Antenna device for wireless communication of underwater robot and underwater robot

Abstract

The present invention relates to the technical field of wireless communication of underwater robots, and specifically discloses an antenna device for wireless communication of underwater robots and an underwater robot, comprising: an antenna body, a light-transmitting cover and an antenna base; the antenna body comprises a combined linear structure composed of a first linear structure, a second linear structure and a third linear structure connected in sequence, the first linear structure and the second linear structure are connected by a G3 curve connection envelope, and the third linear structure and the second linear structure are connected by a G3 curve connection envelope; the first linear structure comprises an elliptical linear structure for antenna position arrangement, the second linear structure comprises a NACA0024 linear structure, and the third linear structure comprises a rounded linear structure for matching the shape of the antenna base. The antenna device for wireless communication of underwater robots provided by the present invention can effectively install multiple antennas on the underwater robot and can minimize the increased resistance.

Description

Technical Field

[0001] The present invention relates to the technical field of wireless communication of underwater robots, and in particular to an antenna device for wireless communication of underwater robots and the underwater robots. Background Art

[0002] Wireless communication is an important part of various communication methods of underwater robots. At present, the most commonly used carrier for wireless communication is electromagnetic waves. In order to reduce the attenuation of electromagnetic waves and ensure reliable communication, it is usually necessary to arrange the communication antenna outside the robot. Due to the large number of executable tasks, underwater robots will be equipped with a variety of communication antennas to meet the communication needs of tasks in different environments. Such as GNSS (Global Navigation Satellite System) antennas, LoRa (Long Range Radio) antennas, WLAN (Wireless Local Area Network) antennas, 4G antennas, Iridium antennas, etc. When the robot is sailing underwater, each antenna will increase the navigation resistance of the robot and reduce the endurance time.

[0003] There are also many antenna layout schemes in the prior art. For example, the first one is to arrange each antenna that needs to be equipped into an independent pressure-resistant whole and install them above the underwater robot. Each antenna feeder is penetrated once on the pressure bulkhead of the underwater robot. From the perspective of overall layout, this antenna layout scheme considers that multiple antennas are arranged above the underwater robot, which not only takes up a lot of space, but also causes the overall stability to deteriorate, increases navigation resistance, and increases power consumption; from the perspective of equipment safety, each additional penetration on the pressure bulkhead not only increases the risk of water leakage, but also destroys the integrity of the pressure-resistant structure, resulting in stress concentration. The second is to set a pressure-resistant cover that can penetrate electromagnetic waves above the pressure shell, and the pressure cover is sealed with the pressure shell of the underwater robot, and a through hole is made in the middle. All antennas that need to be equipped are arranged in the pressure cover, and the feeder is penetrated through the through hole. Since the pressure cover that can penetrate electromagnetic waves is mostly made of non-metallic materials, the impact resistance of this layout scheme is relatively weak. When the underwater robot is hit, the damage to the pressure cover will cause water to flow into the body along the antenna through-hole, causing a water leakage accident. The third method is to arrange all the antennas that need to be equipped together, make a mold according to the maximum shape, and use vulcanized rubber or resin to pot all the antennas together to form a combined antenna. A through-cabin base is set at the bottom, and the through-cabin base is sealed with the robot's pressure-resistant shell. All antenna feeders communicate with internal equipment through the through-cabin base. The combined antenna in this layout scheme has poor versatility and can only meet the communication requirements during design. When the antenna type needs to be changed, the appearance of the combined antenna needs to be redesigned and the mold needs to be redone. When the appearance is changed, the resistance and stability will change, which will affect the control of the entire underwater robot.

[0004] Therefore, how to effectively install these antennas on the underwater robot and minimize the increased resistance has become a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0005] The present invention provides an antenna device for wireless communication of an underwater robot and an underwater robot, which solves the problem in the related art that the resistance of the underwater robot increases after the combined antenna is used, affecting the control of the underwater robot.

[0006] As a first aspect of the present invention, an antenna device for wireless communication of an underwater robot is provided, wherein the antenna device comprises: an antenna body, a light-transmitting cover arranged at one end of the antenna body, and an antenna base arranged at the other end of the antenna body, wherein the light-transmitting cover and the antenna base are both connected to the antenna body, the antenna body is used to carry a combined antenna, the antenna base is used to connect to the main structure of the underwater robot, the combined antenna can pass through the antenna base and enter the main structure of the underwater robot, and the light-transmitting cover and the antenna base are both hollow structures;

[0007] The antenna body comprises a combined linear structure consisting of a first linear structure, a second linear structure and a third linear structure connected in sequence, the first linear structure and the second linear structure are connected by a G3 curve connection envelope, the third linear structure and the second linear structure are connected by a G3 curve connection envelope, the first linear structure is connected to the light-transmitting cover, and the third linear structure is connected to the antenna base;

[0008] The first linear structure includes an elliptical linear structure for antenna position arrangement, the second linear structure includes a NACA0024 linear structure, and the third linear structure includes a rounded linear structure for matching the shape of an antenna base.

[0009] Furthermore, an antenna fixing frame is provided in the antenna body, and a top antenna position and a middle antenna position are provided on the antenna fixing frame, wherein the top antenna position is close to one end of the antenna body, and the middle antenna position is close to the other end of the antenna body;

[0010] The top antenna position is used to install a directional antenna for communicating with a satellite, wherein the gain direction of the directional antenna points to the sky;

[0011] The middle antenna position is used to install a horizontal omnidirectional gain antenna that communicates with a ground base station, and the gain plane of the horizontal omnidirectional gain antenna is perpendicular to the plumb line.

[0012] Furthermore, the middle antenna position includes at least a middle-front antenna position and a middle-rear antenna position, and the frequency bands of the horizontal omnidirectional gain antennas installed at the middle-front antenna position and the middle-rear antenna position are different.

[0013] Furthermore, a light-transmitting cover mounting seat is provided at one end of the antenna body, and the light-transmitting cover mounting seat is used to mount the light-transmitting cover;

[0014] A wire passing seat is arranged at the other end of the antenna body, and the wire passing seat is a hollow structure. The wire passing seat is connected with the antenna base through the wire passing seat connector.

[0015] Furthermore, a strobe light is arranged in the light-transmitting cover, and the strobe light is connected to a strobe light power supply line, which passes through the light-transmitting cover mounting seat, the antenna fixing frame and the wire-passing seat connector in sequence, and then passes through the antenna base to enter the main structure of the underwater robot.

[0016] Furthermore, it also includes an extension harness, which can be inserted through the wire holder, and then pass through the antenna base and enter the main structure of the underwater robot together with the strobe light power supply line.

[0017] Furthermore, it also includes an expansion socket, which is arranged on the wire passing seat and connected to the wire passing seat.

[0018] Furthermore, the interior of the antenna body is potted, and the antenna feed line arranged on the antenna fixing frame passes through the antenna fixing frame and the wire holder connector in sequence and then passes through the antenna base, and enters the main structure of the underwater robot together with the strobe light power supply line.

[0019] Furthermore, a sealing structure, a limiting structure and a connecting structure are provided on the antenna base, the sealing structure is used to achieve sealing between the antenna base and the main structure of the underwater robot, the limiting structure is used to limit the rotation between the antenna base and the main structure of the underwater robot, and the connecting structure is used to achieve connection between the antenna base and the main structure of the underwater robot.

[0020] As another aspect of the present invention, an underwater robot is provided, which includes a robot main structure and the antenna device for wireless communication of the underwater robot as mentioned above, and the antenna device for wireless communication of the underwater robot is connected to the robot main structure through an antenna base.

[0021] The antenna device for wireless communication of an underwater robot provided by the present invention is formed by a light-transmitting cover, an antenna body and an antenna base. The antenna body is effectively connected to the main structure of the underwater robot through the antenna base. Since the linear shape of the antenna body is a combined linear structure, the combined linear structure can adapt to the arrangement of the antenna position and the connection of the antenna base. The middle part is set as a NACA0024 linear structure to effectively reduce resistance. Therefore, the antenna device for wireless communication of the underwater robot can not only effectively install the combined antenna on the underwater robot, but also minimize the resistance increased by the combined antenna. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention, but do not constitute a limitation of the present invention.

[0023] Figure 1 This is a front view of the antenna device for wireless communication of an underwater robot provided by the present invention.

[0024] Figure 2 A side view of the antenna device for wireless communication of an underwater robot provided by the present invention.

[0025] Figure 3 The present invention provides Figure 2 A-A' sectional view of the side view.

[0026] Figure 4A schematic diagram comparing the drag reduction effects of the combined linear shape of the antenna body provided by the present invention.

[0027] Figure 5 The vertical gain pattern of the satellite directional antenna provided by the present invention.

[0028] Figure 6 The vertical gain pattern of the horizontal omnidirectional antenna provided by the present invention.

[0029] Figure 7 The vertical gain pattern of the combined antenna provided by the present invention.

[0030] Figure 8a This is a schematic diagram of the antenna device provided by the present invention when no extension harness is added.

[0031] Figure 8b This is a schematic diagram of the antenna device provided by the present invention after adding an extended wiring harness.

[0032] Figure 8c A schematic diagram of the antenna device provided by the present invention after adding an expansion socket. DETAILED DESCRIPTION

[0033] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0034] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment 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 making creative work should fall within the scope of protection of the present invention.

[0035] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so as to describe the embodiments of the present invention described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0036] In this embodiment, an antenna device for wireless communication of an underwater robot is provided. Figure 1is a front view of an antenna device for wireless communication of an underwater robot provided according to an embodiment of the present invention, Figure 2 A side view of an antenna device for wireless communication of an underwater robot provided by an embodiment of the present invention, Figure 3 The embodiment of the present invention provides Figure 2 A-A' sectional view of the side view, such as Figures 1 to 3 As shown, including:

[0037] An antenna body 2, a light-transmitting cover 1 arranged at one end of the antenna body 2, and an antenna base 3 arranged at the other end of the antenna body 2, wherein the light-transmitting cover 1 and the antenna base 3 are both connected to the antenna body 2, the antenna body 2 is used to carry the combined antenna, the antenna base 3 is used to connect to the main structure of the underwater robot, the combined antenna can pass through the antenna base 3 and enter the main structure of the underwater robot, and the light-transmitting cover 1 and the antenna base 3 are both hollow structures;

[0038] The antenna body 2 comprises a combined linear structure consisting of a first linear structure 2.1, a second linear structure 2.2 and a third linear structure 2.3 connected in sequence, the first linear structure 2.1 and the second linear structure 2.2 are connected by a G3 curve connection envelope, the third linear structure 2.3 and the second linear structure 2.2 are connected by a G3 curve connection envelope, the first linear structure 2.1 is connected to the light-transmitting cover 1, and the third linear structure 2.3 is connected to the antenna base 3;

[0039] The first linear structure 2.1 comprises an elliptical linear structure for antenna position arrangement, the second linear structure 2.2 comprises a NACA0024 linear structure, and the third linear structure 2.3 comprises a rounded linear structure for matching the shape of an antenna base.

[0040] In the embodiment of the present invention, since the density of water is relatively large, the combined antenna will add a lot of resistance to the robot when sailing underwater, so the linear design of the combined antenna is optimized without affecting the function of the combined antenna. Specifically, in the embodiment of the present invention, the linear design of the antenna body 2 is a combined linear structure, which is specifically divided into three parts: upper, middle and lower. The upper part is an elliptical linear shape that meets the antenna position layout, the lower part is a rounded linear shape that meets the antenna base, the middle part adopts the NACA0024 linear shape, and the various parts are connected and enveloped by the G3 curve. It should be understood that according to the resistance calculation formula F=ρV 2 AC d / 2, where ρ represents the fluid density and V represents the ship speed, both of which are objective factors that cannot be changed; A represents the cross-sectional area of ​​the incoming flow, and C d It represents the drag coefficient. The embodiment of the present invention reduces the drag by reducing these two parameters. Figure 2It can be understood as a schematic diagram of the flow section of the antenna body. The NACA0024 line shape is used in the middle part, which can effectively narrow and reduce the flow area A. In addition, the streamlined shape formed by the elliptical line shape of the upper part and the rounded line shape of the lower part can effectively reduce the drag coefficient C. d Therefore, through the resistance calculation, it can be obtained that the antenna body 2 adopts a combined linear shape, which reduces its own resistance by 43.52% compared with the circular right-angle linear shape, the overall resistance of the robot is reduced by 19.37%, and the proportion of antenna resistance to total resistance is reduced by 11.94%. Figure 4 shown.

[0041] It should be noted here that the NACA line shape is a low-speed airfoil line shape system, which includes multiple categories. According to the requirement that the antenna only reduces drag and does not need to provide lift, a bilaterally symmetrical line shape without overall curvature is adopted. Based on the size of the general horizontal omnidirectional antenna and the need for drag reduction, a line shape with a relative thickness of 24% is adopted. Therefore, the line shape is NACA0024, where the first 0 refers to the relative curvature, the second 0 refers to the maximum curvature position, and 24 refers to a relative thickness of 24%.

[0042] In summary, the antenna device for wireless communication of an underwater robot provided by the present invention forms an antenna device through a light-transmitting cover, an antenna body and an antenna base. The antenna body is effectively connected to the main structure of the underwater robot through the antenna base. Since the linear shape of the antenna body is a combined linear structure, the combined linear structure can adapt to the arrangement of the antenna position and the connection of the antenna base. The middle part is set to a NACA0024 linear structure, which can effectively reduce resistance. Therefore, the antenna device for wireless communication of the underwater robot can not only effectively install the combined antenna on the underwater robot, but also minimize the resistance increased by the combined antenna.

[0043] In the embodiment of the present invention, an antenna fixing frame 21 is arranged in the antenna body 2, and a top antenna position 23 and a middle antenna position are arranged on the antenna fixing frame 21, wherein the top antenna position 23 is close to one end of the antenna body, and the middle antenna position is close to the other end of the antenna body. Specifically, the top antenna position 23 is close to one end of the antenna body, and the middle antenna position is located in the middle area of ​​the antenna body, and is closer to the other end of the antenna body than the top antenna position 23.

[0044] Specifically, the top antenna position 23 is used to install a directional antenna for communicating with a satellite, wherein the gain direction of the directional antenna points to the sky;

[0045] The middle antenna position is used to install a horizontal omnidirectional gain antenna that communicates with a ground base station, and the gain plane of the horizontal omnidirectional gain antenna is perpendicular to the plumb line.

[0046] Specifically, an antenna fixing frame 21 is provided in the antenna body 2, and a top antenna position 23 and a middle antenna position are provided on the antenna fixing frame 21. The top antenna position 23 is used to install a directional antenna for satellite communication, and the main gain direction of the directional antenna points to the sky. There can be multiple middle antenna positions, which are used to arrange horizontal omnidirectional gain antennas for communication with ground base stations, and the main gain plane of the horizontal omnidirectional gain antenna is perpendicular to the plumb line. Different frequency antennas are set in the multiple middle antenna positions.

[0047] More specifically, if Figure 3 As shown, the middle antenna position includes at least a middle front antenna position 24 and a middle rear antenna position 25, and the frequency bands of the horizontal omnidirectional gain antennas installed in the middle front antenna position 24 and the middle rear antenna position 25 are different.

[0048] It should be understood that in the embodiment of the present invention, there is no limitation on the number and position of antenna positions, and the number can be changed or the position can be fine-tuned as needed without affecting the final integration and anti-interference effect.

[0049] In the embodiments of the present invention, the antenna for communicating with the satellite mostly adopts a semicircular or cardioid directional gain, and the gain at the bottom of the antenna is relatively small, such as Figure 5 When the omnidirectional gain antenna for communicating with the ground base station is arranged vertically, the main gain is near the horizontal plane, and the gain is lower directly above, such as Figure 6 Therefore, the satellite antenna is placed at the top and the ground base station communication antenna is placed in the middle of the combined antenna to reduce the overlap of antenna gain. Multiple ground base station communication antennas select different frequency bands to reduce the mutual influence between antennas, such as Figure 7 As shown in the figure. The water surface has a certain reflection effect on electromagnetic waves. The satellite positioning antenna can be arranged at the top away from the water surface to reduce the positioning error caused by the multipath effect. The omnidirectional gain of the vertical arrangement is conducive to the antenna maintaining good communication with the ground base station at all angles.

[0050] In the embodiment of the present invention, a light-transmitting cover mounting seat 13 is provided at one end of the antenna body, and the light-transmitting cover mounting seat 13 is used to mount the light-transmitting cover 1;

[0051] A wire seat 4 is disposed at the other end of the antenna body. The wire seat 4 is a hollow structure. The wire seat 4 is connected to the antenna base 3 through the wire seat connector 22 .

[0052] Specifically, a strobe light 12 is arranged in the light-transmitting cover 1, and the strobe light 12 is connected to a strobe light power supply line 35. The strobe light power supply line 35 passes through the light-transmitting cover mounting seat 13, the antenna fixing frame 21 and the wire-passing seat connector 22 in sequence, and then passes through the antenna base 3 to enter the main structure of the underwater robot.

[0053] In the embodiment of the present invention, the light-transmitting cover 1 is transparent and is mounted on the light-transmitting cover mounting seat 13 by means of the light-transmitting cover fixing screws 11. The light-transmitting cover mounting seat 13 is provided with a sealing ring groove, which is sealed by means of the sealing ring. A strobe light 12 is provided inside the light-transmitting cover 1, and the light of the strobe light 12 can penetrate the light-transmitting cover 1. The strobe light power supply line 35 connected to the strobe light passes through the light-transmitting cover mounting seat 13, the antenna fixing frame 21, and the wire seat connector 22, and then passes through the antenna base 3.

[0054] In an embodiment of the present invention, the interior of the antenna body 2 is potted, and the antenna feed line 34 arranged on the antenna fixing frame 21 passes through the antenna fixing frame 21 and the wire seat connector 22 in sequence, and then passes through the antenna base 3, and enters the main structure of the underwater robot together with the strobe light power supply line 35.

[0055] Specifically, the antenna body 2 can be made of a polymer material. The antenna feed line 34 on the antenna fixing frame 21 passes through the antenna fixing frame 21 and the wire seat connector 22 and then passes through the antenna base 3 .

[0056] In an embodiment of the present invention, a sealing structure 33, a limiting structure 32 and a connecting structure 31 are provided on the antenna base 3. The sealing structure 33 is used to achieve sealing between the antenna base 3 and the main structure of the underwater robot. The limiting structure 32 is used to limit the rotation between the antenna base 3 and the main structure of the underwater robot. The connecting structure 31 is used to achieve connection between the antenna base 3 and the main structure of the underwater robot.

[0057] Specifically, the sealing structure 33 can be a sealing ring groove, the limiting structure 32 can be a positioning pin, and the connecting structure 31 can be a thread. The antenna base 3 is provided with a sealing ring groove, a thread and a positioning pin, and is connected to the underwater robot through the thread. The positioning pin limits the relative rotation between the antenna base and the underwater robot body, and the sealing ring is used to seal the underwater robot. The antenna feed line 34, the strobe light power supply line 35 and the expansion harness 6 enter the interior of the underwater robot from the hollow of the antenna base 3.

[0058] Specifically, in the embodiment of the present invention, Figures 8a to 8c Schematic diagrams of various different embodiments of the wire holder 4 on the antenna body 2 are shown.

[0059] like Figure 8a As shown, a wire-passing seat cover plate 41 and a wire-passing seat cover plate fixing screw 42 are provided at the port of the wire-passing seat 4, and the wire-passing seat 4 can be used as an expansion interface to realize subsequent expansion functions of the underwater robot.

[0060] like Figure 8bAs shown, when subsequent function expansion is required, the antenna body 2 also includes an expansion harness 6, which can be inserted through the wire holder 4, and after passing through the antenna base 3, enter the main structure of the underwater robot together with the strobe light power supply line 35.

[0061] like Figure 8c As shown, the antenna body 2 also includes an expansion socket 5, which is arranged on the wire passing seat 4 and connected to the wire passing seat 4.

[0062] In the embodiment of the present invention, the wire holder 4 is also hollow in design and communicates with the antenna base 3 through the wire holder connector 22. The expansion wire harness 6 passes through the wire holder 4, passes through the antenna base 3, and then enters the interior of the underwater robot together with the antenna feeder 34 and the strobe light power supply line 35. The expansion wire harness 6 is fixed and sealed by a flange at the entrance of the wire holder. When there is no expansion wire harness, it is sealed by the wire holder cover. The wire holder can also be installed with an expansion socket.

[0063] It should be noted that the expansion harness 6 can also be fixed and sealed through threaded holes at the entrance of the wire holder, that is, the flange seal can be replaced by a threaded seal to achieve the same sealing effect.

[0064] It should also be noted that the antenna base 3 can also be integrally formed with the wire holder 4 structure, which can also play the role of expanding the wire harness.

[0065] In summary, the antenna device for wireless communication of underwater robots provided by the present invention concentrates multiple antennas in one place, greatly reducing the space occupied by antennas and facilitating overall layout; multiple antennas are made into a streamlined whole, reducing antenna resistance; multiple antenna feed lines, strobe light power lines and extension harnesses are concentrated through the cabin, reducing the risk of water leakage; the strobe light is integrated on the top of the universal combination antenna, which is at a high height and easy to search, and the light-transmitting cover is detachable for later maintenance and replacement; the harness extension is integrated on the universal combination antenna, which can expand the function of the underwater robot without overall modification; the universal combination antenna body is potted with a design, even if the antenna is damaged, it will not affect the sealing of the underwater robot; the universal antenna position design can make a variety of combination antennas with different functions without modifying the mold; the staggered antenna position design can arrange antennas with similar frequency bands at the top and the middle respectively, reducing mutual interference between antennas.

[0066] As another embodiment of the present invention, an underwater robot is provided, which includes a robot main structure and the antenna device for wireless communication of the underwater robot as mentioned above, and the antenna device for wireless communication of the underwater robot is connected to the robot main structure via an antenna base.

[0067] The underwater robot provided by the present invention, because it adopts the above-mentioned antenna device for underwater robot wireless communication, can minimize the resistance increased by the use of the combined antenna, thereby enabling the underwater robot to be controlled more stably.

[0068] It is to be understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, but the present invention is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. An antenna device for wireless communication of an underwater robot, characterized in that: include: An antenna body, a light-transmitting cover arranged at one end of the antenna body, and an antenna base arranged at the other end of the antenna body, wherein the light-transmitting cover and the antenna base are both connected to the antenna body, the antenna body is used to carry a combined antenna, the antenna base is used to connect to the main structure of the underwater robot, the combined antenna can pass through the antenna base and enter the main structure of the underwater robot, and the light-transmitting cover and the antenna base are both hollow structures; The antenna body comprises a combined linear structure consisting of a first linear structure, a second linear structure and a third linear structure connected in sequence, the first linear structure and the second linear structure are connected by a G3 curve connection envelope, the third linear structure and the second linear structure are connected by a G3 curve connection envelope, the first linear structure is connected to the light-transmitting cover, and the third linear structure is connected to the antenna base; The first linear structure includes an elliptical linear structure for antenna position arrangement, the second linear structure includes a NACA0024 linear structure, and the third linear structure includes a rounded linear structure for matching the shape of an antenna base.

2. The antenna device for wireless communication of an underwater robot according to claim 1, characterized in that: An antenna fixing frame is arranged inside the antenna body, and a top antenna position and a middle antenna position are arranged on the antenna fixing frame, wherein the top antenna position is close to one end of the antenna body, and the middle antenna position is close to the other end of the antenna body; The top antenna position is used to install a directional antenna for communicating with a satellite, wherein the gain direction of the directional antenna points to the sky; The middle antenna position is used to install a horizontal omnidirectional gain antenna that communicates with a ground base station, and the gain plane of the horizontal omnidirectional gain antenna is perpendicular to the plumb line.

3. The antenna device for wireless communication of an underwater robot according to claim 2, characterized in that: The middle antenna position includes at least a middle front antenna position and a middle rear antenna position, and the frequency bands of the horizontal omnidirectional gain antennas installed at the middle front antenna position and the middle rear antenna position are different.

4. The antenna device for wireless communication of an underwater robot according to claim 2, characterized in that: A light-transmitting cover mounting seat is provided at one end of the antenna body, and the light-transmitting cover mounting seat is used to mount the light-transmitting cover; A wire passing seat is arranged at the other end of the antenna body, and the wire passing seat is a hollow structure. The wire passing seat is connected with the antenna base through the wire passing seat connector.

5. The antenna device for wireless communication of an underwater robot according to claim 4, characterized in that: A strobe light is arranged in the light-transmitting cover, and the strobe light is connected to a strobe light power supply line. The strobe light power supply line passes through the light-transmitting cover mounting seat, the antenna fixing frame and the wire-passing seat connector in sequence, and then passes through the antenna base to enter the main structure of the underwater robot.

6. The antenna device for wireless communication of an underwater robot according to claim 5, characterized in that: It also includes an extension harness, which can be inserted through the wire holder, and then pass through the antenna base and enter the main structure of the underwater robot together with the strobe light power supply line.

7. The antenna device for wireless communication of an underwater robot according to claim 5, characterized in that: It also includes an expansion socket, which is arranged on the wire passing seat and connected to the wire passing seat.

8. The antenna device for wireless communication of an underwater robot according to claim 5, characterized in that: The interior of the antenna body is potted, and the antenna feed line arranged on the antenna fixing frame passes through the antenna fixing frame and the wire holder connector in sequence, then passes through the antenna base, and enters the main structure of the underwater robot together with the strobe light power supply line.

9. The antenna device for wireless communication of an underwater robot according to any one of claims 1 to 8, characterized in that: A sealing structure, a limiting structure and a connecting structure are provided on the antenna base. The sealing structure is used to achieve sealing between the antenna base and the main structure of the underwater robot. The limiting structure is used to limit the rotation between the antenna base and the main structure of the underwater robot. The connecting structure is used to achieve connection between the antenna base and the main structure of the underwater robot.

10. An underwater robot, characterized in that: It comprises a robot main body structure and an antenna device for wireless communication of an underwater robot as claimed in any one of claims 1 to 9, wherein the antenna device for wireless communication of an underwater robot is connected to the robot main body structure via an antenna base.

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