A foldable wave-powered self-sufficient marine robot

Abstract

The present invention relates to the technical field of marine robots, and more specifically to a foldable wave energy self-sufficient marine robot, comprising a floating platform and a power generation buoy. In the present invention, a plurality of power generation buoys are evenly distributed around the floating platform by utilizing the outward expansion of a suspension rod, thereby improving the floating stability of the floating platform while improving the wave sensing and power generation capability. By controlling the connection state between the robot body and the floating platform, the robot can be controlled to be lifted off the sea surface after the overhaul and maintenance period, thereby reducing the contact and immersion time between the robot and seawater during the deep-sea aquaculture cycle, thereby improving its own service life.

Description

Technical Field

[0001] The invention relates to the technical field of marine robots, in particular to a foldable wave energy self-sufficient marine robot. Background Art

[0002] Wave power generation is a technology that uses the energy of ocean waves to convert into electrical energy. Its basic principle is to convert the energy of waves into mechanical energy, air pressure or hydraulic energy through a certain device, and then drive the generator to generate electricity through a transmission mechanism, gas turbine, water turbine or hydraulic motor.

[0003] Deep-sea aquaculture cages are mainly composed of a frame system, a net bag, a fixing system and supporting facilities. The cages are lowered to a limited depth underwater by using the interaction of the fixed platform and the characteristics of the cage itself. Deep-sea aquaculture cages are placed in the ocean, far away from land. The daily positioning and monitoring equipment deployed on deep-sea aquaculture cages often have difficulty in obtaining sufficient power supply, making it difficult to effectively monitor and warn the integrity of the cages themselves and the survival of farmed fish.

[0004] Moreover, the ocean is filled with a large amount of floating marine debris. The attachment and entry of debris will also have a negative impact on the integrity of deep-sea cages and the living environment of fish. Although traditional marine robots can use wave power generation technology to provide daily monitoring for the daily use and operation of deep-sea aquaculture cages, their own functions are single, and long-term immersion in seawater will also cause corrosion of the marine robots themselves and reduce their lifespan. Summary of the invention

[0005] In order to address the deficiencies of the prior art, the present invention provides a foldable wave energy self-sufficient marine robot, thereby solving the problems that the traditional marine robot body is difficult to cope with the reduced lifespan caused by seawater immersion erosion and has a single structure and function.

[0006] The technical solution adopted by the present invention to solve its technical problems is a foldable wave energy self-sufficient marine robot, including a floating platform and a power generation buoy, the power generation buoy is movably installed on the floating platform, the floating platform is located in a deep-sea aquaculture cage, the floating platform is disc-shaped as a whole, and the power generation buoys are circumferentially distributed around the floating platform, the power generation buoys are drop-shaped, and a buoyancy ring is circumferentially installed inside the floating platform. In addition, it also includes a suspension rod and a robot body.

[0007] The suspension rods are provided in plurality, and are installed at the edges of the floating platform in a rotationally matched manner, and the upper ends of the suspension rods are inclined and extended in a direction away from the axis of the floating platform, and the telescopic ends of the power generation buoys are fixedly connected to the inclined ends of the suspension rods;

[0008] The robot body is movably installed in the floating platform, and the robot body is electrically connected to the power generation buoy.

[0009] Preferably, a closing groove is opened in the middle of the floating platform, and a closing plate is symmetrically installed in the closing groove by sliding fit, and air distribution bins are symmetrically installed on both sides of the closing groove, and a separation rod is slidably installed in the air distribution bin, and the robot body is located above the closing plate.

[0010] Preferably, both sides of the air distribution bin are provided with leakage passages, the air distribution bin is connected with the leakage passages, and a leakage valve is provided at the communication port of the leakage passages, a cylindrical magnet is slidably installed in the leakage passages, and the cylindrical magnet is magnetically adsorbed to the side wall of the closing plate.

[0011] Preferably, the side walls of the separation rod are evenly provided with teeth grooves, an air blade ring is rotatably installed in the air distribution chamber, a gear ring meshing with the teeth grooves is fixedly provided on one side of the air blade ring, an air pump is fixedly installed on the upper part of the floating platform, the air pump is connected to the air distribution chamber through an air distribution pipe, and the output port of the air distribution pipe points to the sealed chamber where the air blade ring is located.

[0012] Preferably, the lower part of the boom extends horizontally in a direction close to the axis of the floating platform, and a counterweight is fixedly installed on the horizontal part of the boom, the counterweight is located below the buoyancy ring, a pop-up airbag is obliquely arranged on the lower part of the buoyancy ring, and the telescopic end of the airbag is fixedly connected to the side wall of the horizontal part of the boom, and the airbag is connected to the air pump.

[0013] Preferably, a permanent magnet is fixedly mounted on the edge of the floating platform and is magnetically attracted to the bottom of the power generation buoy.

[0014] Preferably, a sunshade ring is fixedly installed on the upper part of the gas distribution chamber, the sunshade ring is located above the closing plate, and the robot body is located inside the sunshade ring.

[0015] Preferably, a connecting frame is fixedly installed on the upper part of the separation rod, a telescopic rod is fixedly installed on the lower part of the connecting frame, a vibration damping plate is slidably installed on the telescopic end of the telescopic rod, a vibration damping spring is connected between the vibration damping plate and the end of the telescopic rod, an angle motor is fixedly installed on the side of the vibration damping plate facing the axis of the floating platform, an angle ring is fixedly installed at the output shaft position of the angle motor, and first clamps are movably installed on both sides of the robot body, and the first clamps are clamped and fixed on the angle ring.

[0016] Preferably, a hydraulic push rod is fixedly installed in the middle of the robot body, a second clamp is movably installed at the telescopic end of the hydraulic push rod, and a hydraulic pump for the hydraulic driving force of the first clamp and the second clamp is fixedly installed in the middle of the robot body.

[0017] Preferably, a lens compartment is fixedly installed on the upper part of the robot body, and an underwater camera is installed in the lens compartment. A plurality of propellers with different directions are installed around the robot body, and a protective cover is provided on the periphery of the propeller. Counterweight columns are movably installed around the lower part of the robot body, and a compression spring is connected between the upper part of the counterweight column and the robot body. A ballast water tank is provided in the middle part of the robot body.

[0018] Beneficial effects of the present invention:

[0019] (1) In the present invention, the outward expansion of the boom is utilized to evenly distribute a plurality of power generation buoys around the floating platform, thereby improving the wave sensing power generation capability and the floating stability of the floating platform. By controlling the connection state between the robot and the floating platform, the robot can be controlled to be lifted off the sea surface after the inspection and maintenance period. Furthermore, during the deep-sea aquaculture cycle, the contact and immersion time between the robot and the seawater is reduced, thereby improving its own service life.

[0020] (2) In the present invention, the robot's autonomous walking and object carrying and clamping capabilities can be used to remove and clean floating garbage in deep-sea aquaculture cages, thereby preventing garbage from floating into the deep-sea cages and causing blockage of the deep-sea cage mesh or accidental ingestion by farmed fish, thereby improving the cleanliness of the aquaculture cages and the safety of aquaculture, and avoiding unnecessary negative interference with the living environment of the fish. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0022] Figure 1 It is a schematic diagram of the first overall connection structure of the present invention;

[0023] Figure 2 It is a schematic diagram of a second overall connection structure of the present invention;

[0024] Figure 3 It is a schematic diagram of the positional relationship between the buoyancy ring and the floating platform in the present invention;

[0025] Figure 4 for Figure 3 A is an enlarged schematic diagram;

[0026] Figure 5 It is a schematic diagram of the positional relationship between the air blade ring and the separation rod in the present invention;

[0027] Figure 6 A schematic diagram of the positional relationship between the sunshade ring and the robot body in the present invention;

[0028] Figure 7 It is a schematic diagram of the overall structure of the robot body in the present invention;

[0029] Figure 8 for Figure 7 The enlarged schematic diagram of point B in FIG.

[0030] Fig. 9 for Figure 7 The main view diagram in FIG.

[0031] In the figure:

[0032] 1. Floating platform; 2. Power generation buoy; 3. Buoyancy ring; 4. Hanging rod; 5. Robot body; 11. Closing plate; 6. Air distribution chamber; 8. Separation rod; 61. Deflation flow channel; 62. Deflation valve; 81. Tooth groove; 63. Air blade ring; 12. Air pump; 41. Counterweight block; 31. Air bag; 13. Permanent magnet; 64. Sunshade ring; 82. Connecting frame; 83. Telescopic rod; 84. Vibration reduction plate; 85. Vibration reduction spring; 86. Angle motor; 87. Angle ring; 51. First clamp; 52. Hydraulic push rod; 53. Second clamp; 54. Hydraulic pump; 55. Lens chamber; 56. Propeller; 57. Counterweight column; 58. Compression spring; 59. Ballast water tank. DETAILED DESCRIPTION

[0033] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0034] like Figures 1 to 3 As shown, a preferred embodiment of the present invention proposes a foldable wave energy self-sufficient marine robot, including a floating platform 1 and a power generation buoy 2, wherein the power generation buoy 2 is movably installed on the floating platform 1, and the floating platform 1 is located in a deep-sea aquaculture cage. The floating platform 1 is disc-shaped as a whole, and a sonar detector for detecting the distribution and quantity of farmed fish is fixedly installed on the floating platform 1. The power generation buoy 2 is circumferentially distributed around the floating platform 1, and the power generation buoy 2 is in the shape of a water drop, and a buoyancy ring 3 is circumferentially installed in the floating platform 1. In addition, it also includes a suspension rod 4 and a robot body 5. A plurality of suspension rods 4 are provided, and the suspension rods 4 are installed at the edge positions around the floating platform 1 in a rotationally matched manner, and the upper end of the suspension rod 4 is inclined and extended in a direction away from the axis of the floating platform 1, and the telescopic end of the power generation buoy 2 is fixedly connected to the inclined end of the suspension rod 4, and the robot body 5 is movably installed in the floating platform 1, and an accumulator for receiving and storing electricity is provided on the floating platform 1, and the accumulator is electrically connected to the power generation buoy 2, and the robot body 5 is electrically connected to the accumulator.

[0035] During operation, the floating platform 1 is placed in a deep-sea aquaculture cage. The distribution and quantity of fish in the cage are detected in real time by a sonar detector, providing a visual observation basis for subsequent release and fishing operations. The circumferentially distributed buoyancy ring 3 provides buoyancy for the floating platform 1, so that it is suspended on the sea surface. The circumferentially distributed power generation buoys 2 can fluctuate up and down in a wave environment and generate electricity required for the stable operation of the floating platform 1. The outward expansion of the suspension rod 4 is used to evenly distribute multiple power generation buoys 2 around the floating platform 1, thereby improving the floating stability of the floating platform 1 while improving the wave sensing and power generation capabilities.

[0036] Further, such as Figures 6 to 9 As shown, a lens compartment 55 is fixedly installed on the upper part of the robot body 5, and an underwater camera is installed in the lens compartment 55. A plurality of propellers 56 with different directions are installed around the robot body 5, and a protective cover is provided on the periphery of the propeller 56. Counterweight columns 57 are movably installed around the lower part of the robot body 5, and a compression spring 58 is connected between the upper part of the counterweight column 57 and the robot body 5. A ballast water tank 59 is provided in the middle part of the robot body 5.

[0037] The ballast water tank 59 is set up to control the ratio of gas to seawater, thereby controlling the ascent and descent of the robot body 5 in the deep-sea aquaculture cage. The protective cover is set up to protect the propeller 56, and at the same time, it improves the anti-entanglement ability of the propeller 56 and avoids the damage that the robot body 5 may cause to the farmed fish in the cage when moving forward. Through the elastic connection of the compression spring 58, the counterweight column 57 can form a damper effect under the robot body 5, thereby improving the wind and wave resistance of the robot body 5 when sailing underwater or on the surface, and improving the stability of the travel route. The lens warehouse 55 is set up, and the use of the sonar detector can further improve the monitoring of the survival status of the farmed fish and the status of the deep-sea aquaculture cage itself, and provide early warning, reduce the navigation and maintenance frequency of the aquaculture operators, and improve the convenience of deep-sea aquaculture operations.

[0038] Further, such as Figures 1 to 3 As shown, the lower part of the boom 4 extends horizontally in the direction close to the axis of the floating platform 1, and a counterweight block 41 is fixedly installed on the horizontal part of the boom 4, and the counterweight block 41 is located below the buoyancy ring 3. A pop-up airbag 31 is obliquely arranged on the lower part of the buoyancy ring 3, and the telescopic end of the airbag 31 is fixedly connected to the side wall of the horizontal part of the boom 4, and the airbag 31 is connected to the air pump 12. A permanent magnet 13 magnetically adsorbed to the bottom of the power generation buoy 2 is fixedly installed at the edge of the floating platform 1, and an air pump 12 is fixedly installed on the upper part of the floating platform 1.

[0039] When the floating platform 1 is in a strong storm environment, the air pump 12 is driven by the electricity in the accumulator to work, and the airbag 31 is inflated through the air pipe. The inflated airbag 31 expands outward and pops out, thereby pushing the boom 4 to deflect, and then the power generation buoy 2 is driven by the boom 4 to deflect, so that the power generation buoy 2 is deflected and moved toward the axis direction of the floating platform 1, until the bottom water drop-shaped curved surface of the power generation buoy 2 contacts the floating platform 1 and lifts upward until it reaches the top of the permanent magnet 13. At this time, the bottom area of ​​the power generation buoy 2 is adsorbed and supported by the permanent magnet 13, and the upper traction of the boom 4 is used to make the power generation buoy 2 enter a retention state on the upper part of the floating platform 1, thereby reducing or avoiding the impact and shock of the strong wind and waves on the power generation buoy 2, and prolonging the service life of its internal power generation and mechanical lubrication parts. The reverse suction action of the air pump 12 can extract the gas inside the airbag 31, and thereby the boom 4 is suspended on the outside of the floating platform 1 again, so that the power generation buoy 2 enters the wave power generation state again.

[0040] Further, such as Figures 1 to 5 As shown, a closed groove is opened in the middle of the floating platform 1, and a closed plate 11 is symmetrically installed in the closed groove by sliding fit, and air distribution bins 6 are symmetrically installed on both sides of the closed groove. Both sides of the air distribution bin 6 are provided with leakage flow channels 61, and the air distribution bin 6 is connected with the leakage flow channel 61, and a leakage valve 62 is provided at the connecting port position of the leakage flow channel 61, and a cylindrical magnet is slidably installed in the leakage flow channel 61, and the cylindrical magnet is magnetically adsorbed to the side wall of the closing plate 11.

[0041] When the air pump 12 is performing air suction or air supply operations in the air distribution chamber 6, the opening and closing of the air relief valve 62 can be switched according to the usage status, thereby controlling the increase or decrease of the air pressure in the air relief channel 61, and the cylindrical magnet is pushed by the air pressure to slide in the closed chamber of the air relief channel 61, and the opening and closing of the closing plate 11 is controlled by the magnetic adsorption effect. When the closing plate 11 is in the open state, the robot body 5 can be lowered from the closed groove position to below the sea surface to work. When the closing plate 11 is in the closed state, the circumferentially arranged buoyancy ring 3 can reduce the fluctuation of waves in the area of ​​the closing plate 11, so that the seawater level above the closing plate 11 is within a controllable depth range. At this time, the robot body 5 is above the closing plate 11 and has no contact with the seawater, thereby reducing and avoiding the immersion time of the robot body 5 caused by seawater under normal monitoring environment, thereby reducing corrosion.

[0042] Further, such as Figures 2 to 9As shown, a separation rod 8 is slidably installed in the gas distribution warehouse 6, a connection frame 82 is fixedly installed on the upper part of the separation rod 8, a telescopic rod 83 is fixedly installed on the lower part of the connection frame 82, a vibration damping plate 84 is slidably installed on the telescopic end of the telescopic rod 83, a vibration damping spring 85 is connected between the vibration damping plate 84 and the end of the telescopic rod 83, an angle motor 86 is fixedly installed on the side of the vibration damping plate 84 facing the axis of the floating platform 1, an angle ring 87 is fixedly installed at the output shaft position of the angle motor 86, and first clamps 51 are movably installed on both sides of the robot body 5, and the first clamps 51 are clamped and fixed to the angle ring 87, tooth grooves 81 are evenly formed on the side walls of the separation rod 8, an air blade ring 63 is rotatably installed in the air distribution chamber 6, a gear ring meshing with the tooth grooves 81 is fixedly provided on one side of the air blade ring 63, the air pump 12 is connected to the air distribution chamber 6 through an air distribution pipe, and the output port of the air distribution pipe points to the sealed chamber where the air blade ring 63 is located, a hydraulic push rod 52 is fixedly installed in the middle of the robot body 5, a second clamp 53 is movably installed at the telescopic end of the hydraulic push rod 52, and a hydraulic pump 54 for the hydraulic driving force of the first clamp 51 and the second clamp 53 is fixedly installed in the middle of the robot body 5.

[0043] The deep-sea aquaculture cage is located in the ocean, which is filled with a large amount of floating garbage. In order to prevent the garbage from floating into the deep-sea cage and causing the deep-sea cage mesh to be blocked or accidentally eaten by the farmed fish, when the sonar monitor or the robot body 5 detects the entry of garbage during the patrol, the robot body 5 moves to the floating garbage position, and then drives the hydraulic push rod 52 to extend outward through the hydraulic pump 54, thereby driving the second clamping claw 53 to move in the direction close to the garbage. Then, the second clamping claw 53 is controlled to open and clamp the garbage, and transfer it to the preset garbage storage point inside the deep-sea aquaculture cage, and wait for the subsequent aquaculture operators to clean it uniformly, so as to improve the cleanliness of the aquaculture cage and avoid unnecessary negative interference to the living environment of the fish;

[0044] In order to increase the service life of the robot body 5 and prevent the components from being corroded by long-term immersion in seawater, after the cage inspection and maintenance period or the garbage removal operation is completed, air is introduced into the air distribution chamber 6 through the air pump 12. After entering, the air flow immediately forms a thrust on the air blade ring 63 and causes it to rotate forward. The air blade ring 63 drives the gear ring at its side wall to rotate, and then the separation rod 8 is moved to the bottom of the floating platform 1 through the meshing action between the air blade ring 63 and the tooth groove 81. The separation rod 8 drives the vibration damping plate 84 and the angle motor 86 to move downward as a whole until the angle ring 87 reaches the predetermined depth position below the floating platform 1. Then, the robot body 5 is controlled to move to the same depth position and controlled by the hydraulic pump 54. The first clamp 51 opens and closes, and the angle ring 87 is clamped and held tightly by the first clamp 51. Subsequently, the air pump 12 is controlled to perform suction operation, so that the air blade ring 63 rotates in the opposite direction, and then the separation rod 8 is controlled to move upward. At this time, the closing plate 11 is in an open state, and the robot body 5 is driven to move upward by the separation rod 8 until it is out of contact with the seawater. Subsequently, the closing plate 11 is closed, so that the robot body 5 is above the floating platform 1, thereby reducing the erosion time of seawater and increasing the service life. In addition, by controlling the operation of the angle motor 86, the robot body 5 can be driven to rotate through the angle ring 87, thereby avoiding the accumulation of seawater and further increasing the residual seawater on the robot body 5.

[0045] Further, such as Figure 1 , Figure 3 as well as Figure 6 As shown, a sunshade ring 64 is fixedly installed on the upper part of the air distribution chamber 6, and air holes are evenly opened on the sunshade ring 64. The sunshade ring 64 is located above the closing plate 11, and the robot body 5 is located in the sunshade ring 64. The setting of the sunshade ring 64 can reduce the illumination area of ​​the robot body 5 under the sun, avoid damage to its internal electronic components or camera modules due to strong light environment, and further improve the service life of the robot body 5.

[0046] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. A foldable wave energy self-sufficient marine robot, comprising a floating platform (1) and a power generation buoy (2), wherein the power generation buoy (2) is movably mounted on the floating platform (1), characterized in that: The floating platform (1) is located in a deep-sea aquaculture cage. The floating platform (1) is disc-shaped as a whole, and the power generation buoys (2) are circumferentially distributed around the floating platform (1). The power generation buoys (2) are drop-shaped. A buoyancy ring (3) is circumferentially installed inside the floating platform (1). In addition, A suspension rod (4), wherein a plurality of suspension rods (4) are provided, the suspension rods (4) are mounted at the edges of the floating platform (1) in a rotationally matched manner, and the upper ends of the suspension rods (4) extend obliquely in a direction away from the axis of the floating platform (1), and the telescopic ends of the power generation buoy (2) are fixedly connected to the oblique ends of the suspension rods (4); A robot body (5), wherein the robot body (5) is movably mounted in the floating platform (1), and the robot body (5) is electrically connected to the power generation buoy (2); The lower part of the suspension rod (4) extends horizontally in a direction close to the axis of the floating platform (1), and a counterweight block (41) is fixedly installed on the horizontal part of the suspension rod (4), and the counterweight block (41) is located below the buoyancy ring (3). A pop-up airbag (31) is obliquely arranged on the lower part of the buoyancy ring (3), and the telescopic end of the airbag (31) is fixedly connected to the side wall of the horizontal part of the suspension rod (4), and the airbag (31) is connected to the air pump (12).

2. A foldable wave energy self-sufficient marine robot according to claim 1, characterized in that: A closing groove is provided in the middle of the floating platform (1), a closing plate (11) is symmetrically mounted in the closing groove by means of sliding fit, an air distribution chamber (6) is symmetrically mounted on both sides of the closing groove, a separation rod (8) is slidably mounted in the air distribution chamber (6), and the robot body (5) is located above the closing plate (11).

3. A foldable wave energy self-sufficient marine robot according to claim 2, characterized in that: Both sides of the gas distribution chamber (6) are provided with a leakage flow channel (61), the gas distribution chamber (6) is connected to the leakage flow channel (61), and a leakage valve (62) is provided at a communication port of the leakage flow channel (61), a cylindrical magnet is slidably mounted in the leakage flow channel (61), and the cylindrical magnet is magnetically attracted to the side wall of the closing plate (11).

4. A foldable wave energy self-sufficient marine robot according to claim 2, characterized in that: The side wall of the separation rod (8) is evenly provided with tooth grooves (81), an air blade ring (63) is rotatably mounted in the air distribution chamber (6), a gear ring meshing with the tooth groove (81) is fixedly arranged on one side of the air blade ring (63), an air pump (12) is fixedly mounted on the upper part of the floating platform (1), the air pump (12) is connected to the air distribution chamber (6) through an air distribution pipe, and the output port of the air distribution pipe points to the sealed chamber where the air blade ring (63) is located.

5. The foldable wave energy self-sufficient marine robot according to claim 2, characterized in that: A permanent magnet (13) is fixedly mounted on the edge of the floating platform (1) and is magnetically attracted to the bottom of the power generation buoy (2).

6. A foldable wave energy self-sufficient marine robot according to claim 5, characterized in that: A sunshade ring (64) is fixedly mounted on the upper portion of the gas distribution chamber (6); the sunshade ring (64) is located above the closing plate (11), and the robot body (5) is located inside the sunshade ring (64).

7. A foldable wave energy self-sufficient marine robot according to claim 6, characterized in that: A connection frame (82) is fixedly mounted on the upper part of the separation rod (8), a telescopic rod (83) is fixedly mounted on the lower part of the connection frame (82), a vibration-damping plate (84) is slidably mounted on the telescopic end of the telescopic rod (83), a vibration-damping spring (85) is connected between the vibration-damping plate (84) and the end of the telescopic rod (83), an angle motor (86) is fixedly mounted on the side of the vibration-damping plate (84) facing the axis of the floating platform (1), an angle ring (87) is fixedly mounted at the output shaft position of the angle motor (86), and first clamping claws (51) are movably mounted on both sides of the robot body (5), and the first clamping claws (51) are clamped and fixed on the angle ring (87).

8. A foldable wave energy self-sufficient marine robot according to claim 7, characterized in that: A hydraulic push rod (52) is fixedly mounted in the middle of the robot body (5), a second clamping jaw (53) is movably mounted on the telescopic end of the hydraulic push rod (52), and a hydraulic pump (54) for providing hydraulic driving force for the first clamping jaw (51) and the second clamping jaw (53) is fixedly mounted in the middle of the robot body (5).

9. The foldable wave energy self-sufficient marine robot according to claim 1, characterized in that: A lens chamber (55) is fixedly mounted on the upper part of the robot body (5), and an underwater camera is mounted inside the lens chamber (55). A plurality of propellers (56) facing in different directions are mounted around the robot body (5), and a protective cover is arranged on the periphery of the propellers (56). Counterweight columns (57) are movably mounted around the lower part of the robot body (5), and a compression spring (58) is connected between the upper part of the counterweight column (57) and the robot body (5). A ballast water tank (59) is arranged in the middle part of the robot body (5).

Images