Underwater Robot

Abstract

The present invention relates to the field of robot technology, and in particular to an underwater robot. A positioning component determines the position information of an underwater robot; a control component controls the underwater robot to run to an underwater target position according to the position information; after the underwater robot runs to the underwater target position, the control component controls the first one-way valve to open, the second one-way valve to close, and controls the pumping component to extract sampled water; after the underwater robot runs to the underwater target position, the water body detection component detects the water body around the sampled water body, and transmits the detection result to the control component; the control component stores the detection result; the control component is also used to control the first one-way valve to close, the second one-way valve to open, and control the sampled water to flow out of the pumping component after the underwater robot has finished extracting water. This not only ensures that the underwater robot can accurately run to the underwater target position, but also improves the accuracy and convenience of collecting sampled water bodies at the underwater target position.

Description

Technical Field

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

[0002] Understanding the quality and ecological status of water bodies is crucial for environmental protection and water body research. The quality of water bodies directly affects the balance and stability of the ecosystem, while the ecological status reflects the health and sustainability of the water body. Only by accurately grasping the quality and ecological status of water bodies can we formulate scientific and reasonable environmental protection strategies, promote the in-depth development of water body research, and achieve sustainable use of water resources and a virtuous cycle of the ecological environment.

[0003] In order to study water bodies, it is usually necessary to collect and test the water quality of the water bodies. However, in the prior art, there is no underwater robot that can be used to collect water from water bodies. Therefore, how to provide an underwater robot that is convenient for collecting water has become an urgent problem to be solved. Summary of the invention

[0004] In view of this, the present invention provides an underwater robot to solve the problem of how to provide an underwater robot that is convenient for taking water.

[0005] In a first aspect, the present invention provides an underwater robot, which comprises: a robot body, a water pumping component, a water body detection component, a positioning component and a control component, wherein the water pumping component is mounted on the lower surface of the robot body, the water body detection component is mounted on the lower surface of the underwater robot, and the positioning component is mounted on the upper surface of the robot body; the control component is mounted inside the robot body; wherein the water pumping component comprises a water inlet and a water outlet, a first one-way valve is mounted near the water inlet to ensure that the sampled water only enters but does not exit, and a second one-way valve is mounted near the water outlet to ensure that the sampled water only exits but does not enter, the first one-way valve, the second one-way valve, the water pumping component, the positioning component and the water body detection component are all communicatively connected with the control component, wherein:

[0006] A positioning component, used to determine the position information of the underwater robot;

[0007] A control component, used to control the underwater robot to move to the underwater target position according to the position information;

[0008] A control component is used to control the first one-way valve to open and the second one-way valve to close after the underwater robot moves to the underwater target position, and to control the pumping component to extract the sampled water;

[0009] A water body detection component is used to detect the water body around the sampled water body after the underwater robot moves to the underwater target position, and transmit the detection result to the control component;

[0010] A control component, used for storing the detection results;

[0011] The control component is also used to control the first one-way valve to close and the second one-way valve to open after the underwater robot finishes taking water, and to control the sampled water to flow out of the pumping component.

[0012] The underwater robot provided in the embodiment of the present application has a positioning component, which is used to determine the position information of the underwater robot, thereby ensuring the accuracy of the position information of the underwater robot obtained. The control component is used to control the underwater robot to run to the underwater target position according to the position information, thereby ensuring the accuracy of the underwater robot running to the underwater target position. The control component is used to control the first one-way valve to open and the second one-way valve to close if the underwater robot runs to the underwater target position, and control the pumping component to extract the sampled water body, thereby ensuring that the sampled water body will not flow out when entering the pumping component, and when the sampled water body flows out of the pumping component, no other water will flow in, thereby ensuring the accuracy of the sampled water body collected, so as to further detect the sampled water body. The water body detection component is used to detect the water body around the sampled water body after the underwater robot runs to the underwater target position, and transmit the detection result to the control component, thereby ensuring the accuracy of the water body around the sampled water body. The control component is used to store the detection result, thereby facilitating the query and tracing of the detection result. The control component is also used to control the first one-way valve to close and the second one-way valve to open after the underwater robot has finished taking water, and to control the sampled water to flow out of the pumping component, so as to facilitate further detection of the sampled water, thereby ensuring the comprehensiveness and accuracy of the detection of the sampled water. The above-mentioned underwater robot not only ensures that the underwater robot can accurately move to the underwater target position, but also improves the accuracy and convenience of collecting sampled water at the underwater target position. Thus, an underwater robot that is convenient for taking water is provided.

[0013] In an optional embodiment, the positioning component includes a GPS (Global Positioning System) component and a photosensitive component, and the positioning subcomponent and the photosensitive component are connected to the control component, wherein:

[0014] The control component is used to obtain the positioning information of the underwater robot on the water surface based on the positioning subcomponent; and control the underwater robot to travel to the target position on the water surface according to the positioning information;

[0015] A photosensitive component, used to obtain a first light intensity of the underwater robot at a target position on the water surface, and to obtain a second light intensity of the underwater robot at an underwater position in real time, and to transmit the first light intensity and the second light intensity to the control component;

[0016] The control component is used to determine the current transparency corresponding to the underwater position according to the relationship between the first light intensity and the second light intensity; when the current transparency meets the preset transparency requirement, it is determined that the underwater robot has reached the underwater target position.

[0017] The underwater robot provided in the embodiment of the present application has a control component, which is used to obtain the positioning information of the underwater robot on the water surface based on the positioning subcomponent; the accuracy of the obtained positioning information is ensured, and the underwater robot is controlled to travel to the target position on the water surface according to the positioning information, thereby ensuring the accuracy of controlling the underwater robot to travel to the target position on the water surface. The photosensitive component is used to obtain the first light intensity of the underwater robot at the target position on the water surface, and to obtain the second light intensity of the underwater robot at the underwater position in real time, and transmit the first light intensity and the second light intensity to the control component, thereby ensuring the accuracy of obtaining the first light intensity and the second light intensity. The control component is used to determine the current transparency corresponding to the underwater position according to the relationship between the first light intensity and the second light intensity; when the current transparency meets the preset transparency requirement, it is determined that the underwater robot has reached the underwater target position, thereby ensuring the accuracy of the underwater robot reaching the underwater target position.

[0018] In an optional embodiment, a control component is used to input the first light intensity and the second light intensity into a preset transparency model, and the preset transparency model extracts features of the first light intensity and the second light intensity based on the relationship between the first light intensity and the second light intensity, and outputs the current transparency corresponding to the underwater position.

[0019] The underwater robot provided in the embodiment of the present application has a control component, which is used to input the first light intensity and the second light intensity into a preset transparency model. The preset transparency model extracts features of the first light intensity and the second light intensity according to the relationship between the first light intensity and the second light intensity, and outputs the current transparency corresponding to the underwater position, thereby ensuring the accuracy of the output current transparency corresponding to the underwater position.

[0020] In an optional implementation, the control component is used to: receive a historical training data set, the historical training data set including multiple historical training data, each of the historical training data including a first training light intensity corresponding to a historical water surface, a second training light intensity at different water depths corresponding to the historical water surface, and a training transparency, wherein each training transparency is label information;

[0021] Input into the initial transparency network based on the historical training data set;

[0022] The initial transparency network extracts features of each first training light intensity and a second training light intensity corresponding to the first training light intensity, and outputs a virtual transparency;

[0023] Calculate the loss function between the virtual transparency and the corresponding training transparency;

[0024] Based on the loss function, the initial transparency network is trained to generate a preset transparency model.

[0025] The underwater robot provided in the embodiment of the present application has a control component, which is used to receive a historical training data set, and input the historical training data set into an initial transparency network; the initial transparency network extracts features of each first training light intensity and a second training light intensity corresponding to the first training light intensity, and outputs a virtual transparency, thereby ensuring the accuracy of the output virtual transparency. The loss function between the virtual transparency and the corresponding training transparency is calculated; the accuracy of the calculated loss function is ensured, and based on the loss function, the initial transparency network is trained to generate a preset transparency model, thereby ensuring the accuracy of the generated preset transparency model.

[0026] In an optional embodiment, the pumping assembly includes a first pipe, a plurality of second pipes and a power assembly, the diameter of each second pipe is smaller than the diameter of the first pipe, each second pipe is installed inside the first pipe, and the power assembly is connected to the control assembly, wherein:

[0027] The control component is used to control the operation of the power component to draw the sampled water into each second pipeline.

[0028] The underwater robot provided in the embodiment of the present application has a pumping component including a first pipe, multiple second pipes and a power component. The diameter of each second pipe is smaller than the diameter of the first pipe. Each second pipe is installed inside the first pipe. The power component is connected to the control component, wherein: the control component is used to control the operation of the power component to pump the sampled water into each second pipe, thereby ensuring that the sampled water is in a laminar state, thereby avoiding turbulence that may cause increased mixing of the sampled water and accelerated dissolution of some substances (such as chlorophyll), resulting in an inability to detect dissolved substances in the sampled water.

[0029] In an optional embodiment, the pumping assembly further includes a runner, one end of which is connected to the power assembly, and the other end of which is connected to each second pipeline, wherein:

[0030] A control component, used to obtain the water flow velocity and water flow rate corresponding to the underwater target position, and determine the target speed of rotation of each second pipe according to the water flow velocity and water flow rate;

[0031] The control component is also used to control the operation of the power component to drive the wheel to rotate;

[0032] The rotating wheel is used to drive each second pipe to rotate at a target speed under the drive of the power component, and to draw the sampled water into each second pipe.

[0033] The underwater robot provided by the embodiment of the present application, the pumping component also includes a rotating wheel, one end of the rotating wheel is connected to the power component, and the other end is connected to each second pipeline, wherein: the control component is used to obtain the water flow velocity and water flow rate corresponding to the underwater target position, and determine the target speed of rotation of each second pipeline according to the water flow velocity and water flow rate, thereby ensuring the accuracy of the determined target speed of rotation of each second pipeline. The control component is also used to control the operation of the power component to drive the rotating wheel to rotate; the rotating wheel is used to drive each second pipeline to rotate at the target speed under the drive of the power component, and extract the sampled water into each second pipeline. Thereby, it can be ensured that the sampled water can flow into at least one second pipeline more smoothly, further ensuring that the sampled water is in a laminar state, thereby avoiding the turbulence that may cause the sampled water to mix more aggravated, and some substances are accelerated to dissolve (such as chlorophyll), resulting in the inability to detect the dissolved substances in the sampled water.

[0034] In an optional embodiment, the top of the underwater robot further includes a photosensitive component, which is connected to the control component, wherein:

[0035] A control component is used to obtain the positioning information of the underwater robot on the water surface; according to the positioning information, the underwater robot is controlled to travel to the target position on the water surface;

[0036] A photosensitive component, used to obtain a first light intensity of the underwater robot at a target position on the water surface, and to obtain a second light intensity of the underwater robot at an underwater position in real time, and to transmit the first light intensity and the second light intensity to the control component;

[0037] The control component is used to determine the current transparency corresponding to the underwater position according to the relationship between the first light intensity and the second light intensity; when the current transparency meets the preset transparency requirement, it is determined that the underwater robot has reached the underwater target position.

[0038] The underwater robot provided in the embodiment of the present application has a control component, which is used to obtain the positioning information of the underwater robot on the water surface; the accuracy of the obtained positioning information is ensured, and the underwater robot is controlled to travel to the target position on the water surface according to the positioning information, thereby ensuring the accuracy of controlling the underwater robot to travel to the target position on the water surface. The photosensitive component is used to obtain the first light intensity of the underwater robot at the target position on the water surface, and to obtain the second light intensity of the underwater robot at the underwater position in real time, and transmit the first light intensity and the second light intensity to the control component, thereby ensuring the accuracy of obtaining the first light intensity and the second light intensity. The control component is used to determine the current transparency corresponding to the underwater position according to the relationship between the first light intensity and the second light intensity; when the current transparency meets the preset transparency requirement, it is determined that the underwater robot has reached the underwater target position, thereby ensuring the accuracy of the underwater robot reaching the underwater target position.

[0039] In an optional embodiment, a control component is used to input the first light intensity and the second light intensity into a preset transparency model, and the preset transparency model extracts features of the first light intensity and the second light intensity based on the relationship between the first light intensity and the second light intensity, and outputs the current transparency corresponding to the underwater position.

[0040] The underwater robot provided in the embodiment of the present application has a control component, which is used to input the first light intensity and the second light intensity into a preset transparency model. The preset transparency model extracts features of the first light intensity and the second light intensity according to the relationship between the first light intensity and the second light intensity, and outputs the current transparency corresponding to the underwater position, thereby ensuring the accuracy of the output current transparency corresponding to the underwater position.

[0041] In an optional implementation, the control component is used to: receive a historical training data set, the historical training data set including multiple historical training data, each of the historical training data including a first training light intensity corresponding to a historical water surface, a second training light intensity at different water depths corresponding to the historical water surface, and a training transparency, wherein each training transparency is label information;

[0042] Input into the initial transparency network based on the historical training data set;

[0043] The initial transparency network extracts features of each first training light intensity and a second training light intensity corresponding to the first training light intensity, and outputs a virtual transparency;

[0044] Calculate the loss function between the virtual transparency and the corresponding training transparency;

[0045] Based on the loss function, the initial transparency network is trained to generate a preset transparency model.

[0046] The underwater robot provided in the embodiment of the present application has a control component, which is used to receive a historical training data set, and input the historical training data set into an initial transparency network; the initial transparency network extracts features of each first training light intensity and a second training light intensity corresponding to the first training light intensity, and outputs a virtual transparency, thereby ensuring the accuracy of the output virtual transparency. The loss function between the virtual transparency and the corresponding training transparency is calculated; the accuracy of the calculated loss function is ensured, and based on the loss function, the initial transparency network is trained to generate a preset transparency model, thereby ensuring the accuracy of the generated preset transparency model.

[0047] In an optional embodiment, the water body detection assembly includes a detection sleeve, a plurality of sensor probes and a telescopic bracket corresponding to each sensor probe, each sensor probe and each telescopic bracket is installed in the detection sleeve, and the control assembly is connected to each telescopic bracket, wherein:

[0048] The control component is used to control the extension of each telescopic bracket when the underwater robot moves to the underwater target position, and extend each sensor probe into the target water body to detect the target water body;

[0049] The control component is also used to control the contraction of each telescopic bracket to store each sensor probe into the detection sleeve if the detection of the target water body is completed.

[0050] The underwater robot provided in the embodiment of the present application has a control component, which is used to control the extension of each telescopic bracket, extend each sensor probe into the water, and detect the target water body, so as to detect the target water body and ensure the accuracy of the detection of the target water body. The control component is also used to control the contraction of each telescopic bracket after the detection of the target water body is completed, and to store each sensor probe into the detection sleeve, thereby ensuring the safety of each sensor probe and avoiding damage to each sensor probe.

[0051] In an optional embodiment, the underwater robot further includes a calibration component, the calibration component includes a plurality of calibration liquid containing chambers, each calibration liquid containing chamber corresponds to each sensor probe; each calibration liquid containing chamber contains a standard calibration liquid for calibrating each sensor probe, and the control component is communicatively connected with the calibration component, wherein:

[0052] A control component, used to control the calibration component to move to the bottom of the water body detection component and control each calibration liquid containing chamber to open;

[0053] A control component, used for controlling the extension of each telescopic bracket, extending each sensor probe into a corresponding calibration liquid containing chamber, and calibrating each sensor probe;

[0054] The control component is also used to control the contraction of each telescopic bracket after the calibration of each sensor probe is completed, so as to store each sensor probe into the detection sleeve.

[0055] The underwater robot provided in the embodiment of the present application has a control component, which is used to control the calibration component to move to the bottom of the water body detection component and control the opening of each calibration liquid storage chamber, thereby ensuring that each sensor probe can be inserted into each calibration liquid storage chamber. The control component is used to control the extension of each telescopic bracket, extend each sensor probe into the corresponding calibration liquid storage chamber, calibrate each sensor, ensure the accuracy of the calibration of the sensor probe, and further ensure the accuracy of the detection of the target water body using each sensor probe. The control component is also used to control the contraction of each telescopic bracket after the calibration of each sensor is completed, and store each sensor probe into the detection sleeve, thereby ensuring the safety of each sensor probe.

[0056] In an optional embodiment, the underwater robot further includes a bladeless propeller, wherein one bladeless propeller is installed on one side of the tail of the underwater robot, and another bladeless propeller is installed on the other side of the head of the underwater robot, and each bladeless propeller is connected to a control component, wherein:

[0057] The bladeless propeller is used to drive the underwater robot to move in the water under the control of the control component.

[0058] The underwater robot provided in the embodiment of the present application has a bladeless propeller, which is used to drive the underwater robot to operate in the water under the control of the control component. Thus, the thrust generated by the bladeless propeller can be used to directly propel the underwater robot forward, and can provide better linear propulsion performance, so that the underwater robot can complete the tasks of fast forward and long-distance navigation. In addition, the use of a bladeless propeller can prevent objects such as water plants from being entangled in the shaft body, causing the underwater robot to fail to work normally.

[0059] In an optional embodiment, the water outlet is installed with a telescopic pipe, and the sampled water flows out from the telescopic pipe.

[0060] The underwater robot provided in the embodiment of the present application has a telescopic pipe installed at the water outlet, and the sampled water flows out from the telescopic pipe, thereby facilitating the collection of the sampled water flowing out of the telescopic pipe. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0062] Figure 1 is a schematic structural diagram of a first underwater robot according to an embodiment of the present invention;

[0063] Figure 2 is a schematic structural diagram of a second underwater robot according to an embodiment of the present invention;

[0064] Figure 3 is a structural schematic diagram of a first pumping assembly according to an embodiment of the present invention;

[0065] Figure 4 is a structural schematic diagram of a second pumping assembly according to an embodiment of the present invention;

[0066] Figure 5 is a schematic diagram of the structure of a water body detection component according to an embodiment of the present invention;

[0067] Figure 6 is a schematic structural diagram of a third underwater robot according to an embodiment of the present invention;

[0068] Figure 7 is a schematic structural diagram of a fourth underwater robot according to an embodiment of the present invention;

[0069] Figure 8 4 is a schematic structural diagram of a fifth underwater robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0070] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0071] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can also be the internal connection of two components, it can be a wireless connection, or it can be a wired connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0072] In the description of the present invention, it should be noted that the term "and / and / or" used in the present specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0073] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0074] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0075] According to an embodiment of the present invention, there is provided an underwater robot, such as Figure 1 As shown, the underwater robot includes: a robot body 1, a pumping component 2, a water body detection component 3, a positioning component 4 and a control component 5, wherein the pumping component 2 is installed on the lower surface of the robot body 1, the water body detection component 3 is installed on the lower surface of the underwater robot, and the positioning component 4 is installed on the upper surface of the robot body 1; the control component is installed inside the robot body 1; wherein the pumping component 2 includes a water inlet 21 and a water outlet 22, a first one-way valve 6 is installed near the water inlet 21 to ensure that the sampled water only enters but does not exit, and a second one-way valve 7 is installed near the water outlet 22 to ensure that the sampled water only exits but does not enter, the first one-way valve 6, the second one-way valve 7, the pumping component 2, the positioning component 4 and the water body detection component 3 are all connected to the control component 5 for communication, wherein:

[0076] Positioning component 4, used to determine the position information of the underwater robot;

[0077] A control component 5 is used to control the underwater robot to move to the underwater target position according to the position information;

[0078] The control component 5 is used to control the first one-way valve 6 to open and the second one-way valve 7 to close when the underwater robot moves to the underwater target position, and control the pumping component 2 to extract the sampled water;

[0079] The water body detection component 3 is used to detect the target water body corresponding to the underwater target position when the underwater robot runs to the underwater target position, and transmit the detection result to the control component 5;

[0080] Control component 5, used for storing the detection results;

[0081] The control component 5 is also used to control the first one-way valve 6 to close, the second one-way valve 7 to open, and the sampled water to flow out of the pumping component 2 after the underwater robot finishes taking water.

[0082] Specifically, the positioning component 4 can position the underwater robot and determine the position information of the underwater robot. Then, the position information of the underwater robot is transmitted to the control component 5. The control component 5 receives the position information of the underwater robot transmitted by the positioning component 4, and controls the underwater robot to run to the underwater target position according to the position information, thereby ensuring the accuracy of the underwater robot running to the underwater target position, and thus no manual control of the underwater robot is required to run in the water.

[0083] After the underwater robot runs to the underwater target position, the control component 5 can control the first one-way valve 6 in the pumping component 2 to open and the second one-way valve 7 to close, so that the sampled water can flow in from the water inlet 21 of the pumping component 2 and not flow out from the water outlet 22.

[0084] In addition, after the underwater robot runs to the underwater target position, the control component 5 can also control the water body detection component 3 to detect the target water body corresponding to the underwater target position, and transmit the detection result to the control component 5.

[0085] Among them, the water body detection component 3 can detect parameters such as temperature, pH value, dissolved oxygen content, turbidity, conductivity, etc. of the target water body.

[0086] It should be noted that the parameters corresponding to the target water body and the sampled water body are the same. Therefore, the water body detection component 3 directly detects the parameters of the target water body, which can ensure the accuracy of the obtained detection results. This avoids the detection of the sampled water body at a later time, resulting in inaccurate detection results. The water body detection component 3 transmits the detection results to the control component 5. The control component 5 can store the detection results, so as to facilitate the recording and tracing of the detection results.

[0087] After the underwater robot finishes taking water, the control component 5 can control the first one-way valve 6 to close, the second one-way valve 7 to open, and control the sampled water to flow out from the water outlet 22 of the pumping component 2 .

[0088] The underwater robot provided in the embodiment of the present application, the positioning component 4, is used to determine the position information of the underwater robot, and ensures the accuracy of the position information of the underwater robot obtained. The control component 5 is used to control the underwater robot to run to the underwater target position according to the position information, and ensures the accuracy of the underwater robot running to the underwater target position. The control component 5 is used to control the first one-way valve 6 to open and the second one-way valve 7 to close if the underwater robot runs to the underwater target position, and control the pumping component 2 to extract the sampled water body, so as to ensure that the sampled water body will not flow out when entering the pumping component 2, and when the sampled water body flows out of the pumping component 2, no other water will flow in, thereby ensuring the accuracy of the sampled water body collected, so as to further detect the sampled water body. The water body detection component 3 is used to detect the water body around the sampled water body after the underwater robot runs to the underwater target position, and transmit the detection result to the control component 5, thereby ensuring the accuracy of the detection of the water body around the sampled water body. The control component 5 is used to store the test results, so as to facilitate the query and tracing of the test results. The control component 5 is also used to control the first one-way valve 6 to close, the second one-way valve 7 to open, and the sampled water to flow out of the pumping component 2 after the underwater robot has finished taking water, so as to facilitate further testing of the sampled water, thereby ensuring the comprehensiveness and accuracy of the testing of the sampled water. The above-mentioned underwater robot not only ensures that the underwater robot can accurately run to the underwater target position, but also improves the accuracy and convenience of collecting sampled water at the underwater target position. Thereby, an underwater robot that is convenient for taking water is provided.

[0089] In an optional embodiment of the present application, as Figure 2 As shown, the positioning component 4 includes a positioning subcomponent 41 and a photosensitive component 42, and the positioning subcomponent 41 and the photosensitive component 42 are connected to the control component 5, wherein:

[0090] The control component 5 is used to obtain the positioning information of the underwater robot on the water surface based on the positioning subcomponent 41; and control the underwater robot to travel to the target position on the water surface according to the positioning information;

[0091] The photosensitive component 42 is used to obtain a first light intensity of the underwater robot at a target position on the water surface, and to obtain a second light intensity of the underwater robot at an underwater position in real time, and to transmit the first light intensity and the second light intensity to the control component 5;

[0092] The control component 5 is used to determine the current transparency corresponding to the underwater position according to the relationship between the first light intensity and the second light intensity; when the current transparency meets the preset transparency requirement, it is determined that the underwater robot has reached the underwater target position.

[0093] Specifically, the positioning subcomponent 41 can monitor the position of the underwater robot on the water surface to obtain the positioning information of the underwater robot on the water surface. The positioning subcomponent 41 can transmit the positioning information of the underwater robot on the water surface to the control component 5. The control component 5 receives the positioning information of the underwater robot on the water surface transmitted by the positioning subcomponent 41, and controls the underwater robot to travel to the target position on the water surface according to the positioning information.

[0094] After the underwater robot travels to the target position on the water surface, the photosensitive component 42 can obtain the first light intensity of the underwater robot at the target position on the water surface, and transmit the first light intensity to the control component 5. Then, the control component 5 controls the underwater robot to move downward, and the photosensitive component 42 obtains the second light intensity of the underwater robot at the underwater position in real time during the downward movement of the underwater robot, and transmits the second light intensity to the control component 5.

[0095] Specifically, the control component 5 can determine the current transparency corresponding to the underwater position according to the relationship between the first light intensity and the second light intensity.

[0096] Specifically, the control component 5 can compare the current transparency with the preset transparency threshold, and when the current transparency is equal to the preset transparency threshold, it is determined that the current transparency meets the preset transparency requirement. When the current transparency meets the preset transparency requirement, the control component 5 determines that the underwater robot has reached the underwater target position.

[0097] In an optional embodiment of the present application, the control component 5 is used to input the first light intensity and the second light intensity into a preset transparency model. The preset transparency model extracts features of the first light intensity and the second light intensity based on the relationship between the first light intensity and the second light intensity, and outputs the current transparency corresponding to the underwater position.

[0098] Specifically, the control component 5 can input the first light intensity and the second light intensity into a preset transparency model. The preset transparency model first identifies the first light intensity and the second light intensity based on the relationship between the first light intensity and the second light intensity, and then extracts features of the first light intensity and the second light intensity, and outputs the current transparency corresponding to the underwater position based on the extracted features.

[0099] In an optional implementation of the present application, the control component 5 is used to receive a historical training data set;

[0100] The historical training data set includes multiple historical training data, each of which includes a first training light intensity corresponding to a historical water surface, a second training light intensity at different water depths corresponding to the historical water surface, and a training transparency, wherein each training transparency is label information;

[0101] Input into the initial transparency network based on the historical training data set;

[0102] The initial transparency network extracts features of each first training light intensity and a second training light intensity corresponding to the first training light intensity, and outputs a virtual transparency;

[0103] Calculate the loss function between the virtual transparency and the corresponding training transparency;

[0104] Based on the loss function, the initial transparency network is trained to generate a preset transparency model.

[0105] Specifically, the control component 5 may receive a historical training data set input by a user, or may receive a historical training data set sent by other devices, or may receive a historical training data set sent by other devices. The embodiment of the present application does not specifically limit the manner in which the control component 5 obtains the historical training data set.

[0106] Each piece of historical training data includes a first training light intensity corresponding to the historical water surface, a second training light intensity at different water depths corresponding to the historical water surface, and training transparency. The historical training data set may include the first training light intensity corresponding to the history under various light intensities.

[0107] The control component 5 can input the historical training data set into the initial transparency network, and use each training transparency as label information. The initial transparency network extracts features of each first training light intensity and the second training light intensity corresponding to the first training light intensity, and outputs virtual transparency. The control component 5 can calculate the loss function between the virtual transparency and the corresponding training transparency.

[0108] The control component 5 can adjust various parameters in the initial transparency network based on the loss function to generate a preset transparency model.

[0109] The initial transparency network may be any one of a radial basis function (RBF) network, a feedforward neural network (FFNN), a convolutional neural network (CNN), a deconvolutional neural network (DN), a deep convolutional inverse graphics network (DCIGN), a generative adversarial network (GAN), a recurrent neural network (RNN), a long / short term memory network (LSTM), a deep residual network (DRN) and an extreme learning machine (ELM). The embodiment of the present application does not limit the initial transparency network.

[0110] Among them, the loss function can be a square error loss function, a mean absolute error loss function, a cross entropy loss function, etc. The embodiment of the present application does not specifically limit the loss function.

[0111] The underwater robot provided in the embodiment of the present application, the control component 5, is used to obtain the positioning information of the underwater robot on the water surface based on the positioning subcomponent 41; the accuracy of the obtained positioning information is ensured, and the underwater robot is controlled to travel to the target position on the water surface according to the positioning information, thereby ensuring the accuracy of controlling the underwater robot to travel to the target position on the water surface. The photosensitive component 42 is used to obtain the first light intensity of the underwater robot at the target position on the water surface, and to obtain the second light intensity of the underwater robot at the underwater position in real time, and transmit the first light intensity and the second light intensity to the control component 5, thereby ensuring the accuracy of obtaining the first light intensity and the second light intensity. The control component 5 is used to input the first light intensity and the second light intensity into a preset transparency model, and the preset transparency model extracts the features of the first light intensity and the second light intensity according to the relationship between the first light intensity and the second light intensity, and outputs the current transparency corresponding to the underwater position, thereby ensuring the accuracy of the current transparency corresponding to the output underwater position, thereby ensuring the accuracy of the determined underwater robot reaching the underwater target position.

[0112] In addition, the control component 5 is used to receive a historical training data set, and input the historical training data set into the initial transparency network; the initial transparency network extracts features of each first training light intensity and the second training light intensity corresponding to the first training light intensity, and outputs a virtual transparency, thereby ensuring the accuracy of the output virtual transparency. The loss function between the virtual transparency and the corresponding training transparency is calculated; the accuracy of the calculated loss function is ensured, and based on the loss function, the initial transparency network is trained to generate a preset transparency model, thereby ensuring the accuracy of the generated preset transparency model.

[0113] In an optional embodiment of the present application, as Figure 3 As shown, the pumping assembly 2 includes a first pipe 23, a plurality of second pipes 24 and a power assembly 25. The diameter of each second pipe 24 is smaller than the diameter of the first pipe 23. Each second pipe 24 is installed inside the first pipe 23. The power assembly 25 is connected to the control assembly 5, wherein:

[0114] The control component 5 is used to control the operation of the power component 25 to draw the sampled water into each second pipeline 24 .

[0115] Specifically, the control component 5 can control the power component 25 to provide power to draw the sampled water into the second pipeline 24 .

[0116] Since the diameter of each second pipe 24 is small, the turbulence of the sampled water in each second pipe 24 is small and closer to a laminar flow state, thereby avoiding the turbulence that may cause the sampled water to be mixed more severely and the accelerated dissolution of some substances (such as chlorophyll), resulting in the inability to detect dissolved substances in the sampled water.

[0117] In an optional embodiment of the present application, as Figure 4 As shown, the pumping assembly 2 further includes a runner 26, one end of which is connected to the power assembly 25, and the other end of which is connected to each second pipeline 24, wherein:

[0118] A control component 5, used to obtain the water flow velocity and water flow rate corresponding to the underwater target position, and determine the target speed of rotation of each second pipe 24 according to the water flow velocity and water flow rate;

[0119] The control component 5 is also used to control the operation of the power component 25 to drive the rotating wheel 26 to rotate;

[0120] The rotating wheel 26 is used to drive each second pipe 24 to rotate at a target speed under the drive of the power assembly 25 , and to draw the sampled water into each second pipe 24 .

[0121] Specifically, the underwater robot may further include a flow rate and flow rate monitoring component, which may monitor the flow rate and flow rate of water flow corresponding to the underwater target position, and transmit the flow rate and flow rate of water flow corresponding to the underwater target position to the control component 5 .

[0122] The control component 5 can determine the target speed of rotation of the second pipes 24 according to the corresponding relationship between the water flow velocity and the water flow rate and the corresponding rotation speed of each second pipe 24 .

[0123] Among them, the control component 5 can receive the water flow rate and the correspondence between the water flow rate and the rotation speed corresponding to each second pipe 24 input by the user, and can also receive the water flow rate and the correspondence between the water flow rate and the rotation speed corresponding to each second pipe 24 sent by other devices. The electronic device can also obtain historical data and fit the correspondence between the water flow rate and the water flow rate and the rotation speed corresponding to each second pipe 24. The embodiment of the present application does not specifically limit the way in which the control component 5 obtains the water flow rate and the correspondence between the water flow rate and the rotation speed corresponding to each second pipe 24.

[0124] The control component 5 can determine the target rotation speed of each second pipe 24 according to the corresponding relationship between the water flow velocity and the water flow rate and the corresponding rotation speed of each second pipe 24.

[0125] The control component 5 controls the power component 25 to operate according to the determined target speed of rotation of each second pipe 24, and drives the rotating wheel 26 to rotate. Driven by the power component 25, the rotating wheel 26 drives each second pipe 24 to rotate at the target speed, and extracts the sampled water into each second pipe 24.

[0126] The underwater robot provided in the embodiment of the present application, the pumping component 2 includes a first pipe 23, multiple second pipes 24 and a power component 25, the diameter of each second pipe 24 is smaller than the diameter of the first pipe 23, each second pipe 24 is installed inside the first pipe 23, and the power component 25 is connected to the control component 5, wherein: the control component 5 is used to control the operation of the power component 25 to extract the sampled water into each second pipe 24, thereby ensuring that the sampled water is in a laminar state, thereby avoiding turbulence that may cause the mixing of the sampled water to increase, and some substances are accelerated to dissolve (such as chlorophyll), resulting in the inability to detect the dissolved substances in the sampled water.

[0127] In an optional embodiment, the pumping assembly 2 further includes a rotating wheel 26, one end of which is connected to the power assembly 25, and the other end is connected to each second pipe 24, wherein: the control assembly 5 is used to obtain the water flow velocity and water flow rate corresponding to the underwater target position, and determine the target speed of rotation of each second pipe 24 according to the water flow velocity and water flow rate, thereby ensuring the accuracy of the determined target speed of rotation of each second pipe 24. The control assembly 5 is also used to control the operation of the power assembly 25 to drive the rotating wheel 26 to rotate; the rotating wheel 26 is used to drive each second pipe 24 to rotate at the target speed under the drive of the power assembly 25, and extract the sampled water into each second pipe 24. Thereby, it can be ensured that the sampled water can flow into at least one second pipe 24 more smoothly, further ensuring that the sampled water is in a laminar state, thereby avoiding the possibility that turbulence may cause the sampled water to be mixed more, and some substances are dissolved faster (such as chlorophyll), resulting in the inability to detect the dissolved substances in the sampled water.

[0128] In an optional embodiment of the present application, as Figure 5 As shown, the water body detection component 3 includes a detection sleeve 31, a plurality of sensor probes 32 and a telescopic bracket 33 corresponding to each sensor probe 32, each sensor probe 32 and each telescopic bracket 33 are installed in the detection sleeve 31, and the control component 5 is connected to each telescopic bracket 33, wherein:

[0129] The control component 5 is used to control each telescopic bracket 33 to extend when the underwater robot moves to the underwater target position, and extend each sensor probe 32 into the target water body to detect the target water body;

[0130] The control component 5 is also used to control the retraction of each telescopic bracket 33 to store each sensor probe 32 into the detection sleeve 31 if the detection of the target water body is completed.

[0131] Specifically, after the underwater robot moves to the underwater target position, the control component 5 can control the telescopic bracket 33 connected to each sensor probe 32 to extend, and extend each sensor probe 32 into the target water body to detect the target water body.

[0132] After each sensor probe 32 completes the detection of the target water body, the control component 5 controls each telescopic bracket 33 to retract, so as to store each sensor probe 32 into the detection sleeve 31 .

[0133] In an optional embodiment of the present application, as Figure 6 As shown, the underwater robot also includes a calibration component 8, which includes a plurality of calibration liquid containing chambers 61, each calibration liquid containing chamber 61 corresponds to each sensor probe 32; each calibration liquid containing chamber 61 contains a standard calibration liquid for calibrating each sensor probe 32, and the control component 5 is connected to the calibration component 8 in communication, wherein:

[0134] The control component 5 is used to control the calibration component 8 to move to the bottom of the water body detection component 3 and control each calibration liquid containing chamber 61 to open;

[0135] The control component 5 is used to control the extension of each telescopic bracket 33, so that each sensor probe 32 is extended into the corresponding calibration liquid containing chamber 61, and the sensor probe 32 is calibrated;

[0136] The control component 5 is also used to control the retraction of each telescopic bracket 33 after the calibration of each sensor probe 32 is completed, so as to store each sensor probe 32 into the detection sleeve 31.

[0137] Specifically, Figure 6 As shown, a slide rail is installed on the lower surface of the robot body 1, a slider is installed on the slide rail, a support rod is installed at the other end of the slider, and a verification component 8 is installed at the other end of the support rod.

[0138] The control component 5 can control the slider to slide, thereby driving the support rod to move, and the support rod drives the calibration component 8 to move below the water body detection component 3, and makes each calibration liquid storage chamber 61 in the water body detection component 3 correspond to each sensor probe 32. Then, the control component 5 controls each calibration liquid storage chamber 61 to open.

[0139] After controlling each calibration liquid containing chamber 61 to open, the control component 5 can control each telescopic bracket 33 to extend, extend each sensor probe 32 into the corresponding calibration liquid containing chamber 61, and calibrate each sensor probe 32 using a zero-point calibration method.

[0140] The underwater robot provided in the embodiment of the present application, the control component 5, is used to control the extension of each telescopic bracket 33, extend each sensor probe 32 into the water, and detect the target water body, so that the target water body can be detected and the accuracy of the detection of the target water body can be guaranteed. The control component 5 is also used to control the contraction of each telescopic bracket 33 if the detection of the target water body is completed, and each sensor probe 32 is received in the detection sleeve 31, thereby ensuring the safety of each sensor probe 32 and avoiding damage to each sensor probe 32.

[0141] In addition, the control component 5 is used to control the calibration component 8 to move to the bottom of the water body detection component 3, and control each calibration liquid storage chamber 61 to open, thereby ensuring that each sensor probe 32 can extend into each calibration liquid storage chamber 61. The control component 5 is used to control each telescopic bracket 33 to extend each sensor probe 32 into the corresponding calibration liquid storage chamber 61, calibrate each sensor, ensure the accuracy of the calibration of the sensor probe 32, and further ensure the accuracy of the detection of the target water body using each sensor probe 32. The control component 5 is also used to control each telescopic bracket 33 to retract after the calibration of each sensor is completed, and each sensor probe 32 is stored in the detection sleeve 31, thereby ensuring the safety of each sensor probe 32.

[0142] In an optional embodiment of the present application, as Figure 7 As shown, the underwater robot further includes a bladeless propeller 9, wherein one bladeless propeller 9 is installed on one side of the tail of the underwater robot, and another bladeless propeller 9 is installed on the other side of the head of the underwater robot, and each bladeless propeller 9 is connected to a control component 5, wherein:

[0143] The bladeless propeller 9 is used to drive the underwater robot to move in the water under the control of the control component 5.

[0144] Specifically, one of the bladeless propellers 9 is installed on one side of the tail of the underwater robot, and the other bladeless propeller 9 is installed on the other side of the head of the underwater robot, so that the bladeless propeller 9 is installed on both sides of the head and the tail. The control component 5 can control the bladeless propeller 9 to drive the underwater robot to run in the water.

[0145] The underwater robot provided in the embodiment of the present application, the bladeless propeller 9, is used to drive the underwater robot to operate in the water under the control of the control component 5. Thus, the thrust generated by the bladeless propeller 9 can be used to directly propel the underwater robot forward, and can provide good linear propulsion performance, so that the underwater robot can complete the tasks of fast forward and long-distance navigation. In addition, the use of the bladeless propeller 9 can prevent objects such as water plants from being entangled in the shaft body, causing the underwater robot to fail to work normally.

[0146] In an optional embodiment of the present application, as Figure 8 As shown, the water outlet 22 is installed with a telescopic pipe 221, and the sampled water flows out from the telescopic pipe 221.

[0147] Specifically, the water outlet 22 is installed with a telescopic pipe 221 , and the user can pour out the sampled water through the telescopic pipe 221 .

[0148] In the underwater robot provided in the embodiment of the present application, the water outlet 22 is installed with a telescopic pipe 221, and the sampled water flows out from the telescopic pipe 221, thereby facilitating the collection of the sampled water flowing out of the telescopic pipe 221.

[0149] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. An underwater robot, characterized in that: The underwater robot comprises: a robot body, a pumping assembly, a water body detection assembly, a positioning assembly and a control assembly, wherein the pumping assembly is mounted on the lower surface of the robot body, the water body detection assembly is mounted on the lower surface of the underwater robot, and the positioning assembly is mounted on the upper surface of the robot body; the control assembly is mounted inside the robot body; wherein the pumping assembly comprises a water inlet and a water outlet, a first one-way valve is mounted near the water inlet to ensure that the sampled water only enters but does not exit, a second one-way valve is mounted near the water outlet to ensure that the sampled water only exits but does not enter, the first one-way valve, the second one-way valve, the pumping assembly, the positioning assembly and the water body detection assembly are all communicatively connected with the control assembly, the pumping assembly comprises a first pipe, a plurality of second pipes, a power assembly and a rotating wheel, the diameter of each second pipe is smaller than the diameter of the first pipe, each second pipe is mounted inside the first pipe, one end of the rotating wheel is connected to the power assembly, and the other end is connected to each second pipe, the power assembly is connected to the control assembly, wherein: The positioning component is used to determine the position information of the underwater robot; The control component is used to control the underwater robot to move to the underwater target position according to the position information; The control component is used for obtaining the water flow velocity and water flow rate corresponding to the underwater target position when the underwater robot moves to the underwater target position, and determining the target speed of rotation of each second pipe according to the water flow velocity and the water flow rate; controlling the first one-way valve to open and the second one-way valve to close, and controlling the power component to operate to drive the rotating wheel to rotate; The rotating wheel is used to drive each of the second pipes to rotate at the target speed under the drive of the power assembly, and to draw the sampled water into each of the second pipes; The water body detection component is used to detect the target water body corresponding to the underwater target position if the underwater robot runs to the underwater target position, and transmit the detection result to the control component; The control component is used to store the detection result; The control component is also used to control the first one-way valve to close and the second one-way valve to open after the underwater robot finishes taking water, and to control the sampled water to flow out of the pumping component.

2. The underwater robot according to claim 1, characterized in that: The positioning component includes a positioning sub-component and a photosensitive component, and the positioning sub-component and the photosensitive component are connected to the control component, wherein: The control component is used to obtain the positioning information of the underwater robot on the water surface based on the positioning subcomponent; and control the underwater robot to travel to the target position on the water surface according to the positioning information; The photosensitive component is used to obtain a first light intensity of the underwater robot at the target position on the water surface, and to obtain a second light intensity of the underwater robot at the underwater position in real time, and to transmit the first light intensity and the second light intensity to the control component; The control component is used to determine the current transparency corresponding to the underwater position according to the relationship between the first light intensity and the second light intensity; when the current transparency meets the preset transparency requirement, it is determined that the underwater robot has reached the underwater target position.

3. The underwater robot according to claim 2, characterized in that: The control component is used to input the first light intensity and the second light intensity into a preset transparency model. The preset transparency model extracts features of the first light intensity and the second light intensity based on the relationship between the first light intensity and the second light intensity, and outputs the current transparency corresponding to the underwater position.

4. The underwater robot according to claim 3, characterized in that: The control component is used to Receive a historical training data set, wherein the historical training data set includes a plurality of historical training data, each of the historical training data includes a first training light intensity corresponding to a historical water surface, and a second training light intensity and a training transparency at different water depths corresponding to the historical water surface, wherein each of the training transparency is label information; Input into the initial transparency network according to the historical training data set; The initial transparency network performs feature extraction on each of the first training light intensities and the second training light intensities corresponding to the first training light intensities, and outputs virtual transparency; Calculating a loss function between the virtual transparency and the corresponding training transparency; Based on the loss function, the initial transparency network is trained to generate the preset transparency model.

5. The underwater robot according to claim 1, characterized in that: The water body detection assembly includes a detection sleeve, a plurality of sensor probes and a telescopic bracket corresponding to each of the sensor probes, each of the sensor probes and each of the telescopic brackets is installed in the detection sleeve, and the control assembly is connected to each of the telescopic brackets, wherein: The control component is used to control each of the telescopic brackets to extend and extend each of the sensor probes into the target water body to detect the target water body if the underwater robot moves to the underwater target position; The control component is also used to control the contraction of each telescopic bracket to store each sensor probe into the detection sleeve if the detection of the target water body is completed.

6. The underwater robot according to claim 5, characterized in that: The underwater robot further includes a calibration component, wherein the calibration component includes a plurality of calibration liquid containing chambers, each of which corresponds to each of the sensor probes; each of the calibration liquid containing chambers contains a standard calibration liquid for calibrating each of the sensor probes, and the control component is communicatively connected with the calibration component, wherein: The control component is used to control the calibration component to move to below the water body detection component and control each of the calibration liquid containing chambers to open; The control component is used to control the extension of each of the telescopic brackets to extend each of the sensor probes into the corresponding calibration liquid containing chamber to calibrate each of the sensor probes; The control component is also used to control the contraction of each telescopic bracket after the calibration of each sensor probe is completed, so as to store each sensor probe into the detection sleeve.

7. The underwater robot according to claim 1, characterized in that: The underwater robot further includes a bladeless propeller, one of which is mounted on one side of the tail of the underwater robot, and another of which is mounted on the other side of the head of the underwater robot, and each of which is connected to the control assembly, wherein: The bladeless propeller is used to drive the underwater robot to operate in the water under the control of the control component.

8. The underwater robot according to claim 1, characterized in that: The water outlet is equipped with a telescopic pipe, and the sampled water flows out from the telescopic pipe.

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