Multifunctional underwater vehicle

Abstract

The invention discloses a multifunctional underwater vehicle, and relates to the technical field of underwater operation, the underwater vehicle comprises a main cabin body, at least one auxiliary cabin body and a communication system, the communication system is distributed in the main cabin body and the auxiliary cabin body, the communication system comprises a first control box, and the first control box is detachably connected to the front end of the main cabin body; a butt-joint cavity is formed in the main cabin body, one end of the auxiliary cabin body is a first butt-joint part, the first butt-joint part is connected with the part, close to the first control box side, of the main cabin body through a first butt-joint structure, the first butt-joint part is fixed to the position, close to the butt-joint cavity, of the main cabin body through a second butt-joint structure, and the other end of the auxiliary cabin body is a second butt-joint part; a first butt joint part is arranged on the main cabin body, a second butt joint part is arranged on the second butt joint part, a third butt joint structure is arranged on the second butt joint part, the two auxiliary cabin bodies are connected through the third butt joint structure, and by arranging the multiple butt joint structures, connection between the main cabin body and the auxiliary cabin bodies and connection between the two auxiliary cabin bodies are achieved, so that the number of underwater operators capable of being carried is adjusted.

Description

Technical Field

[0001] The invention relates to the technical field of underwater operation, and in particular to a multifunctional underwater vehicle. Background Art

[0002] Underwater vehicles were initially used as a kind of underwater special warfare equipment in the field of national defense and military. With the development of underwater vehicle technology, underwater vehicles with improved structures began to appear in the public eye and were used as general underwater entertainment equipment and work equipment.

[0003] The existing underwater vehicles still lack flexibility when in use, which is related to the docking problem between the two cabins. The docking structure simplifies the operation of docking the two cabins, which plays a vital role in the convenience of using the underwater vehicle. This is also the main reason why the docking structure has always been one of the improvement directions of the underwater vehicle structure; secondly, the number of passengers of the existing underwater vehicles is generally controlled at 1 to 2 people. The upper limit of the number of passengers limits the scope of its underwater application. If more people need to be carried, the structure of the underwater vehicle itself cannot meet this requirement, and it will also affect its endurance, resulting in the underwater workers being unable to reach the designated location through the underwater vehicle; in addition, the existing underwater vehicles still have defects in terms of functional diversity. The current underwater vehicle function is generally reflected in the purpose of carrying personnel to navigate underwater, and there are no more functions that can assist the carrying personnel in underwater activities. The functional expansion of the underwater vehicle is limited, which is not conducive to the further popularization and innovation of the underwater vehicle. Summary of the invention

[0004] In view of the technical defects existing in the background technology, the present invention proposes a multifunctional underwater vehicle, which solves the above technical problems and meets the actual needs. The specific technical solution is as follows: The present invention provides a multifunctional underwater vehicle, which comprises a main cabin, at least one sub-cabin and a communication system, wherein the communication system is distributed in the main cabin and the sub-cabin, and the communication system comprises a first control box, which is detachably connected to the front end of the main cabin, a docking cavity is provided in the main cabin, one end of the sub-cabin is a first docking portion, the first docking portion is connected to the main cabin portion close to the first control box side through a first docking structure, the first docking portion is fixed at a position of the main cabin close to the docking cavity through a second docking structure, the other end of the sub-cabin is a second docking portion, a third docking structure is provided at the second docking portion, and the two sub-cabins are connected through the third docking structure, the internal space of the main cabin located in front of the docking cavity is a first inner cavity, the internal space of the sub-cabin located behind the first docking portion is a second inner cavity, battery compartments are provided on the outside of both the first inner cavity and the second inner cavity, and a power device electrically connected to the battery in the battery compartment is provided on the outside of the battery compartment.

[0005] As a further embodiment of the present invention, the second docking structure includes a rotating frame, a docking roller and a docking column, the end face of the first docking part is provided with a first recessed part, one end of the rotating frame is connected to the first recessed part near the middle of the sub-cabin body through a rotating shaft, the other end of the rotating frame is provided with a first matching hole, the middle part of the docking roller is matched in the first matching hole, the left and right ends of the docking roller are provided with a card interface, the rear end of the bottom of the docking cavity is provided with a matching groove, the docking column is fixedly connected to the main cabin wall on the left and right sides of the front end of the matching groove, the first docking part is fixed to the position of the main cabin body near the docking cavity through the matching of the card interface with the docking column and through the rotation of the docking roller, the bottom end of the sub-cabin body is provided with a positioning component, and the positioning component is matched with the outer side of the first docking part that has been fixed in the docking cavity.

[0006] As a further embodiment of the present invention, the positioning assembly includes a positioning plate and a torsion spring, a connecting seat is provided on the left and right sides of one end of the positioning plate, a first groove is provided on the bottom of the sub-cabin body, a second matching hole is provided on the outer side of the first groove, the connecting seat is connected to the axis of the second matching hole through a rotating shaft to achieve connection with the bottom of the sub-cabin body, the torsion spring is fitted outside the rotating shaft of the connecting seat, and its two ends are respectively abutted against the wall surface of the sub-cabin body at the second matching hole, at least one protrusion is provided at the end of the positioning plate away from the connecting seat, the protrusion is moved into the card interface by the rotation of the positioning plate, and the position of the docking roller is fixed, and a second recessed portion is provided on the surface of the positioning plate close to the protrusion.

[0007] As a further embodiment of the present invention, the first docking structure includes a hook plate, a connecting plate and a sealing plate, the hook plate is fixedly connected to the end face at the top of the first docking part, the connecting plate is arranged at the bottom end of the first control box, the sealing plate is arranged on the top end face of the first docking part above the hook plate and the wall of the main cabin outside the first control box, the connecting plate extends to the space below the sealing plate of the main cabin, the front end of the hook plate is provided with a connecting column, the end of the connecting column away from the hook plate side is fixedly connected with a hemispherical fixed end head, the radius of the fixed end head is larger than the radius of the connecting column, the connecting plates are respectively provided with positioning grooves, the high part of the positioning groove is a first through hole with a circular cross-section, the radius of the first through hole is the same as the radius of the fixed end head, and the radius of the high part of the positioning groove is the same as the radius of the connecting column.

[0008] As a further embodiment of the present invention, a sealing strip is provided at the bottom end of the sealing plate located at the first docking portion, and a second groove is provided at the top of the sealing plate located at the main cabin body, and the sealing strip cooperates with the second groove after the connecting column and the positioning groove are in a lower part.

[0009] As a further embodiment of the present invention, the third docking structure includes a connecting arm and a limiting end head, the top wall of the sub-cabin body at the second docking part is provided with a rotating table, the top of the rotating table is connected to one end of the connecting arm through a rotating shaft, the connecting arm uses the position where it is connected to the rotating table axis as the rotation center, and its rotation center is perpendicular to the rotation center of the rotating table, and the other end of the connecting arm is connected to a limiting block with an elliptical cross-sectional shape through the rotating shaft, the limiting end head is arranged on the top surface of the sub-cabin body outside the rotating table and the top end of the first docking part, the top end of the limiting end head is provided with a second through hole with the same cross-sectional shape as the cross-sectional shape of the limiting block, and a third matching hole is provided in the limiting end head below the second through hole, the diameter of the third matching hole is the same as the length of the length end of the limiting block, and the rotating shaft to which the limiting block is connected is connected with a twist handle.

[0010] As a further embodiment of the present invention, the power device is connected to both sides of a C-shaped connecting frame, and both sides of the connecting frame penetrate the wall of the main cabin body located outside the battery compartment or the wall of the auxiliary cabin body located outside the battery compartment.

[0011] As a further embodiment of the present invention, the communication system includes a second control box, a first controller and a second controller, the first control box is provided with a retractable antenna, the first control box is wirelessly connected to the second control box via the antenna, the first controller is wirelessly connected to the second control box, and the second controller is wirelessly connected to the first control box.

[0012] As a further embodiment of the present invention, the wall surface of the main cabin below the first control box and the wall surface of the sub-cabin near the second docking part are both provided with a female docking terminal, the front end face of the first docking part is provided with a sub-docking terminal, a circle of sealing gasket with an opening is provided at the docking point between the female docking terminal and the sub-docking terminal, and the docking column of the female docking terminal is wrapped when the sub-docking terminal is not docked to the female docking terminal, the female docking terminal in the main cabin is electrically connected to the battery compartment in the main cabin, and the female docking terminal and the sub-docking terminal in the sub-cabin are both electrically connected to the battery compartment in the sub-cabin.

[0013] As a further embodiment of the present invention, water pumps communicating with the outside are provided in both the first inner cavity and the second inner cavity.

[0014] The beneficial effects of the present invention are as follows: by setting up multiple docking structures, the connection between the main cabin and the sub-cabin and the connection between the two sub-cabins are realized, the operation is simple, the connection is tight, and the main cabin and the sub-cabin or the two sub-cabins can be quickly docked and detached underwater, so as to adjust the number of underwater workers that can be carried, and each sub-cabin is provided with a power device and a battery compartment, so that it can still work normally after being detached from the main part of the underwater vehicle; the communication system allows underwater workers to communicate with each other underwater while keeping in touch with ground personnel underwater, and the first control box in the communication system can be used as a docking structure between the main cabin and the sub-cabin, and can also be removed from the main cabin for carrying and use when in use. It has various functions and can meet the use needs of underwater workers when performing different tasks underwater. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The schematic diagram of the structure is that the underwater vehicle is connected to a sub-cabin.

[0016] Figure 2 It is a schematic diagram of the structure of the underwater vehicle connected to at least two auxiliary cabins.

[0017] Figure 3 Schematic diagram of the internal structure of the main cabin.

[0018] Figure 4 Schematic diagram of the internal structure of the main cabin.

[0019] Figure 5 Schematic diagram of the external structure of the main cabin.

[0020] Figure 6 Schematic diagram of the structure of the second docking structure.

[0021] Figure 7 It is a structural schematic diagram of the second docking structure when the auxiliary cabin body is docked with the main cabin body.

[0022] Figure 8 It is a structural diagram of the positioning component.

[0023] Fig. 9 It is a structural schematic diagram of the first docking structure.

[0024] Fig.10 It is a structural schematic diagram of the hook plate.

[0025] Fig.11 A schematic diagram of the structure of the connecting plate.

[0026] Fig.12 Schematic diagram of the structure of the third docking structure.

[0027] Fig.13 It is a cross-sectional view of the limit end.

[0028] Fig.14 It is a schematic diagram of the structure in which the limit block cooperates.

[0029] Fig.15 This is a schematic diagram of the structure of the power unit.

[0030] Fig.16 Schematic diagram of the components of the communication system.

[0031] Fig.17 It is a structural schematic diagram of a female docking terminal and a female docking terminal.

[0032] In the figure, 1, main cabin; 11, docking cavity; 2, auxiliary cabin; 21, first docking part; 22, second docking part; 3, communication system; 31, first control box; 313, antenna; 32, second control box; 33, first controller; 34, second controller; 4, first docking structure; 41, rotating frame; 42, docking roller; 43, docking column; 44, first recessed part; 45, first matching hole; 46, card interface; 47, matching groove; 48, positioning assembly; 481, positioning plate, 482, torsion spring, 483, connecting seat, 484, first groove, 485, second matching hole; 486, protrusion; 4 87. Second recessed portion; 5. Second docking structure; 51. Hook plate; 52. Connecting plate; 53. Sealing plate; 531. Sealing strip; 532. Second groove; 54. Connecting column; 55. Fixed terminal; 56. Positioning groove; 57. First through hole; 6. Third docking structure; 61. Connecting arm; 62. Limiting terminal; 63. Rotating table; 64. Limiting block; 65. Second through hole; 66. Third matching hole; 67. Twist handle; 7. First inner cavity; 8. Second inner cavity; 9. Battery compartment; 10. Power unit; 101. Connecting frame; 12. Female docking terminal; 13. Sub-docking terminal; 14. Sealing pad; 15. Water pump. DETAILED DESCRIPTION

[0033] The present invention provides a multifunctional underwater vehicle, such as Figure 1 to Figure 6 As shown in combination, the underwater vehicle includes a main cabin 1, at least one auxiliary cabin 2 and a communication system 3, wherein the communication system 3 is distributed in the main cabin 1 and the auxiliary cabin 2, and the communication system 3 includes a first control box 31, wherein the first control box 31 is detachably connected to the front end of the main cabin 1, wherein a docking cavity 11 is provided in the main cabin 1, wherein one end of the auxiliary cabin 2 is a first docking portion 21, wherein the first docking portion 21 is connected to a portion of the main cabin 1 near the first control box 31 side through a first docking structure 4, wherein the first docking portion 21 is connected to the main cabin 1 through a second docking structure 5 It is fixed at a position close to the docking cavity 11, and the other end of the sub-cabin body 2 is a second docking portion 22. A third docking structure 6 is provided at the second docking portion 22. The two sub-cabin bodies 2 are connected via the third docking structure 6. The internal space of the main cabin body 1 located in front of the docking cavity 11 is a first inner cavity 7, and the internal space of the sub-cabin body 2 located behind the first docking portion 21 is a second inner cavity 8. Battery compartments 9 are provided on the outside of the first inner cavity 7 and the second inner cavity 8. A power device 10 electrically connected to the battery in the battery compartment 9 is provided on the outside of the battery compartment 9.

[0034] It should be noted that: by setting up the first docking structure 4, the first docking portion 21 in the sub-cabin 2 is connected to the wall of the main cabin 1 in front of the docking cavity 11, thereby realizing the connection between the sub-cabin 2 and the main cabin 1, and the docking cavity 11 can surround the outside of the first docking portion 21, so as to preliminarily position the sub-cabin 2. In order to increase the number of underwater workers that can be carried by the underwater vehicle, another sub-cabin 2 can be connected to the rear of the sub-cabin 2 connected to the main cabin 1, and the connection between the two sub-cabins 2 can be achieved through the second docking structure 5, which is simple to operate and has a strong connection tightness, and can realize rapid docking and disconnection underwater, thereby adjusting the number of underwater workers that can be carried.

[0035] Each sub-cabin 2 is provided with a power device 10 and a battery compartment 9, so that it can still work normally after being separated from the main cabin 1 or the sub-cabin 2, so that each underwater worker can use the sub-cabin 2 to separate from the underwater vehicle and move to other locations to perform underwater operations.

[0036] In addition, the communication system 3 equipped in the underwater vehicle allows underwater workers to communicate with each other underwater while keeping in touch with ground personnel underwater; moreover, the first control box 31 in the communication system 3 can be used as a docking structure between the main cabin 1 and the sub-cabin 2, and can also be removed from the main cabin 1 for carrying and use when in use. It has various functions and can meet the needs of underwater workers when performing different tasks underwater.

[0037] It needs to be further explained that if Figure 4~Figure 8 As shown in combination, the second docking structure 5 includes a rotating frame 41, a docking roller 42 and a docking column 43. The end surface of the first docking part 21 is provided with a first recessed part 44, one end of the rotating frame 41 is connected to the first recessed part 44 near the middle of the auxiliary cabin body 2 through a rotating shaft, and the other end of the rotating frame 41 is provided with a first matching hole 45. The middle part of the docking roller 42 is matched in the first matching hole 45, and the left and right ends of the docking roller 42 are provided with a card interface 46. The rear end of the bottom of the docking cavity 11 is provided with a matching groove 47, and the docking column 43 is fixedly connected to the main cabin body 1 wall surface on the left and right sides of the front end of the matching groove 47. The first docking part 21 is fixed to the main cabin body 1 at a position close to the docking cavity 11 through the matching of the card interface 46 and the docking column 43, and through the rotation of the docking roller 42. A positioning component 48 is provided at the bottom end of the auxiliary cabin body 2, and the positioning component 48 is matched with the outer side of the first docking part 21 that has been fixed in the docking cavity 11.

[0038] When the sub-cabin body 2 needs to be docked with the main cabin body 1, rotate the docking roller 42, adjust the card interface 46 to a horizontal state facing the front of the first docking part 21, and engage the first docking part 21 into the docking cavity 11 along the direction of the card interface 46 and the docking column 43. Then, continue to rotate the docking roller 42 so that the card interface 46 faces downward, engage the positioning assembly 48 into the mating groove 47 to limit the docking roller 42, and the docking of the sub-cabin body 2 and the main cabin body 1 can be completed. The operation is simple.

[0039] Specifically, Figure 6~Figure 8 As shown in combination, the positioning assembly 48 includes a positioning plate 481 and a torsion spring 482, and a connecting seat 483 is provided on both sides of one end of the positioning plate 481. A first groove 484 is provided at the bottom of the sub-cabin body 2, and a second matching hole 485 is provided on the outer side of the first groove 484. The connecting seat 483 is connected to the axis of the second matching hole 485 through a rotating shaft to achieve connection with the bottom of the sub-cabin body 2. The torsion spring 482 is fitted outside the rotating shaft of the connecting seat 483, and its two ends are respectively abutted against the wall surface of the sub-cabin body 2 at the second matching hole 485. At least one protrusion 486 is provided at the end of the positioning plate 481 away from the connecting seat 483. The protrusion 486 is moved into the card interface 46 by the rotation of the positioning plate 481 to fix the position of the docking roller 42, and a second recessed portion 487 is provided on the surface of the positioning plate 481 close to the protrusion 486.

[0040] When it is necessary to detach the auxiliary cabin body 2 from the main cabin body 1, the positioning plate 481 flipped up from the second recessed portion 487 makes the protrusion 486 no longer engaged in the card interface 46, so that the docking roller 42 can rotate, and then the card interface 46 is adjusted to a state facing the front of the first docking portion 21 and horizontal by rotating the docking roller 42. Under the premise that the first docking structure 4 is also detached, the auxiliary cabin body 2 can be detached from the main cabin body 1 by pushing the auxiliary cabin body 2 backwards; and in the process of docking the auxiliary cabin body 2 to the main cabin body 1, when the docking roller 42 rotates to the point where the card interface 46 faces the first docking portion 21, the auxiliary cabin body 2 can be detached from the main cabin body 1. 1 and is in a horizontal state, the torsion spring 482 can act on the positioning plate 481 to make the protrusion 486 abut against the surface of the docking roller 42, thereby positioning the docking roller 42, facilitating the alignment of the card interface 46 when it is docked to the docking column 43, so that the card interface 46 can be more accurately matched to the docking column 43, and after the card interface 46 is downward, the docking roller 42 is limited by fitting the protrusion 486 into the card interface 46, so that the docking roller 42 will not rotate without human operation, ensuring that the sub-cabin body 2 and the main cabin body 1 can maintain a tight connection.

[0041] It needs to be further explained that if Figure 9~Figure 11 As shown in combination, the first docking structure 4 includes a hook plate 51, a connecting plate 52 and a sealing plate 53, the hook plate 51 is fixedly connected to the end surface of the top of the first docking part 21, the connecting plate 52 is arranged at the bottom end of the first control box 31, and the sealing plate 53 is arranged on the top end surface of the first docking part 21 above the hook plate 51 and the wall surface of the main cabin 1 outside the first control box 31, the connecting plate 52 extends to the space below the sealing plate 53 of the main cabin 1, and a connecting column 54 is provided at the front end of the hook plate 51, and the end of the connecting column 54 away from the hook plate 51 is fixedly connected with a hemispherical fixed end head 55, the radius of the fixed end head 55 is greater than the radius of the connecting column 54, and the connecting plate 52 is respectively provided with a positioning groove 56, and the high part of the positioning groove 56 is a first through hole 57 with a circular cross-section, the radius of the first through hole 57 is the same as the radius of the fixed end head 55, and the radius of the high part of the positioning groove 56 is the same as the radius of the connecting column 54.

[0042] Among them, when the sub-cabin body 2 is docked to the main cabin body 1, the hook plate 51 at the front end of the first docking part 21 first enters into the space of the main cabin body 1 below the first control box 31, and after the fixed end 55 passes through the first through hole 57, the sub-cabin body 2 is moved to make the connecting column 54 move into the lower part of the positioning groove 56. At this time, the fixed end 55 is located outside the lower part of the positioning groove 56, and it is difficult to move out of the lower part of the positioning groove 56 by translation, so as to realize the docking of the sub-cabin body 2 to the main cabin body 1; and the gap at the docking point between the first docking part 21 and the main cabin body 1 can be sealed by two sealing plates 53 to prevent foreign objects from entering the docking position between the first docking part 21 and the main cabin body 1 and affecting the connection between the two.

[0043] Specifically, Figure 9~Figure 11 As shown, a sealing strip 531 is provided at the bottom end of the sealing plate 53 located at the first docking portion 21, and a second groove 532 is provided at the top of the sealing plate 53 located at the main cabin body 1. After the connecting column 54 and the positioning groove 56 are matched at the lower part, the sealing strip 531 cooperates with the second groove 532.

[0044] Among them, the cooperation between the sealing strip 531 and the second groove 532 not only seals the gap at the docking point between the first docking part 21 and the main cabin body 1, but also has a certain bite connection effect between the two sealing plates 53, making the connection between the first docking part 21 and the main cabin body 1 tighter.

[0045] It needs to be further explained that if Figure 2 , Fig.12 , Fig.13 and Fig.14 As shown in combination, the third docking structure 6 includes a connecting arm 61 and a limiting end head 62. A rotating table 63 is provided on the top wall of the sub-cabin 2 at the second docking portion 22. The top end of the rotating table 63 is connected to one end of the connecting arm 61 through a rotating shaft. The connecting arm 61 uses the position where it is connected to the rotating table 63 axis as the rotation center, and its rotation center is perpendicular to the rotation center of the rotating table 63. The other end of the connecting arm 61 is connected to a limiting block 64 with an elliptical cross-sectional shape through a rotating shaft. The limiting end head 62 is arranged on the top surface of the sub-cabin 2 outside the rotating table 63 and the top end of the first docking portion 21. A second through hole 65 with the same cross-sectional shape as that of the limiting block 64 is provided on the top end of the limiting end head 62. A third matching hole 66 is provided in the limiting end head 62 below the second through hole 65. The diameter of the third matching hole 66 is the same as the length of the length end of the limiting block 64. The limiting block 64 is connected to the rotating shaft connected with a twist handle 67.

[0046] When it is necessary to connect the two sub-cabin bodies 2, the connecting arm 61 on the front sub-cabin body 2 can be rotated to the front end of the sub-cabin body 2 behind it by rotating the rotating table 63 and the rotating connecting arm 61, and then the connecting arm 61 is continued to be rotated to make the limit block 64 enter the second through hole 65, and then the limit block 64 is further moved by further moving the connecting arm 61 to enter the third matching hole 66, and then the twist handle 67 is rotated to make the limit block 64 and the second through hole 65 perpendicular to each other. At this time, both sides of the length end of the limit block 64 abut against the wall surface of the limit end head 62 below the second through hole 65. It is not possible to fix the position of the entire connecting arm 61 by translating the second through hole 65 out of the third matching hole 66 in the axial direction, thereby realizing the connection of the two sub-cabin bodies 2; when there is no need to connect more sub-cabin bodies 2, the connecting arm 61 can be rotated to the limit end 62 in front of the rotating table 63 by rotating the rotating table 63 and the rotating connecting arm 61, and the limit block 64 can be fixed in the limit end 62 in front of the rotating table 63 through the operation method when connecting with the two sub-cabin bodies 2, thereby fixing the connecting arm 61 to prevent the rotating end of the connecting arm 61 from rotating without human operation.

[0047] It needs to be further explained that if Figure 1 , Figure 2 and Fig.15 As shown, the power device 10 is connected to both sides of a C-shaped connecting frame 101, and both sides of the connecting frame 101 penetrate the wall of the main cabin 1 located outside the battery compartment 9 or the wall of the auxiliary cabin 2 located outside the battery compartment 9.

[0048] The driving direction of the power device 10 can be adjusted by rotating the connecting frame 101, so that the main cabin 1 and the auxiliary cabin 2 can move forward, dive or float in the water, which is easy to operate.

[0049] It needs to be further explained that if Fig.16 As shown, the communication system 3 includes a second control box 32, a first controller 33 and a second controller 34. The first control box 31 is provided with a retractable antenna 313. The first control box 31 is wirelessly connected to the second control box 32 via the antenna 313. The first controller 33 is wirelessly connected to the second control box 32. The second controller 34 is wirelessly connected to the first control box 31.

[0050] Among them, personnel on land can wirelessly transmit control signals to the second control box 32 through the first controller 33, and then use the wireless communication connection between the second control box 32 and the first control box 31 to realize the transmission of control signals, so that the first control box 31 can control the operating state of the underwater vehicle by executing the received control signal. This method can also be used to realize information exchange between ground and underwater workers, such as providing underwater navigation and voice communication; and the second controller 34 is equipped for each underwater worker. After the first control box 31 forms a wireless local area network underwater, the underwater workers can connect to this wireless local area network through the second controller 34 to form mutual wireless communication, thereby facilitating the mutual contact between the underwater workers when performing tasks underwater, and using the first control box 31 to send information to the ground The personnel can be contacted, and the second controller 34 equipped by each underwater worker, after being connected to the wireless local area network formed by the first control box 31, measures the signal strength or signal arrival time through the processor and the signal transceiver in the first control box 31, and calculates the relative distance between the second controller 34 and the wireless communication access point in the first control box 31, and then uses these distance information to calculate the specific position of the second controller 34 by triangulation, so as to locate all underwater workers who form wireless communication in the designated area; in addition, the first control box 31 and the second controller 34 are both equipped with antennas. After floating to a position close to the water surface, the antennas can be extended out of the water surface to emit radio waves, which can be captured by the Beidou satellite system, thereby realizing the positioning of the underwater workers.

[0051] It needs to be further explained that if Figure 1 , Figure 2 , Fig.10 , Fig.11 and Fig.17 As shown in the combination, the wall surface of the main cabin 1 below the first control box 31 and the wall surface of the sub-cabin 2 near the second docking portion 22 are both provided with a female docking terminal 12, and the front end face of the first docking portion 21 is provided with a sub-docking terminal 13, and a circle of sealing gaskets 14 with openings are provided at the docking point between the female docking terminal 12 and the sub-docking terminal 13, and the docking column 43 of the female docking terminal 12 is wrapped when the sub-docking terminal 13 is not docked to the female docking terminal 12, the female docking terminal 12 in the main cabin 1 is electrically connected to the battery compartment 9 in the main cabin 1, and the female docking terminal 12 and the sub-docking terminal 13 in the sub-cabin 2 are both electrically connected to the battery compartment 9 in the sub-cabin 2 Among them, after the main cabin 1 and the sub-cabin 2 are docked, they can be docked to the main docking terminal 12 through the sub-docking terminal 13 to realize the series connection of the batteries in the main cabin 1 and the sub-cabin 2. In the case that one of the main cabin 1 or the sub-cabin 2 is short of power, the battery of the other can be used to provide power to drive the entire underwater vehicle to continue to navigate underwater; and after the two sub-cabins 2 are docked, the sub-docking terminal 13 can also be docked with the mother docking terminal 12 to realize the series connection of the batteries of the two sub-cabins 2, and when one of the two sub-cabins 2 is short of power, the battery of the other can be used to provide power to it, thereby driving the entire underwater vehicle to continue to navigate underwater. In the event of insufficient power, the battery of the other one can be used to provide power, thereby driving the underwater vehicle composed of two or more sub-cabins 2 to continue sailing underwater; and the setting of the sealing pad 14 can ensure that the internal terminal blocks of the sub-docking terminal 13 and the female docking terminal 12 can maintain waterproof performance when they are in a non-docking state. When the sub-docking terminal 13 and the female docking terminal 12 are docked, they can also be flipped outwards under the action of external force to dock the terminal blocks, thereby achieving electrical connection between the sub-docking terminal 13 and the female docking terminal 12.

[0052] It needs to be further explained that if Figure 3 and Figure 4 As shown in the figure, a water pump 15 communicating with the outside is disposed in both the first inner cavity 7 and the second inner cavity 8 .

[0053] Among them, by pumping water from the outside into the first inner cavity 7 through the water pump 15, the main cabin 1 can be actively submerged, and by pumping water from the outside into the second inner cavity 8 through the water pump 15, the sub-cabin 2 can be actively submerged. When the main cabin 1 needs to actively float, the water pump 15 pumps out the water in the first inner cavity 7 to the outside, so as to achieve the active floating of the main cabin 1. Similarly, by pumping out the water in the second inner cavity 8 to the outside through the water pump 15, the sub-cabin 2 can be actively floated. Moreover, when the main cabin 1 or the sub-cabin 2 is in a floating state or a sinking state, the reverse push of the power device 10 can maintain the main cabin 1 or the sub-cabin 2 at a certain depth underwater, thereby realizing the hovering function of the entire underwater vehicle in the water.

[0054] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A multifunctional underwater vehicle, comprising a main cabin, at least one auxiliary cabin and a communication system, characterized in that: The communication system is distributed in the main cabin and the sub-cabin, and the communication system includes a first control box, which is detachably connected to the front end of the main cabin. A docking cavity is provided in the main cabin, and one end of the sub-cabin is a first docking part. The first docking part is connected to the main cabin part close to the first control box side through a first docking structure. The first docking part is fixed at a position of the main cabin close to the docking cavity through a second docking structure. The other end of the sub-cabin is a second docking part. A third docking structure is provided at the second docking part. The two sub-cabins are connected through the third docking structure. The internal space of the main cabin in front of the docking cavity is the first inner cavity, and the internal space of the sub-cabin behind the first docking part is the second inner cavity. Battery compartments are provided on the outside of both the first inner cavity and the second inner cavity, and a power device electrically connected to the battery in the battery compartment is provided on the outside of the battery compartment.

2. The underwater vehicle according to claim 1, characterized in that: The second docking structure includes a rotating frame, a docking roller and a docking column, the end face of the first docking part is provided with a first recessed part, one end of the rotating frame is connected to the first recessed part near the middle of the sub-cabin body through a rotating shaft, the other end of the rotating frame is provided with a first matching hole, the middle part of the docking roller is matched in the first matching hole, the left and right ends of the docking roller are provided with a card interface, the rear end of the bottom of the docking cavity is provided with a matching groove, the docking column is fixedly connected to the main cabin wall on the left and right sides of the front end of the matching groove, the first docking part is fixed to the position of the main cabin body near the docking cavity through the card interface and the docking column, and through the rotation of the docking roller, the bottom end of the sub-cabin body is provided with a positioning component, and the positioning component is matched with the outer side of the first docking part that has been fixed in the docking cavity.

3. The underwater vehicle according to claim 2, characterized in that: The positioning assembly includes a positioning plate and a torsion spring, and a connecting seat is provided on the left and right sides of one end of the positioning plate. The bottom of the sub-cabin body is provided with a first groove, and the outer side of the first groove is provided with a second matching hole. The connecting seat is connected to the axis of the second matching hole through a rotating shaft to achieve connection with the bottom of the sub-cabin body. The torsion spring is fitted outside the rotating shaft of the connecting seat, and its two ends are respectively abutted against the wall surface of the sub-cabin body at the second matching hole. At least one protrusion is provided at the end of the positioning plate away from the connecting seat, and the protrusion is moved into the card interface by rotating the positioning plate to fix the position of the docking roller, and a second recessed portion is provided on the surface of the positioning plate close to the protrusion.

4. The underwater vehicle according to claim 1, characterized in that: The first docking structure includes a hook plate, a connecting plate and a sealing plate, the hook plate being fixedly connected to the end face at the top of the first docking part, the connecting plate being arranged at the bottom end of the first control box, the sealing plate being arranged at the end face at the top of the first docking part above the hook plate and the wall of the main cabin outside the first control box, the connecting plate extending to the space below the sealing plate of the main cabin, a connecting column being provided at the front end of the hook plate, the end of the connecting column away from the hook plate side being fixedly connected with a hemispherical fixed end head, the radius of the fixed end head being larger than the radius of the connecting column, the connecting plates being respectively provided with positioning grooves, the high portion of the positioning groove being a first through hole with a circular cross-section, the radius of the first through hole being the same as the radius of the fixed end head, the radius of the high portion of the positioning groove being the same as the radius of the connecting column.

5. The underwater vehicle according to claim 4, characterized in that: A sealing strip is provided at the bottom end of the sealing plate at the first docking portion, and a second groove is provided at the top of the sealing plate at the main cabin body. The sealing strip cooperates with the second groove after the connecting column and the lower part of the positioning groove cooperate.

6. The underwater vehicle according to claim 1, characterized in that: The third docking structure includes a connecting arm and a limiting end head, a rotating table is provided on the top wall of the sub-cabin body at the second docking part, the top of the rotating table is connected to one end of the connecting arm through a rotating shaft, the connecting arm uses the position where it is connected to the rotating table axis as the rotation center, and its rotation center is perpendicular to the rotation center of the rotating table, and the other end of the connecting arm is connected to a limiting block with an elliptical cross-sectional shape through the rotating shaft, the limiting end head is arranged on the top surface of the sub-cabin body outside the rotating table and the top end of the first docking part, the top end of the limiting end head is provided with a second through hole with the same cross-sectional shape as the cross-sectional shape of the limiting block, a third matching hole is provided in the limiting end head below the second through hole, the diameter of the third matching hole is the same as the length of the length end of the limiting block, and the rotating shaft to which the limiting block is connected is connected with a twist handle.

7. The underwater vehicle according to claim 1, characterized in that: The power device is connected to two sides of a C-shaped connecting frame, and the two sides of the connecting frame penetrate the wall of the main cabin body located outside the battery compartment or the wall of the auxiliary cabin body located outside the battery compartment.

8. The underwater vehicle according to claim 1, characterized in that: The communication system includes a second control box, a first controller and a second controller. The first control box is provided with a retractable antenna. The first control box is wirelessly connected to the second control box via the antenna. The first controller is wirelessly connected to the second control box. The second controller is wirelessly connected to the first control box.

9. The underwater vehicle according to claim 1, characterized in that: The wall surface of the main cabin below the first control box and the wall surface of the sub-cabin near the second docking part are both provided with a female docking terminal, the front end face of the first docking part is provided with a sub-docking terminal, a circle of sealing gasket with an opening is provided at the docking point between the female docking terminal and the sub-docking terminal, and the docking column of the female docking terminal is wrapped when the sub-docking terminal is not docked to the female docking terminal, the female docking terminal in the main cabin is electrically connected to the battery compartment in the main cabin, and the female docking terminal and the sub-docking terminal in the sub-cabin are both electrically connected to the battery compartment in the sub-cabin.

10. The underwater vehicle according to claim 1, characterized in that: The first inner cavity and the second inner cavity are both provided with water pumps connected to the outside.

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