An underwater positioning robot and underwater positioning method based on unmanned ship deployment

Abstract

The present invention discloses an underwater positioning robot and underwater positioning method based on unmanned boat deployment, including a robot body and a connecting cable connecting the robot body and the unmanned boat, and also including an auxiliary part arranged on the robot body, wherein the auxiliary part includes a groove opened on the top of the robot body, a floating plate attached to the top of the robot body, a connecting part inserted on the top of the floating plate and connected to the connecting cable, a locking part arranged on the floating plate and fixing the floating plate to the groove, and a rope unwinding part rotatably arranged in the groove, and the connecting part and the locking part are transmission-connected. The connecting part in the auxiliary part of the present invention drives the locking part to release the lock when the connecting cable breaks, and the rope unwinding part releases the rope, so that the floating plate can float to the surface under the action of its own buoyancy. In the later stage, the user can determine the position of the robot body in the water area by the position of the floating plate, thereby reducing the difficulty of finding.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater detection equipment, and in particular to an underwater positioning robot and an underwater positioning method based on unmanned boat deployment. Background Art

[0002] The application of unmanned boats and underwater positioning robots in high dams, large reservoirs and vast waters shows a very broad prospect. They have become indispensable tools in the fields of modern water conservancy projects, scientific research, safety assurance, resource exploration and environmental protection. For high dams and large reservoirs with extreme water depths, complex water flows and changeable environmental conditions, underwater inspection can help to timely discover safety hazards of dam structures, such as structural cracks, concentrated leakage, surface damage, etc., so as to prevent possible disasters such as dam breaches and floods. During underwater inspection, the coordinated operation of unmanned boats and underwater positioning robots is particularly critical.

[0003] In traditional collaborative operations, the unmanned boat is responsible for transporting the underwater positioning robot to the preset delivery point, and then controlling it to dive into the deep water area of ​​the high dam reservoir through a cable connection to perform the inspection task. However, in complex environments such as high dams and large reservoirs, the reliability of the cable faces severe challenges. Strong water flow, underwater obstacles, and even the activities of large aquatic organisms may damage the cable. Once the cable breaks, the underwater positioning robot will be disconnected from the unmanned boat. At this time, the underwater positioning robot cannot be recovered by reeling in the cable. At this time, most underwater positioning robots will rely on the built-in buoyancy adjustment system to make the underwater positioning robot float to the surface and then be recovered manually. However, if the buoyancy adjustment system fails (such as oil leakage or airbag rupture) or the external environmental conditions are harsh, the underwater positioning robot will lose balance and sink into the water. At this time, it is difficult to manually determine its specific position from the water surface, and then it is necessary to manually go deep into the water to find the underwater positioning robot in the later stage. However, due to the complexity and particularity of the underwater environment of the high dam reservoir, it is difficult to manually find it in the later stage, and it is dangerous. To this end, we propose an underwater positioning robot and underwater positioning method based on unmanned vessel deployment. Summary of the invention

[0004] The purpose of the present invention is to provide an underwater positioning robot and an underwater positioning method based on unmanned boat deployment to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] An underwater positioning robot based on unmanned boat deployment includes a robot body and a connecting cable connecting the robot body and the unmanned boat, and also includes an auxiliary part arranged on the robot body, wherein:

[0007] The auxiliary part includes a groove opened on the top of the robot body, a floating plate attached to the top of the robot body, a connecting part inserted on the top of the floating plate and connected to the connecting cable, a locking part provided on the floating plate and fixing the floating plate and the groove, and a pull rope unwinding part rotatably arranged in the groove. The connecting part and the locking part are transmission-connected. When the connecting cable breaks, the connecting part drives the locking part to unlock. The pull rope unwinding part includes a rotating shaft rotatably arranged in the groove and a pull rope wound on the outer wall of the rotating shaft. One end of the pull rope is connected to the floating plate. It also includes a positioning fixing part, which is used to position the robot body at the bottom of the water when the connecting cable breaks.

[0008] A further improvement is that the connecting piece comprises:

[0009] A protective shell, wherein the protective shell is movably sleeved on the outside of the connecting cable, a part of the outer wall of the connecting cable is stacked in the protective shell, one end of the connecting cable passes through the top of the protective shell and is connected to the unmanned boat, and the other end passes through the bottom of the protective shell and is connected to the robot body;

[0010] A fixing member, the fixing sleeve is arranged on the outer wall of the connecting cable and connected to the top of the protective shell; and,

[0011] A T-shaped frame has one end connected to the protective shell, and the other end movably penetrates the floating plate and extends into the groove. The T-shaped frame is connected to the floating plate through an elastic member, and is used to drive the T-shaped frame to move downward when the connecting cable between the protective shell and the unmanned boat is broken.

[0012] A further improvement is that the locking member comprises:

[0013] There are two groups of wedge blocks, which are symmetrically slidably arranged on both sides of the bottom of the floating plate. The opposite sides of the two groups of wedge blocks are fitted with roller contact rods, and the roller contact rods are connected to the bottom end of the T-shaped frame, which are used to drive the two groups of wedge blocks to move away from each other when the T-shaped frame is upward. The bottom of the floating plate is provided with an elastic member for driving the wedge blocks to reset, and the opposite sides of the two groups of wedge blocks are provided with plug blocks, and the inner wall of the groove is provided with a slot for inserting the plug blocks.

[0014] A further improvement is that the plug block is a magnetic block, and an electromagnetic block for electrically adsorbing the plug block is provided at the bottom of the slot, and the electromagnetic block is electrically connected to the connecting cable.

[0015] A further improvement is that one end of the rotating shaft 1 passes through one side of the robot body and is connected to a driving handwheel, the outer wall of the rotating shaft 1 is sleeved with a gear, the gear is engaged with a gear rod, the gear vertically passes through the top of the robot body and is connected to the floating plate, and an elastic reset part is provided between the rotating shaft 1 and the inner wall of the groove, and the elastic reset part drives the rotating shaft 1 to rotate and unwind the pull rope when the floating plate drives the gear rod upward to disengage the gear.

[0016] A further improvement is that a second rotating shaft is rotatably provided on the top of the floating plate, the second rotating shaft is connected to an end of the pull rope away from the pull rope unwinding member, and one end of the second rotating shaft is provided with a clamping member 1 for connecting with a recovery mechanism on the unmanned ship; wherein the recovery mechanism comprises:

[0017] A mounting frame, mounted on an unmanned vessel;

[0018] A clamping device, provided on one side of the mounting frame, for clamping the floating plate; and

[0019] The rotating device is located above the clamping device and is arranged at the output end of the telescopic device. The telescopic device is arranged on the mounting frame and is used to drive the rotating device to move horizontally. The output end of the rotating device is provided with a second clamping member for clamping with the first clamping member.

[0020] A further improvement is that the positioning fixing part includes an assembly groove provided at the bottom of the robot body, an insert part is slidably provided in the assembly groove, the insert part is threadedly sleeved on the outer wall of the stud, the top of the stud extends into the groove and is transmission-connected to the rotating shaft, a plurality of cavities are provided in the insert part, two L-shaped movable rods are vertically provided in the two cavities and movably penetrate the top of the stud and are connected to the bottom of the assembly groove, an L-shaped movable rod one is vertically provided in the inner cavity of the two cavities and located on one side of the L-shaped movable rod two, which movably penetrates the bottom of the two cavities and extends into the groove body, an end of the L-shaped movable rod one away from the groove body is connected to the inner wall of the two cavities through an elastic part, the groove body is provided on the outer wall of the insert part and is located below the assembly groove, an insert piece is movably provided in the groove body, one end of the insert piece is connected to the bottom of the groove body through an elastic part, and a socket for inserting the L-shaped movable rod one is provided on the insert piece;

[0021] When the insert moves downward to a preset position, the L-shaped movable rod 1 is pushed upward by the L-shaped movable rod 2 to disengage from the socket, so that the insert moves out of the slot. The two sides of the robot body are symmetrically hinged with roller support frames, and the roller support frames are connected to the outer wall of the robot body through an arc-shaped elastic member.

[0022] A further improvement is that both ends of the bottom of the floating plate are provided with insertion rods, and the insertion rods are inserted into blind holes opened at the top of the robot body. The blind hole is provided with an elastic ejector that contacts the insertion rod. The elastic ejector is used to push the floating plate upward and away from the robot body when the locking piece is unlocked.

[0023] A further improvement is that a communication module, a control module and an obstacle avoidance module are provided in the inner cavity of the robot body, an image acquisition device for acquiring underwater images and a propeller device for driving the robot body to move are provided on the outer wall of the robot body, and an underwater positioning module is also provided on the robot body, and the underwater positioning module includes a Beidou and GPS dual-mode positioning module and a depth sensor module connected to the control module.

[0024] An underwater positioning method based on an underwater positioning robot deployed by an unmanned ship, using the underwater positioning robot, comprises the following steps:

[0025] S1: After the unmanned boat brings the robot body to the designated location, the unmanned boat releases the connecting cable to allow the robot body to enter the water. The robot body moves to the preset position for detection. During this process, the robot body exchanges real-time signals with the unmanned boat through the connecting cable.

[0026] S2: When the connecting cable breaks, the robot body is fixed to the bottom of the water by the positioning fixture to realize the underwater positioning of the robot body, and the connecting member drives the locking member to unlock when the connecting cable breaks, and the pull rope unwinding member unwinds the pull rope so that the float floats to the surface under the action of its own buoyancy. The user can locate the position of the robot body in the water area by the position of the float, thereby retrieving the robot body.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1) In the process of using the underwater positioning robot in conjunction with the unmanned boat of the present invention, the connecting member in the auxiliary member drives the locking member to unlock when the connecting cable breaks, so that the floating plate is separated from the robot body, and the pull rope unwinding member releases the pull rope, so that the floating plate can float to the surface under the action of its own buoyancy. In the later stage, the user can determine the position of the robot body in the water area by the position of the floating plate, so as to retrieve the robot body for maintenance, reduce the difficulty of finding, effectively prevent greater losses, reduce the risk of finding, and fix the robot body to the bottom of the water by the positioning fixing member, and position it underwater, so that it is not easy to move underwater, which is convenient for the subsequent positioning of the robot body by the floating plate and retrieval of the robot body;

[0029] 2) The present invention is also provided with a recovery mechanism, which is installed on the unmanned boat. After the connecting cable is broken, the unmanned boat can be controlled to the floating board and the recovery mechanism can be used to recover the robot body in the water area. It is easy to use and reduces the risk of injury or distress.

[0030] 3) The present invention reduces the damage to the robot body caused by the robot body hitting the bottom of the water through the roller support frame and the arc-shaped elastic member, thereby further reducing the loss. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic diagram of the connection between the robot body and the unmanned boat of the present invention;

[0032] Figure 2 This is a cross-sectional view of the main structure of the robot of the present invention;

[0033] Figure 3 For the present invention Figure 2 A magnified view of the structure A;

[0034] Figure 4 For the present invention Figure 2 A magnified view of the structure B in FIG.

[0035] Figure 5 It is a cross-sectional view of the insert structure of the present invention.

[0036] In the figure: 1. robot body; 2. image acquisition device; 3. underwater positioning module; 4. communication module; 5. control module; 6. connecting cable; 7. floating plate; 8. T-shaped frame; 9. wedge block; 10. roller contact rod; 11. plug block; 12. electromagnetic block; 13. rotating shaft 1; 14. groove; 15. plug rod; 16. elastic ejector; 17. insert sheet; 18. pull rope; 19. gear; 20. gear rod; 21. mounting frame; 22. clamping device; 23. rotating device; 24. engaging part 1; 25. rotating shaft 2; 26. insert; 27. stud; 28. cavity 2; 29. ​​L-shaped movable rod 1; 30. L-shaped movable rod 2; 31. arc elastic part; 32. roller support frame; 33. fixing part; 34. protective shell. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] See also Figure 1-Figure 2

[0039] An underwater positioning robot based on unmanned boat deployment, comprising a robot body 1 and a connecting cable 6 connecting the robot body 1 and the unmanned boat, the connecting cable 6 is used for real-time signal exchange between the robot body 1 and the unmanned boat, a main engine compartment is generally provided in the unmanned boat, a connecting cable release mechanism and a main engine are provided inside the main engine compartment, a navigation module, a control module, a communication module 4, a GPS module and a lithium battery are also provided inside the main engine, and the robot body 1 can accurately navigate, avoid obstacles and dock, and at the same time communicate with a ground station in real time and transmit data to the robot body 1 through the connecting cable 6;

[0040] The robot body 1 is provided with an underwater positioning module 3, which includes a Beidou and GPS dual-mode positioning module and a depth sensor module connected to the control module 5, and is used for the robot body 1 to quickly locate and move to a specified position underwater. It belongs to a conventional structure in the field and will not be described in detail here;

[0041] The inner cavity of the robot body 1 is provided with a communication module 4, a control module 5 and an obstacle avoidance module. The outer wall of the robot body 1 is provided with an image acquisition device 2 for acquiring underwater images and a propeller device for driving the robot body 1 to move. The image acquisition device 2 is, for example, an anti-fouling camera, which can observe the underwater situation more clearly. When in use, for example, for deep-water area data at locations such as high dams and large reservoirs, the underwater positioning robot can be first driven to a designated position by an unmanned boat, and then the robot body 1 can be put into the water. The underwater positioning module 3 is used in conjunction with the propeller device to move the robot body 1 to a designated position in the deep-water area to perform underwater area detection. During the whole process, the unmanned boat can charge the robot body 1 through a connecting cable 6 connected to the robot body 1, and can also communicate with the ground station in real time and transmit data to the robot body 1 through the connecting cable 6.

[0042] It also includes auxiliary parts arranged on the robot body 1, wherein:

[0043] The auxiliary parts include a groove 14 opened on the top of the robot body 1, a floating plate 7 attached to the top of the robot body 1, a connecting part inserted on the top of the floating plate 7 and connected to the connecting cable 6, a locking part arranged on the floating plate 7 and fixing the floating plate 7 and the groove 14, and a pull rope unwinding part rotatably arranged in the groove 14. The vertical section of the groove 14 is in an inverted T shape, and the upper part of the floating plate 7 is in an arc shape, so that when the floating plate 7 is upward under the action of buoyancy, its surface is not easy to be attached to debris, etc.;

[0044] The connecting member and the locking member are transmission connected, and the connecting member drives the locking member to unlock when the connecting cable 6 is broken. Since the locking member is lost, the float 7 moves upward under the action of buoyancy and floats to the surface of the water, while the robot body 1 moves downward under the action of its own gravity (that is, the robot body 1 is in a state where it cannot float to the surface of the water) and contacts the bottom of the deep water area; the rope unwinding member includes a rotating shaft 13 that is horizontally rotated by a bearing and is arranged in the groove 14, and a rope 18 wound on the outer wall of the rotating shaft 13, one end of the rope 18 is connected to the float 7, and also includes a positioning fixture for positioning the robot body 1 at the bottom of the water when the connecting cable 6 is broken.

[0045] See also Figure 3

[0046] Preferably, the connecting piece of this embodiment includes:

[0047] A protective shell 34, the protective shell 34 is movably sleeved on the outside of the connecting cable 6, a part of the outer wall of the connecting cable 6 is stacked in the protective shell 34, one end of the connecting cable 6 passes through the top of the protective shell 34 and is connected to the unmanned boat, and the other end passes through the bottom of the protective shell 34 and is connected to the robot body 1;

[0048] When the floating plate 7 moves upward under the action of buoyancy, the connecting cables 6 stacked in the protective shell 34 are pulled out to ensure that the floating plate 7 floats to the surface of the water;

[0049] In this embodiment, the end of the connecting cable 6 away from the unmanned boat can also be connected to the interface of the robot body 1 through a plug. This interface may be a special socket or connector for enabling the connecting cable 6 to communicate with the electrical components in the robot body 1. This method can disconnect the connection between the connecting cable 6 and the robot body 1 (i.e., the plug and the interface are disconnected) when the floating board 7 is upward, thereby ensuring that the floating board 7 floats to the surface;

[0050] A fixing member 33 is fixedly mounted on the outer wall of the connecting cable 6 and connected to the top of the protective shell 34; and

[0051] A T-shaped frame 8 is connected to the protective shell 34 at one end and movably penetrates the floating plate 7 and extends into the groove 14 at the other end. The T-shaped frame 8 is connected to the floating plate 7 through an elastic member and is used to drive the T-shaped frame 8 to move downward when the connecting cable 6 between the protective shell 34 and the unmanned boat is broken. When the robot body 1 enters the water, under the action of its own gravity, the T-shaped frame 8 is pulled upward by the connecting cable 6 to squeeze the elastic member. When the connecting cable 6 between the protective shell 34 and the unmanned boat is broken, the T-shaped frame 8 is reset downward under the action of the elastic member.

[0052] Preferably, the locking member of this embodiment includes:

[0053] There are two groups of wedge blocks 9, which are symmetrically slidably arranged on both sides of the bottom of the floating plate 7. For example, the wedge blocks 9 use a T-shaped slider at the top to cooperate and slide with a T-shaped slide groove horizontally opened at the bottom of the floating plate 7. The opposite sides of the two groups of wedge blocks 9 are fitted with roller contact rods 10. The roller contact rod 10 includes a horizontal rod and a roller embedded in one end of the horizontal rod for contacting the inclined surface of the wedge blocks 9. The roller contact rod 10 is connected to the bottom end of the T-shaped frame 8 and is used to drive the two groups of wedge blocks 9 to move away from each other when the T-shaped frame 8 is upward. An elastic member for driving the wedge blocks 9 to reset is provided at the bottom of the floating plate 7. The elastic member can be arranged in the T-shaped slide groove, one end of which is connected to an inner wall of one side of the T-shaped slide groove, and the other end is connected to the T-shaped slider. The opposite sides of the two groups of wedge blocks 9 are provided with plug blocks 11, and the inner wall of the groove 14 is provided with a slot for inserting the plug blocks 11.

[0054] When the connecting cable 6 between the protective shell 34 and the unmanned boat is not broken, the T-frame 8 is pulled by the connecting cable 6 and the robot body 1's own gravity, and the roller contact rod 10 pushes the wedge block 9, so that the plug block 11 is inserted into the slot, maintaining the connection between the floating plate 7 and the robot body 1; when the connecting cable 6 between the protective shell 34 and the unmanned boat is broken, the T-frame 8 is reset downward, and then the wedge block 9 is reset, so that the plug block 11 is disengaged from the slot, so that the floating plate 7 is separated upward from the robot body 1 under the action of its buoyancy.

[0055] Preferably, the plug block 11 of the present embodiment is a magnetic block, and an electromagnetic block 12 for electrically attracting the plug block 11 is provided at the bottom of the slot. The electromagnetic block 12 is also electrically connected to the connecting cable 6 to control its opening and closing. When the robot body 1 is not put into water for use, the electromagnetic block 12 can be kept in an open state to ensure the connection between the float 7 and the robot body 1. After the robot body 1 is put into water or the robot body 1 is in a state where it cannot float to the surface, the electromagnetic block 12 is closed.

[0056] See also Figure 4

[0057] Preferably, one end of the rotating shaft 13 of the present embodiment passes through one side of the robot body 1 and is connected to a driving hand wheel, which facilitates the user to reel in the released pull rope 18 in the later stage through the driving hand wheel. The outer wall of the rotating shaft 13 is sleeved with a gear 19, and the gear 19 is engaged with a latching gear rod 20, which vertically passes through the top of the robot body 1 and is connected to the floating plate 7. An elastic reset member is provided between the rotating shaft 13 and the inner wall of the groove 14. The elastic reset member is, for example, a torsion spring. When the floating plate 7 drives the latching gear rod 20 upward to disengage from the gear 19, the elastic reset member drives the rotating shaft 13 to rotate and unwind the pull rope 18;

[0058] When the floating plate 7 moves upward under the action of its buoyancy, it drives the latching gear rod 20 to move. After losing the restriction of the latching gear rod 20, the elastic reset member drives the rotating shaft 13 to reset and rotate the unwinding rope 18, so that the floating plate 7 floats to the surface.

[0059] As a preferred embodiment, the top of the floating plate 7 of this embodiment is rotatably provided with a second rotating shaft 25, and the second rotating shaft 25 is connected to the end of the pull rope 18 away from the pull rope unwinding member, and one end of the second rotating shaft 25 is provided with a clamping member 24, which is used to connect with the clamping member 24 of the recovery mechanism on the unmanned ship. For example, the clamping member 24 is a connecting block with a rectangular slot, and the recovery mechanism is Figure 2 As shown in; wherein the recycling mechanism includes:

[0060] A mounting frame 21, mounted on an unmanned vessel;

[0061] A clamping device 22 is provided on one side of the mounting frame 21 and is used to clamp the floating plate 7. The clamping device 22 is, for example, a clamping manipulator; and,

[0062] The rotating device 23 is located above the clamping device 22 and is arranged at the output end of the telescopic device. The rotating device 23 is, for example, a motor and a reducer, and the telescopic device is, for example, an electric telescopic machine. The telescopic device is arranged on the mounting frame 21 to drive the rotating device 23 to move horizontally. The output end of the rotating device 23 is provided with a snap-fitting part 2 for snapping with the snap-fitting part 1 24. The snap-fitting part 2 is, for example, a rectangular block adapted to the rectangular slot.

[0063] After the connecting cable 6 between the protective shell 34 and the unmanned boat is broken, the floating board 7 floats to the surface. At this time, the ground station remotely sends a signal to control the unmanned boat to the floating board 7, clamps the floating board 7 through the clamping device 22, and drives the rotating device 23 through the telescopic device to dock the engaging part 2 and the engaging part 1 24. Then, the rotating device 23 is started to drive the rotating shaft 2 25 to rotate, so that the pull rope 18 can be retracted to recover the robot body 1 in the deep water area.

[0064] See also Figure 5

[0065] Preferably, the positioning fixing member of the present embodiment includes an assembly groove provided at the bottom of the robot body 1, an insert 26 is slidably provided in the assembly groove, and the insert 26 is, for example, an insertion cone, and the insert 26 is threadedly sleeved on the outer wall of the stud 27, and the top of the stud 27 passes through the bottom of the assembly groove and extends into the groove 14 to be transmission-connected to the rotating shaft 13, and a bearing can be provided at the penetration point of the stud 27 and the robot body 1, and the stud 27 and the rotating shaft 13 can be transmission-connected by a bevel gear set (two sets of meshing bevel gears), for example, and a plurality of cavities 28 are provided in the insert 26, and a movable stud 27 is vertically provided in the cavity 28 and passes through the top of the stud 27 and is connected to the rotating shaft 13. An L-shaped movable rod 2 30 connected to the bottom of the assembly groove, an L-shaped movable rod 1 29 is vertically arranged in the inner cavity of the second cavity 28 and located on one side of the L-shaped movable rod 2 30, which is movable through the bottom of the second cavity 28 and extends into the groove body, and the L-shaped movable rod 1 29 corresponds to the transverse section of the L-shaped movable rod 2 30, and one end of the L-shaped movable rod 1 29 away from the groove body is connected to the inner wall of the second cavity 28 through an elastic member, and the groove body is opened on the outer wall of the insert 26 and is located below the assembly groove, and an insert sheet 17 is movably arranged in the groove body, and one end of the insert sheet 17 is connected to the groove bottom of the groove body through an elastic member, and a socket for inserting the L-shaped movable rod 1 29 is opened on the insert sheet 17;

[0066] When the floating plate 7 moves upward under the action of buoyancy, the rotating shaft 13 rotates the unwinding rope 18 under the action of the elastic reset member, and the rotating shaft 13 rotates to drive the stud 27, and then the stud 27 drives the insert 26 to move downward, so that the robot body 1 downward due to gravity is inserted into the underwater soil in the deep water area through the insert 26. When the insert 26 moves downward, it moves relative to the L-shaped movable rod 2 30. When the insert 26 moves downward to the preset position, the L-shaped movable rod 1 29 is pushed upward by the L-shaped movable rod 2 30 to detach from the socket, and the insert sheet 17 moves out of the groove under the action of the elastic member, thereby increasing the contact stability between the robot body 1 and the underwater soil in the deep water area, positioning the underwater position of the robot body 1, reducing the influence of the water flow on the robot body 1 when the connecting cable 6 is broken, and facilitating the subsequent positioning of the robot body 1 through the floating plate 7 to retrieve the robot body 1;

[0067] The two sides of the robot body 1 are symmetrically hinged with roller support frames 32, and the roller support frames 32 include, for example, a U-shaped frame and a roller embedded in the bottom of the U-shaped frame and in contact with the bottom of the water. The roller support frames 32 are connected to the outer wall of the robot body 1 through an arc-shaped elastic member 31. When the robot body 1 moves downward, it first contacts the bottom of the water through the roller support frames 32. Under the gravity of the robot body 1 itself, the bottom ends of the two groups of roller support frames 32 rotate outward relative to each other, so that the insert 26 is inserted into the soil on the bottom of the water. At the same time, the roller support frames 32 and the arc-shaped elastic member 31 play a buffering role to prevent the robot body 1 from being damaged due to the impact caused by contact with the bottom of the water.

[0068] Preferably, both ends of the bottom of the floating plate 7 of this embodiment are provided with an insertion rod 15, which is inserted into a blind hole opened at the top of the robot body 1. An elastic ejector 16 in contact with the insertion rod 15 is provided in the blind hole. The elastic ejector 16 is used to push the floating plate 7 upward and separate from the robot body 1 when the locking part is unlocked. The elastic ejector 16 is, for example, an elastic telescopic rod. When the locking part is unlocked, the elastic ejector 16 elastically resets to push the insertion rod 15 to drive the floating plate 7 upward, so that the floating plate 7 can better separate from the robot body 1 and float to the surface.

[0069] An underwater positioning method based on an underwater positioning robot deployed by an unmanned ship, using the underwater positioning robot, comprises the following steps:

[0070] S1: After the unmanned boat brings the robot body 1 to the designated location, the unmanned boat releases the connecting cable 6 to allow the robot body 1 to enter the water. The robot body 1 moves to the preset position for detection through the underwater positioning module 3. During this process, the robot body 1 exchanges real-time signals with the unmanned boat through the connecting cable 6;

[0071] S2: When the connecting cable 6 is broken, the robot body 1 is fixed to the bottom of the water by the positioning fixture, so that the underwater position of the robot body 1 is located. When the connecting cable 6 is broken, the connecting member drives the locking member to unlock, and the rope unwinding member unwinds the rope 18 so that the floating board 7 floats to the surface under the action of its own buoyancy. The user can locate the position of the robot body 1 in the water area by the position of the floating board 7, so as to retrieve the robot body 1.

[0072] In the present invention, when the connecting cable 6 is broken and the robot body 1 is in a state where it cannot float to the surface (the buoyancy adjustment system fails or the external environmental conditions (such as water flow, temperature, etc.) cause the robot body 1 to be unable to float to the surface), the position of the robot body 1 can be manually determined with the help of the float 1 that has surfaced, thereby reducing the difficulty of finding and recovering the robot body 1 at a later time.

[0073] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An underwater positioning robot deployed by an unmanned ship, comprising a robot body (1) and a connecting cable (6) connecting the robot body (1) and the unmanned ship, characterized in that: It also includes an auxiliary part arranged on the robot body (1), wherein: The auxiliary component comprises a groove (14) opened at the top of the robot body (1), a floating plate (7) attached to the top of the robot body (1), a connecting component inserted at the top of the floating plate (7) and connected to the connecting cable (6), a locking component arranged on the floating plate (7) and fixing the floating plate (7) and the groove (14), and a rope unwinding component rotatably arranged in the groove (14), the connecting component and the locking component are in transmission connection, the connecting component drives the locking component to release the lock when the connecting cable (6) is broken, the rope unwinding component comprises a rotating shaft (13) rotatably arranged in the groove (14) and a rope (18) wound on the outer wall of the rotating shaft (13), one end of the rope (18) is connected to the floating plate (7), and also comprises a positioning fixing component for positioning the robot body (1) at the bottom of the water when the connecting cable (6) is broken; The connecting piece comprises: A protective shell (34), wherein the protective shell (34) is movably sleeved on the outside of the connecting cable (6), a portion of the outer wall of the connecting cable (6) is stacked inside the protective shell (34), one end of the connecting cable (6) passes through the top of the protective shell (34) and is connected to the unmanned boat, and the other end passes through the bottom of the protective shell (34) and is connected to the robot body (1); A fixing member (33) is fixedly sleeved on the outer wall of the connecting cable (6) and connected to the top of the protective shell (34); and A T-shaped frame (8), one end of which is connected to the protective shell (34), and the other end of which movably penetrates the floating plate (7) and extends into the groove (14), wherein the T-shaped frame (8) is connected to the floating plate (7) via an elastic member and is used to drive the T-shaped frame (8) to move downward when the connecting cable (6) between the protective shell (34) and the unmanned boat is broken; The locking member comprises: The wedge blocks (9) are provided in two groups and are symmetrically slidably arranged on both sides of the bottom of the floating plate (7). The two groups of wedge blocks (9) are both fitted with roller contact rods (10) on opposite sides. The roller contact rods (10) are connected to the bottom end of the T-shaped frame (8) and are used to drive the two groups of wedge blocks (9) to move away from each other when the T-shaped frame (8) is upward. The bottom of the floating plate (7) is provided with an elastic member for driving the wedge blocks (9) to reset. The two groups of wedge blocks (9) are both provided with inserting blocks (11) on opposite sides. The inner wall of the groove (14) is provided with a slot for inserting the inserting blocks (11).

2. The underwater positioning robot according to claim 1, characterized in that: The plug block (11) is a magnetic block, and an electromagnetic block (12) is provided at the bottom of the slot for electrically adsorbing the plug block (11), and the electromagnetic block (12) is electrically connected to the connection cable (6).

3. The underwater positioning robot according to claim 1, characterized in that: One end of the rotating shaft (13) passes through one side of the robot body (1) and is connected to a driving hand wheel; a gear (19) is sleeved on the outer wall of the rotating shaft (13); a latching gear rod (20) is engaged with the gear (19); the latching gear rod (20) vertically passes through the top of the robot body (1) and is connected to the floating plate (7); an elastic reset member is provided between the rotating shaft (13) and the inner wall of the groove (14); when the floating plate (7) drives the latching gear rod (20) upward to disengage the gear (19), the elastic reset member drives the rotating shaft (13) to rotate the unwinding rope (18).

4. The underwater positioning robot according to claim 1, characterized in that: A second rotating shaft (25) is rotatably provided at the top of the floating plate (7), and the second rotating shaft (25) is connected to an end of the pull rope (18) away from the pull rope unwinding member, and one end of the second rotating shaft (25) is provided with a clamping member (24) for connecting with a recovery mechanism on the unmanned ship; wherein the recovery mechanism comprises: A mounting frame (21), mounted on an unmanned vessel; a clamping device (22), disposed on one side of the mounting frame (21), for clamping the floating plate (7); and, The rotating device (23) is located above the clamping device (22) and is arranged at the output end of the telescopic device. The telescopic device is arranged on the mounting frame (21) and is used to drive the rotating device (23) to move horizontally. The output end of the rotating device (23) is provided with a second engaging member for engaging with a first engaging member (24).

5. The underwater positioning robot according to claim 3, characterized in that: The positioning fixing member comprises an assembly groove provided at the bottom of the robot body (1), an insert (26) being slidably provided in the assembly groove, the insert (26) being threadedly sleeved on the outer wall of the stud (27), the top of the stud (27) extending into the groove (14) and being transmission-connected with the rotating shaft (13), a plurality of cavities (28) being provided in the insert (26), an L-shaped movable rod (30) being vertically provided in the cavity (28) and movably penetrating the top of the stud (27) and being connected to the bottom of the assembly groove, the inner cavity of the cavity (28) being located An L-shaped movable rod (29) is vertically arranged on one side of the L-shaped movable rod (30) to move through the bottom of the second cavity (28) and extend into the groove body. The end of the L-shaped movable rod (29) away from the groove body is connected to the inner wall of the second cavity (28) through an elastic member. The groove body is opened on the outer wall of the insert (26) and is located below the assembly groove. An insert sheet (17) is movably arranged in the groove body. One end of the insert sheet (17) is connected to the groove bottom of the groove body through an elastic member. The insert sheet (17) is provided with a socket for inserting the L-shaped movable rod (29). When the insert (26) moves downward to a preset position, the L-shaped movable rod 1 (29) is pushed upward by the L-shaped movable rod 2 (30) to disengage from the socket, so that the insert piece (17) moves out of the slot body. The two sides of the robot body (1) are symmetrically hinged with roller support frames (32), and the roller support frames (32) are connected to the outer wall of the robot body (1) through an arc-shaped elastic member (31).

6. The underwater positioning robot according to claim 1, characterized in that: Both ends of the bottom of the floating plate (7) are provided with insertion rods (15), and the insertion rods (15) are inserted into blind holes opened at the top of the robot body (1). An elastic ejector (16) in contact with the insertion rod (15) is provided in the blind hole, and the elastic ejector (16) is used to push the floating plate (7) upward and away from the robot body (1) when the locking member is unlocked.

7. The underwater positioning robot according to claim 1, characterized in that: The inner cavity of the robot body (1) is provided with a communication module (4), a control module (5) and an obstacle avoidance module; the outer wall of the robot body (1) is provided with an image acquisition device (2) for acquiring underwater images and a propeller device for driving the robot body (1) to move; the robot body (1) is also provided with an underwater positioning module (3); the underwater positioning module (3) comprises a Beidou and GPS dual-mode positioning module connected to the control module (5) and a depth sensor module.

8. An underwater positioning method based on an underwater positioning robot deployed by an unmanned ship, using the underwater positioning robot according to any one of claims 1 to 7, characterized in that: The following steps are involved: S1: After the unmanned boat brings the robot body (1) to the designated location, the unmanned boat releases the connecting cable (6) to allow the robot body (1) to enter the water, and the robot body (1) moves to a preset position to perform detection work. During this process, the robot body (1) exchanges real-time signals with the unmanned boat through the connecting cable (6); S2: When the connecting cable (6) breaks, the robot body (1) is fixed to the bottom of the water by the positioning fixture, so that the underwater position of the robot body (1) is located. When the connecting cable (6) breaks, the connecting member drives the locking member to release the lock, and the rope unwinding member unwinds the rope (18) so that the float (7) floats to the surface under the action of its own buoyancy. The user can locate the position of the robot body (1) in the water area by the position of the float (7), so as to retrieve the robot body (1).

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