Underwater self-blasting obstacle-breaking robot

Abstract

The invention discloses an underwater self-blasting obstacle-breaking robot in the technical field of underwater robots. The underwater self-blasting obstacle-breaking robot comprises a machine body, a propeller, a mechanical arm, an attaching mechanism, an observation instrument and a charging mechanism. The propellers comprise the horizontal propeller and the vertical propeller, the horizontal propeller and the vertical propeller are symmetrically installed on the left side and the right side of the fuselage, the observation instrument is installed on the grabbing face of the fuselage, and the attaching mechanism is installed at one end of the horizontal propeller and is in the same direction with the grabbing face. The mechanical arms are symmetrically mounted on the upper side and the lower side of the machine body, each mechanical arm at least has three degrees of freedom, a mechanical claw is arranged at the free end of each mechanical arm, and the mechanical arms can grab in a claw mode; the charging mechanism is installed on the non-grabbing face of the machine body. The underwater self-blasting obstacle breaking robot can be tightly adsorbed on the surface of an obstacle, is suitable for various obstacles in complex shapes, and is high in application range, extremely high in stability, high in obstacle breaking efficiency and low in manufacturing cost.

Description

Technical Field

[0001] The invention relates to the technical field of underwater robots, and in particular to an underwater self-exploding obstacle-clearing robot. Background Art

[0002] The history of underwater robots can be traced back to the 1950s. In the early days, they were mainly used in the military field. With the advancement of technology, they have gradually expanded to civilian and scientific research purposes. The early cable-controlled underwater robot ROV (Remotely Operated Vehicle) played an important role in marine exploration, but its operation was complicated and relied on the support mother ship. At the end of the 20th century, with the emergence of autonomous underwater robots AUV (Autonomous Underwater Vehicle), the application fields of underwater robots were further broadened, including deep-sea exploration, environmental monitoring, underwater rescue, etc. At present, underwater robots are mainly divided into three types: cable-controlled ROV, cable-free autonomous AUV and hybrid. ROV is often used for tasks that require high precision and high reliability, such as equipment installation and maintenance; AUV is more used in large-scale seabed topography exploration and long-term monitoring tasks. The hybrid type combines the advantages of the first two and has higher flexibility and application breadth. These technologies have achieved remarkable results in the fields of oil and gas, mineral exploration, environmental monitoring, etc. With the popularization of artificial intelligence technology, underwater robots are rapidly developing in the direction of intelligence and autonomy, integrating more sensors and artificial intelligence technology to achieve more complex tasks. For example, autonomous obstacle avoidance, target recognition, and adaptive control in complex environments will become standard capabilities. In addition, long-range and fast charging technologies are also important development directions, which will greatly expand its application scope and efficiency.

[0003] At present, underwater self-detonating obstacle-breaking robots have a very wide range of application fields and development prospects. For example, in the military field, underwater self-detonating obstacle-breaking robots are widely used in the removal of mines and the removal of obstacles in shallow sea areas that block the landing of amphibious landing forces. By accurately controlling the timing and intensity of the explosion, underwater obstacles can be effectively removed to ensure the safe navigation of ships and the rapid landing of amphibious forces. In the field of marine engineering, underwater self-detonating obstacle-breaking robots can be used for dredging and maintenance of waterways. By accurately controlling the blasting, they can effectively break and remove obstacles such as rocks and coral reefs in the waterway to ensure the smooth flow of the waterway; they can also be used in the laying of submarine pipelines to remove obstacles on the pipeline path and improve construction efficiency and safety. In the field of environmental protection, underwater self-detonating obstacle-breaking robots can be used for the restoration and reconstruction of coral reefs. By accurately controlling the blasting, dead corals and other obstacles on the coral reefs can be broken and removed to provide space for the growth of new corals. Because traditional underwater obstacle-breaking robots based on cable communication and drilling blasting usually face problems such as cable entanglement, limited distance, large size, and cumbersome steps. In order to quickly blast underwater obstacles, underwater obstacle-breaking robots should realize wireless communication and adopt naked blasting. However, naked blasting will also face the problem that the surface of underwater obstacles is smooth or irregular in shape, making it difficult for obstacle-breaking robots to attach to them.

[0004] At present, the existing underwater obstacle-clearing robots that use naked blasting mainly include snake-shaped blasting robots, crawler underwater blasting robots, multi-rotor underwater blasting robots, etc. It is difficult for them to stick closely to obstacles and can only target obstacles of specific shapes. They have limited scope of application and poor adhesion stability, which affects the blasting effect. In addition, the positioning and identification of underwater obstacles usually use high-definition cameras and LED lighting systems, which have poor detection effects on complex and turbid waters and low obstacle-clearing efficiency. More importantly, the manufacturing cost of the above-mentioned robots is high, and the economic efficiency of self-explosion obstacle-clearing needs to be improved. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide an underwater self-detonating obstacle-breaking robot, which can be tightly adsorbed on the surface of an obstacle, is suitable for obstacles of various complex shapes, has a wide range of applicability and extremely high stability, high obstacle-breaking efficiency and low manufacturing cost.

[0006] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0007] The present invention provides an underwater self-detonating obstacle-clearing robot, which has a bilaterally symmetrical structure and includes a body, a propeller, a mechanical arm, an attachment mechanism, an observation instrument, and a charging mechanism;

[0008] The propeller comprises a horizontal propeller and a vertical propeller, the horizontal propeller and the vertical propeller are symmetrically mounted on the left and right sides of the fuselage, the observation instrument is mounted on the gripping surface of the fuselage, and the attachment mechanism is mounted at one end of the horizontal propeller and in the same direction as the gripping surface;

[0009] The mechanical arm is symmetrically mounted on the upper and lower sides of the fuselage, the mechanical arm has at least three degrees of freedom, and a mechanical claw is provided at the free end of the mechanical arm;

[0010] The charging mechanism is installed on the non-gripping surface of the fuselage.

[0011] Further, the mechanical arm includes a first degree of freedom steering gear, a second degree of freedom steering gear, a rod, a third degree of freedom steering gear and a mechanical claw;

[0012] The mechanical claw is connected to one end of the rod through a third-degree-of-freedom steering gear, and the other end of the rod is mounted on a second-degree-of-freedom steering gear, and the second-degree-of-freedom steering gear is mounted on the fuselage through the first-degree-of-freedom steering gear;

[0013] The first degree of freedom steering gear is used to drive the mechanical arm to rotate about the first rotation axis, the second degree of freedom steering gear is used to drive the mechanical arm to rotate about the second rotation axis, and the third degree of freedom steering gear is used to drive the mechanical claw to open and retract;

[0014] The first rotation axis is parallel to a first straight line, the first straight line is an intersection line of a horizontal symmetry plane and a vertical symmetry plane of the fuselage, and the second rotation axis is perpendicular to the first rotation axis.

[0015] Furthermore, the attachment mechanism is a multi-layer structure, which includes a buffer layer, a support layer and a contact layer from the inside to the outside. The support layer is attached to the surface of the buffer layer, and the contact layer is attached to the surface of the support layer.

[0016] The material hardness of the buffer layer is Shore A50-60, the material hardness of the support layer is Shore A75-85, and the material hardness of the contact layer is Shore A30-40.

[0017] The outer circles of the buffer layer and the contact layer are both provided with through holes allowing water to flow through.

[0018] Furthermore, the observer includes a transverse two-dimensional ultrasonic imager and a plurality of longitudinal two-dimensional ultrasonic imagers, wherein the transverse two-dimensional ultrasonic imager is installed at the center of the gripping surface of the fuselage, and the longitudinal two-dimensional ultrasonic imagers are symmetrically distributed with the transverse two-dimensional ultrasonic imager as the center.

[0019] Furthermore, the vertical propeller includes side propellers and tail propellers, wherein the side propellers are symmetrically installed on the left and right sides of the fuselage, and the tail propeller is installed on the side of the charging mechanism away from the gripping surface.

[0020] Furthermore, it also includes a laser rangefinder, which is installed on the side of the mechanical claw away from the mechanical arm and is used to detect the distance between the mechanical claw and the obstacle in front.

[0021] Furthermore, the mechanical claw is arc-shaped, and the gripping method is a clamp-claw type gripping, and the free end of the mechanical claw is bent in a direction close to the center of the robot.

[0022] Furthermore, it also includes a control unit and a communication unit; the control unit is connected to the propeller, the robotic arm and the robotic claw through signals, and is used to control the opening and closing of the propeller, the movement of the robotic arm and the movement of the robotic claw. The control unit receives external control signals and transmits image data observed by the observer through the communication unit.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The underwater self-explosive obstacle-clearing robot provided by the present invention is provided with multiple sets of thrusters, attachment mechanisms, mechanical arms and mechanical claws. Under the power of the thrusters, the attachment mechanisms can be closely adsorbed on the surface of obstacles, and the mechanical arms and mechanical claws are used to stabilize the contact posture. The robot is suitable for obstacles of various complex shapes, has a wide range of applicability and extremely high stability.

[0025] The underwater self-detonating obstacle-clearing robot provided by the present invention observes the underwater terrain by arranging a lateral two-dimensional ultrasonic imager and a longitudinal two-dimensional ultrasonic imager, and uses a laser rangefinder to detect the situation around each point of the robot at close range. Compared with the use of a high-definition camera and an LED lighting system to locate and identify underwater obstacles, the underwater self-detonating obstacle-clearing robot is more suitable for the detection of complex or turbid waters, improves the obstacle-clearing efficiency, and reduces the manufacturing cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a schematic diagram of the structure of an underwater self-exploding obstacle-clearing robot provided by an embodiment of the present invention;

[0027] Figure 2 It is a structural schematic diagram of an observation instrument of an underwater self-explosion obstacle-clearing robot provided in an embodiment of the present invention;

[0028] Figure 3 It is a structural schematic diagram of an attachment mechanism of an underwater self-exploding obstacle-clearing robot provided by an embodiment of the present invention;

[0029] Figure 4 It is a schematic diagram of the structure of the mechanical arm of the underwater self-destructing obstacle-clearing robot provided in an embodiment of the present invention.

[0030] In the figure: 1. tail propeller; 2. horizontal thruster; 3. side propeller; 4. observation instrument; 401. transverse two-dimensional ultrasonic imager; 402. longitudinal two-dimensional ultrasonic imager; 5. attachment mechanism; 501. contact layer; 502. support layer; 503. buffer layer; 6. mechanical arm; 601. first degree of freedom servo; 602. second degree of freedom servo; 603. third degree of freedom servo; 7. mechanical claw; 8. laser rangefinder; 9. charging mechanism. DETAILED DESCRIPTION

[0031] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0032] Example 1

[0033] This embodiment provides an underwater self-explosion obstacle-clearing robot, such as Figure 1 As shown, the underwater self-detonating obstacle-clearing robot has a bilaterally symmetrical structure, including a fuselage, a propeller, a mechanical arm 6, an attachment mechanism 5, an observation instrument 4 and a charging mechanism 9.

[0034] In this embodiment, the propeller includes two horizontal propellers 2 and three vertical propellers. The three vertical propellers are two side propellers 3 and a tail propeller 1. The two horizontal propellers 2 are symmetrically installed on the left and right sides of the fuselage, and the two side propellers 3 are symmetrically installed on the left and right sides of the fuselage. The side propellers are installed on the outside of the horizontal propellers 2.

[0035] In this embodiment, the underwater self-detonating obstacle-clearing robot adopts a charging rack as a charging mechanism 9 , the charging mechanism 9 is installed on the rear side of the fuselage, and the tail propeller 1 is installed on the rear side of the charging mechanism 9 .

[0036] The observation instrument 4 is installed on the gripping surface on the front side of the fuselage. Figure 2 As shown, the observation instrument 4 includes a transverse two-dimensional ultrasonic imager 401 and two longitudinal two-dimensional ultrasonic imagers 402, which are used to cooperate in constructing an underwater terrain model, wherein the transverse two-dimensional ultrasonic imager 401 is installed at the center of the fuselage, and the two longitudinal two-dimensional ultrasonic imagers 402 are symmetrically installed on both sides of the transverse two-dimensional ultrasonic imager 401. The transverse two-dimensional ultrasonic imager 401 can scan and image the underwater environment of the robot in the horizontal direction, and the longitudinal two-dimensional ultrasonic imager 402 can scan and image the vertical direction, so as to construct a detailed underwater terrain model to help the robot accurately determine its own position and the position and shape of obstacles.

[0037] There can also be one longitudinal two-dimensional ultrasonic imager, but if there are two, without changing the direction of the robot, it has a larger scanning range than installing one longitudinal two-dimensional ultrasonic imager. If cost savings are considered, setting up one longitudinal two-dimensional ultrasonic imager and one transverse two-dimensional ultrasonic imager can also fully scan obstacles and terrain, but large adjustments and turns are required.

[0038] The observation instrument 4 on the robot continuously collects information about the underwater environment, and the ultrasonic imager detects the underwater terrain in real time to generate terrain data. Huffman coding is used for compression coding, and CRC check codes are added in groups. The coded data is modulated by FSK modulation to the ultrasonic signal in the 100 kHz frequency band, and then transmitted to the water through the ultrasonic transmitting transducer on the robot. The ultrasonic receiving transducer at the remote control end on the water receives the ultrasonic terrain data signal in the 100kHz frequency band transmitted by the underwater robot. The received signal is processed by amplification, filtering, FSK demodulation, etc. to restore the coded data. The data is CRC-checked and checked. The verified data is Huffman-decoded to restore the terrain data. Finally, the terrain data is displayed on the screen, and the terrain data is three-dimensionally modeled and displayed through special software. The robot positioning and speed are analyzed through real-time terrain data for reference by the operator.

[0039] In this embodiment, the underwater self-explosion obstacle-clearing robot includes two attachment mechanisms 5, which are respectively installed at one end of two horizontal thrusters 2 and in the same direction as the grasping surface. Figure 3 As shown, the attachment mechanism 5 is a multi-layer structure, which includes a buffer layer 503, a support layer 502 and a contact layer 501 from the inside to the outside. In this embodiment, the buffer layer is made of EPDM rubber or nitrile rubber, the support layer is made of hard polyvinyl chloride (PVC), and the contact layer is made of hydrogel. The buffer layer and the support layer are bonded by rubber adhesive PVC glue, and the support layer and the contact layer are bonded by polyurethane glue. The support layer 502 is tightly glued to the contact layer 501 to provide a support structure for the colloid contact surface and enhance the overall strength of the attachment mechanism 5. Through holes are provided in the outer circles of the buffer layer 503 and the contact layer 501, so that the attachment mechanism 5 is hollow as a whole. Water can flow through the through holes in the attachment mechanism 5 and in the corresponding horizontal propeller 2. When the attachment mechanism 5 contacts an obstacle, water can flow through the holes on the side of the buffer layer 503 and the corresponding horizontal propeller 2, ensuring that the horizontal propeller 2 operates normally to generate propulsion force, and forming a pressure difference on the contact surface of the contact layer 501, so that the underwater self-detonating obstacle-clearing robot can be stably adsorbed on the surface of the obstacle.

[0040] In this embodiment, the underwater self-destructing obstacle-removing robot includes four mechanical arms 6, which are symmetrically mounted on the upper and lower sides of the fuselage. The mechanical arm 6 includes a first degree of freedom steering gear 601, a second degree of freedom steering gear 602, a rod, a third degree of freedom steering gear 603 and a mechanical claw 7, wherein the mechanical claw 7 is connected to one end of the rod through the third degree of freedom steering gear 603, and the other end of the rod is mounted on the second degree of freedom steering gear 602, and the second degree of freedom steering gear 602 is mounted on the fuselage through the first degree of freedom steering gear 601. The first degree of freedom servo 601 is used to drive the mechanical arm to rotate around the first rotation axis, the second degree of freedom servo 602 is used to drive the mechanical arm to rotate around the second rotation axis, and the third degree of freedom servo 603 is used to drive the mechanical claw 7 to open and retract; wherein the first rotation axis is parallel to the axial direction of the fuselage, and the second rotation axis is perpendicular to the first rotation axis. Through the cooperation of the first degree of freedom servo 601, the second degree of freedom servo 602 and the third degree of freedom servo 603, the four mechanical arms 6 can grasp in a clamp-claw manner, thereby firmly grasping the obstacle. The mechanical claw 7 is arc-shaped, and the free end of the mechanical claw 7 is bent in the direction close to the center of the robot. This design enables the mechanical claw to contact the obstacle with a larger area, so that the robot can be more stably fixed on the obstacle.

[0041] In this embodiment, the underwater self-destructing obstacle-breaking robot also includes four laser rangefinders 8, which are respectively installed on the side of the four mechanical claws 7 away from the mechanical arm 6, for real-time detection of the distance between the mechanical claws 7 and the obstacles in front, and continuously adjusting the movements of the mechanical claws 7 and the mechanical arms 6 according to the distance and the posture of the robot.

[0042] Example 2

[0043] The present embodiment provides an underwater self-destructing obstacle-breaking robot. Different from the first embodiment, in the present embodiment, the underwater self-destructing obstacle-breaking robot further includes a control unit and a communication unit. The control unit is respectively connected to the thruster, the robotic arm 6 and the robotic claw 7 by signals, and is used to control the opening and closing of the thruster, the movement of the robotic arm 6 and the movement of the robotic claw 7. The control unit receives external control signals and transmits image data observed by the observation instrument 4 through the communication unit.

[0044] In this embodiment, for the transmission of the underwater self-detonating obstacle-breaking robot control command, an ultrasonic frequency band of 30kHz-50kHz is selected. This frequency band is relatively stable in water propagation and is relatively less affected by environmental noise. At the same time, it can also ensure a certain propagation distance. 40kHz is used as the center frequency of the control command transmission, and the amplitude shift keying (ASK) modulation method is adopted. The digital control command signal is represented by changing the amplitude of the ultrasonic signal. Manchester encoding is used. This encoding method has a jump in the middle of each data bit, which can be used as both data and clock signal, which is conducive to the synchronization and data extraction of the receiving end.

[0045] When the user operates the control device at the remote control end on the water, the remote control end converts the operation instructions into digital signals, encodes the binary digital sequence into a signal with clock information through Manchester coding, and then uses ASK modulation to modulate the encoded signal to a 40kHz ultrasonic carrier. The modulated ultrasonic control command signal is transmitted underwater through the ultrasonic transmitting transducer installed at the remote control end on the water. The ultrasonic receiving transducer on the underwater obstacle clearing robot receives the 40kHz ultrasonic control command signal transmitted by the remote control end on the water. The received signal is first amplified and filtered to remove water noise and other interference signals and enhance the useful signal. The signal is then ASK demodulated to restore the Manchester encoded signal. The original binary control command digital sequence is extracted through the Manchester decoding algorithm. Finally, the robot's control module drives the tail propeller, biplane propeller and robotic arm according to the received control instructions to achieve corresponding actions.

[0046] For the transmission of image and terrain data, due to the large amount of data, a higher bandwidth is required. The 80kHz-120kHz frequency band is selected and control instructions and data transmission are distinguished by different frequencies to reduce mutual interference. Frequency shift keying (FSK) modulation is used to map different data blocks to ultrasonic signals of different frequencies to improve data transmission efficiency within a limited bandwidth. Huffman coding is used to compress and encode image and terrain data. A Huffman tree is constructed according to the frequency of occurrence of different symbols in the data. Frequently occurring data is represented by a shorter code to reduce the amount of data. The compressed data is then grouped and a checksum is added to each group to detect and correct errors during transmission.

[0047] When the underwater self-detonating obstacle-clearing robot is used to clear underwater obstacles in amphibious landing operations, the landing ship will release small equipment with floating navigation capabilities such as speedboats when it is about 800-1000 meters away from the shallows. This is because there are obstacles near the beach, and it is not convenient for the amphibious landing ship to land directly and there are problems such as concealment.

[0048] The advance team drove the speedboat to the area where different obstacles were located. After leaving the mother ship, it sailed to about 50 meters away from the blasting point. The advance team operators wrapped the waterproof explosives around the charge rack 9 in circles to ensure that the explosives were in the right position when the robot was fixed on the obstacle, and then lowered the robot into the water.

[0049] After the robot enters the water, the operator starts the device, and the tail propeller 1, the horizontal propeller 2 and the two-wing propeller 3 work together. The horizontal propeller 2 provides the main power in the horizontal direction, and the tail propeller 1 and the two-wing propeller 3 assist in adjusting the direction to ensure that the robot can flexibly navigate in the water. The transverse two-dimensional ultrasonic imager 401 and the longitudinal two-dimensional ultrasonic imager 402 begin to scan the surrounding underwater environment. The transverse two-dimensional ultrasonic imager 401 scans the horizontal direction, and the longitudinal two-dimensional ultrasonic imagers 402 on both sides scan the vertical direction. The data obtained by the two are transmitted to the control system. The control system constructs an underwater terrain model based on these data. The robot determines its own position and the position and shape of the obstacle based on the model. The remote control end receives the signal and the operator controls the robot to sneak to the underwater part of the obstacle based on this information. The detection data of the laser rangefinder 8 at each point of the robot is analyzed, and the robot is fixed with the help of the attachment mechanism 5, the mechanical arm 6 and the mechanical claw 7, and finally the explosives on the charging mechanism 9 are remotely detonated.

[0050] When the underwater self-detonating obstacle-clearing robot is used to clear spherical obstacles, the underwater self-detonating obstacle-clearing robot approaches spherical obstacles such as mines. When it approaches a certain distance, the laser rangefinders 8 on the four mechanical claws 7 begin to accurately detect the distance from the surface of the mine and feed the data back to the control system. The control system adjusts the action of the mechanical arm 6 according to the data of the laser rangefinder 8. The mechanical arm 6 drives the mechanical claw 7, and combined with the thrust generated by the horizontal propeller 2, the mechanical claw 7 is pressed against the surface of the obstacle. At the same time, the contact layer 501 of the attachment mechanism 5 is in close contact with the surface of the mine, increasing the power of the horizontal propeller 2. The water flows through the holes on the side of the buffer layer 503 to ensure that the horizontal propeller 2 operates normally to generate propulsion force, and a pressure difference is formed on the contact surface, so that the robot is stably adsorbed on the surface of the obstacle, and finally the explosives on the charging mechanism 9 are remotely detonated.

[0051] When the underwater self-detonating obstacle-removing robot is used to remove block-shaped obstacles such as reefs, the underwater self-detonating obstacle-removing robot sneaks near block-shaped obstacles such as reefs. When it reaches the appropriate position of the obstacle, the laser rangefinder 8 detects the distance between the mechanical claw 7 and the surface of the obstacle. The mechanical arm 6 adjusts its action according to the ranging data so that the mechanical claw 7 is against the surface of the obstacle. The attachment mechanism 5 contacts the obstacle, and the contact layer 501 fits tightly. With the help of the holes in the buffer layer 503, it is ensured that the pressure difference generated by the operation of the horizontal propeller 2 is achieved to achieve adsorption. At the same time, the thrust of the horizontal propeller 2 assists in maintaining a stable attachment state, and finally the explosives on the charging mechanism 9 are remotely detonated.

[0052] When the underwater self-detonating obstacle-clearing robot is used to clear a stick-shaped obstacle, during the approach process, the distance between the center of the robot and the obstacle is continuously observed in real time through the observation instrument 4. Once the robot approaches to a certain extent, the mechanical arm 6 adjusts its action according to the distance information, so that the mechanical claw 7 grabs the stick-shaped obstacle and locks it, and finally remotely detonates the explosives on the charging mechanism 9.

[0053] When the underwater self-detonating obstacle-clearing robot is used to clear a mesh obstacle, the angle of the mechanical claw 7 is adjusted to make it pass through the obstacle when it approaches a certain distance. When the laser rangefinder 8 detects that the distance approaches zero, the mechanical claw 7 is retracted to hook the obstacle. The thrust of the horizontal propeller 2 ensures that the robot will not be washed away by the water flow during the grabbing process, and finally the explosives on the charging mechanism 9 are remotely detonated.

[0054] In the description of the present invention, it should be understood that the terms "center", "vertical", "horizontal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only used to explain the relative positional relationship, movement, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, the meaning of "multiple" is two or more.

[0055] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0056] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. An underwater self-exploding obstacle-clearing robot, characterized in that: The underwater self-detonating obstacle-clearing robot has a bilaterally symmetrical structure, comprising a body, a propeller, a mechanical arm (6), an attachment mechanism (5), an observation instrument (4) and a charge charging mechanism (9); The propeller comprises a horizontal propeller (2) and a vertical propeller, the horizontal propeller (2) and the vertical propeller are symmetrically mounted on the left and right sides of the fuselage, the observation instrument (4) is mounted on the gripping surface of the fuselage, and the attachment mechanism (5) is mounted at one end of the horizontal propeller (2) and in the same direction as the gripping surface; The mechanical arm (6) is symmetrically mounted on the upper and lower sides and both sides of the fuselage, the mechanical arm (6) has at least three degrees of freedom, and a mechanical claw (7) is provided at the free end of the mechanical arm (6); The charging mechanism (9) is mounted on the non-gripping surface of the fuselage.

2. The underwater self-explosion obstacle-clearing robot according to claim 1, characterized in that: The mechanical arm (6) comprises a first degree of freedom steering gear (601), a second degree of freedom steering gear (602), a rod, a third degree of freedom steering gear (603) and a mechanical claw (7); The mechanical claw (7) and one end of the rod are connected via a third-degree-of-freedom steering gear (603), the other end of the rod is mounted on a second-degree-of-freedom steering gear (602), and the second-degree-of-freedom steering gear (602) is mounted on the fuselage via a first-degree-of-freedom steering gear (601); The first degree of freedom steering gear (601) is used to drive the mechanical arm to rotate about the first rotation axis, the second degree of freedom steering gear (602) is used to drive the mechanical arm to rotate about the second rotation axis, and the third degree of freedom steering gear (603) is used to drive the mechanical claw (7) to open and retract; The first rotation axis is parallel to a first straight line, the first straight line is an intersection line of a horizontal symmetry plane and a vertical symmetry plane of the fuselage, and the second rotation axis is perpendicular to the first rotation axis.

3. The underwater self-explosion obstacle-clearing robot according to claim 1, characterized in that: The attachment mechanism (5) is a multi-layer structure, which comprises, from the inside to the outside, a buffer layer (503), a support layer (502) and a contact layer (501), wherein the support layer (502) is attached to the surface of the buffer layer (503), and the contact layer (501) is attached to the surface of the support layer (502).

4. The underwater self-explosion obstacle-clearing robot according to claim 3, characterized in that: The material hardness of the buffer layer (503) is Shore A50-60, the material hardness of the support layer (502) is Shore A75-85, and the material hardness of the contact layer (501) is Shore A30-40.

5. The underwater self-explosion obstacle-removing robot according to claim 3, characterized in that: The outer circles of the buffer layer (503) and the contact layer (501) are both provided with through holes that allow water to flow through.

6. The underwater self-explosion obstacle-clearing robot according to claim 1, characterized in that: The observation instrument (4) comprises a transverse two-dimensional ultrasonic imager (401) and a plurality of longitudinal two-dimensional ultrasonic imagers (402), wherein the transverse two-dimensional ultrasonic imager (401) is installed at the center of the gripping surface of the fuselage, and the longitudinal two-dimensional ultrasonic imagers (402) are symmetrically distributed with the transverse two-dimensional ultrasonic imager (401) as the center.

7. The underwater self-explosion obstacle-clearing robot according to claim 1, characterized in that: The vertical propeller comprises side propellers (3) and a tail propeller (1), wherein the side propellers (3) are symmetrically mounted on the left and right sides of the fuselage, and the tail propeller (1) is mounted on the side of the charge mechanism (9) away from the gripping surface.

8. The underwater self-explosion obstacle-clearing robot according to claim 1, characterized in that: It also includes a laser rangefinder (8) which is installed on a side of the mechanical claw (7) away from the mechanical arm (6) and is used to detect the distance between the mechanical claw (7) and an obstacle in front.

9. The underwater self-exploding obstacle-clearing robot according to claim 1, characterized in that: The mechanical claw (7) is arc-shaped, and the gripping method is a clamp-claw type gripping method, and the free end of the mechanical claw (7) is bent in a direction close to the center of the robot.

10. The underwater self-exploding obstacle-clearing robot according to claim 1, characterized in that: It also includes a control unit and a communication unit; the control unit is respectively connected to the propeller, the mechanical arm (6) and the mechanical claw (7) by signals, and is used to control the opening and closing of the propeller, the movement of the mechanical arm (6) and the movement of the mechanical claw (7); the control unit receives external control signals and transmits image data observed by the observation instrument (4) through the communication unit.

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