating chamber (2). The No. 1 electric push rod (21) and the No. 2 servo motor (22) are electrically connected to the circuit control system (4) respectively. A gear (23) is coaxially fixed to the rotating shaft of the No. 2 servo motor (22). The gear (23) is meshed with the gear ring (17). A horizontal fork seat (24) is fixed to the bottom end of the push rod of the No. 1 electric push rod (21). The fork seat (24) can be inserted with a gap with the left part of the push-pull rod (20). A vertical access hole (25) is penetrated through the bottom of the main body (1). The access hole (25) corresponds to the water tank (16) in upper and lower positions. The water tank (16) can seal the access hole (25). The camera (10) is fixed to the right part of the main body (1) at a circular equiangular position.

4. A high-efficiency wireless charging underwater unmanned vehicle according to claim 3, characterized in that: The number of the water storage tanks (18) is six, and two of the water storage tanks (18) that are at an angle of 180 degrees to each other have arc-shaped elastic sealing plates (26) fixed inside, the outer arc-shaped wall of the elastic sealing plate (26) being cocircular with the outer circumferential wall of the water tank (16), and the elastic sealing plate (26) being able to completely block the inlet and outlet holes (25).

5. The high-performance wireless charging underwater unmanned vehicle according to claim 1, characterized in that: A soft positioning seat (27) is fixed between the batteries (3), a compressed gas tank (28) is tightly inserted in the positioning seat (27), an electromagnetic three-way stop valve (29) is installed in the air pipe of the compressed gas tank (28), and the electromagnetic three-way stop valve (29) is provided with an upper opening (30) and a lower opening (31). The main body (1) is composed of a left shell (32), a middle shell (33) and a right shell (34) which are sealed and plugged together. The left shell (32) is connected to the middle shell (33) through a surplus rope (3201), and the rope (3201) is located in the left shell (32). The density of the left shell (32) is greater than that of water. The left and right parts of the middle shell (33) are The left part of the shell (34) is sealed and closed; a plurality of elastic airbags are fixed to the left end of the middle shell (33); a plurality of plug rods (36) arranged horizontally in the left-right direction are fixed to the right part of the left shell (32); a rubber plug (37) is fixed to the right end of each of the plug rods (36); a plurality of cylinder bodies (38) extending horizontally in the left-right direction are fixed to the left part of the middle shell (33); each of the rubber plugs (37) is sealingly and slidably connected to the cylinder body (38); each of the plug rods (36) is gap-inserted into the cylinder body (38); each of the cylinder bodies (38) is connected to the lower opening (31) through a pipeline; and the elastic airbag is connected to the upper opening (30) or the lower opening (31) through a pipeline.

6. A high-efficiency wireless charging underwater unmanned vehicle according to claim 5, characterized in that: The elastic airbag comprises a main elastic airbag (39) and a secondary elastic airbag (40). The main elastic airbag (39) is fixed to the middle of the left end of the middle shell (33). The secondary elastic airbags (40) are fixed around the main elastic airbag (39) at equal angles in a circle. The main elastic airbag (39) is fixedly connected to a main inflation tube (41). The secondary elastic airbag (40) is fixedly connected to a secondary inflation tube (42). The main inflation tube (41) is connected to the lower opening (31) through a pipeline. The secondary inflation tube (42) is angularly spaced from left to right. The auxiliary inflation tube (42) is horizontally arranged in the direction of rotation, the right end of the auxiliary inflation tube (42) is fixedly connected to the auxiliary inflation nozzle (43), and the side wall is fixedly connected to the main inflation nozzle (44), the auxiliary inflation tube (42) is sealed and slidably connected to the piston column (45), the left end of the piston column (45) is fixed with a piercing blade (46), the main inflation nozzle (44) is located on the left side of the piston column (45), each of the auxiliary inflation nozzles (43) is connected to the upper opening (30) through a pipeline, and each of the main inflation nozzles (44) is connected to the lower opening (31) through a pipeline.

7. A high-efficiency wireless charging underwater unmanned vehicle according to claim 6, characterized in that: The piston column (45) is radially penetrated by a storage groove (47), and the storage groove (47) is filled with eye-catching and environmentally friendly water-based pigment.

8. The high-efficiency wireless charging underwater unmanned vehicle according to claim 6, characterized in that: The left shell (32) and the main elastic airbag (39) are both made of transparent materials. The lighting lamp (11) is fixed to the left end of the middle shell (33) and is located in the main elastic airbag (39). One of the cameras (10) is fixed to the left end of the middle shell (33) and is located in the main elastic airbag (39). Four tail plates (48) are fixed at equal angles on the outer wall of the right shell (34). A guide tube (49) extending in the left-right direction is fixed to the right side of the right shell (34). The guide tube (49) is inserted into the outside of the propeller (7) through a gap.

9. The high-efficiency wireless charging underwater unmanned vehicle according to claim 6, characterized in that: A support seat (50) is fixed to the right part of the middle shell (33), and a waterproof generator No. 1 (51) is fixed to the support seat (50). The generator No. 1 (51) and the support seat (50) jointly seal the right part of the middle shell (33). The rotating shaft of the generator No. 1 (51) is located outside the middle shell (33). The rotating shaft of the generator No. 1 (51) is axially slidably connected to the turbine (52). The rotating shaft of the generator No. 1 (51) is also radially fixed with a limit rod (53). The turbine (52) is sealed. The limit rod (53) is inserted into the turbine (52) with a gap to prevent the turbine (52) from being separated from the rotating shaft of the first generator (51). The front and rear parts of the support seat (50) are each fixedly connected with a left connecting pipe (54). The upper and lower parts of the right end of the support seat (50) are each fixed with a vertical and waterproof second electric push rod (55). When the push rods of the second electric push rod (55) are extended, they can be inserted into the middle shell (33) and the right shell (34) to maintain the middle shell (33) and the right shell (34). The push rods of the two second electric push rods (55) can be disconnected from the right housing (34) when they are retracted. The left front part and the left rear part of the right housing (34) are each fixedly connected with a right connecting pipe (56). The left connecting pipe (54) and the right connecting pipe (56) correspond to each other on the left and right and are respectively located outside the virtual outer circle of the turbine (52). The two left connecting pipes (54) and the corresponding right connecting pipes (56) are respectively connected through surplus hoses, and one of the right connecting pipes (56) is connected to the upper opening (30) through a pipeline. The other right connecting pipe (56) is connected to the lower port (31) through a pipeline, the left connecting pipe (54) indirectly connected to the upper port (30) through the right connecting pipe (56) and the hose is connected to the auxiliary inflation nozzle (43) through a pipeline, and the left connecting pipe (54) indirectly connected to the lower port (31) through the right connecting pipe (56) and the hose is connected to the main inflation nozzle (44) and the main inflation pipe (41) through a pipeline, and the right shell (34) and its internal parts have a tendency to sink when in water.

10. A high-efficiency wireless charging underwater unmanned vehicle according to claim 9, characterized in that: A accommodating shell (57) is fixed to the left part of the support seat (50), the middle part of the accommodating shell (57) penetrates from left to right, and a bracket (58) is fixed to each of the left and right parts, the bracket (58) on the left part of the accommodating shell (57) is fixed with a second generator (59) along the left and right horizontal directions, the rotating shaft of the second generator (59) is rotatably connected to the bracket (58) on the right part of the accommodating shell (57), the middle part of the accommodating shell (57) is sealed and rotatably connected with a cylindrical impeller (60), the blades of the impeller (60) are located in the accommodating shell (57), and the impeller (60) is 0) is coaxially fixed with the rotating shaft of the second generator (59), the outer circumferential wall of the containment shell (57) is fixedly connected with a vertical non-centripetal intake pipe (61), the left end of the containment shell (57) is fixedly connected with a non-coaxial exhaust pipe (62), the left connecting pipe (54) indirectly connected to the upper opening (30) through the right connecting pipe (56) and the hose is connected to the intake pipe (61) through a pipe, the exhaust pipe (62) is connected to the auxiliary inflation nozzle (43) through a pipe, and the second generator (59) is electrically connected to the circuit control system (4).

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