Disposable chassis of dual-mode motion underwater robot and separation and recovery method of disposable chassis

Abstract

The disposable chassis of the dual-mode motion underwater robot comprises an ROV body, a quick locking and releasing unit and a disposable crawler chassis which are sequentially arranged from top to bottom, and the ROV body and the disposable crawler chassis are locked, fixed and released through the quick locking and releasing unit; the quick locking and releasing unit comprises a first locking and releasing unit fixed on the disposable crawler chassis and a second locking and releasing unit fixed on the ROV body; the disposable crawler chassis comprises a left crawler assembly and a right crawler assembly which are symmetrically arranged, so that the crawler chassis can be quickly loosened and released and a hook can be recycled when the crawler-type ROV trapped during submarine driving, and the major risk that the whole machine cannot be recycled due to anchoring of the crawler chassis can be effectively solved; and the safety of seabed movement and operation is greatly improved while sufficient deep sea sample resources are provided for marine scientific research.

Description

Technical Field

[0001] The invention relates to the technical field of marine robots, in particular to a disposable chassis of a dual-mode underwater robot and a separation and recovery method thereof. Background Art

[0002] The ocean is the cradle of life on Earth, and its area occupies about 71% of the Earth's surface. In the vast sea, there are a large number of biological species and various mineral resources. Therefore, the ocean is hailed as the most important strategic space for the sustainable development of mankind in the future. With the decreasing reserves of land resources, major maritime countries in the world have increased their research and development and investment in marine technology. However, the area under the vast and deep ocean surface that has been explored by humans is less than 5% of the total area. There are still huge treasures in the vast ocean space waiting for people to explore and discover. Accelerating scientific and technological innovation in the field of marine equipment and taking this as an opportunity to promote the development and utilization of deep-sea resources is related to the lifeline of my country's development and is also a solid guarantee for the realization of the strategy of building a strong maritime nation.

[0003] Underwater robots are an important medium for human intervention in the ocean. With the country vigorously developing the ocean space, the demand for obtaining samples of seabed organisms and the environment in deep-sea scientific research is increasing day by day. However, the cable-controlled underwater robots (Remotely Operated Vehicle, ROV) for conventional sampling operations have limited payload capacity and cannot rely on thrusters to safely navigate after loading a large number of samples. Due to the small sample loading capacity of a single dive, it takes a lot of time to return to the seabed and the surface mother ship multiple times to obtain sufficient seabed samples. In order to improve the collection and transportation capabilities of large-capacity samples, the crawler ROV formed by combining the crawler chassis with the traditional ROV is becoming a research and development hotspot for equipment in the field of marine engineering. Summary of the invention

[0004] In view of the shortcomings in the above-mentioned existing production technology, the applicant provides a dual-mode motion underwater robot with a disposable chassis and a separation and recovery method thereof, thereby achieving the rapid loosening and release of the tracked chassis and the hooking and re-recovery of the tracked ROV when it is trapped on the seabed. This can effectively resolve the significant risk of the entire machine being unable to be recovered due to the tracked chassis being anchored, and greatly increase the safety of seabed movement and operations while providing sufficient deep-sea sample resources for marine scientific research.

[0005] The technical solution adopted by the present invention is as follows:

[0006] A dual-mode underwater robot disposable chassis comprises an ROV body, a quick locking and releasing unit and a disposable crawler chassis which are arranged in sequence from top to bottom, wherein the ROV body and the disposable crawler chassis are locked and fixed and released by the quick locking and releasing unit;

[0007] The ROV body includes an upper buoyancy material, a middle-layer frame structure, a first power supply cabin, a first control cabin, an umbilical cable, thrusters and sampling tools. The power and signals provided by the umbilical cable are respectively connected to the first power supply cabin and the first control cabin;

[0008] The quick locking and releasing unit includes a first locking and releasing unit fixed on the disposable crawler chassis, and a second locking and releasing unit fixed on the ROV body;

[0009] The disposable crawler chassis includes left and right crawler assemblies arranged symmetrically. A connecting crossbeam assembly is installed in the middle of the left and right crawler assemblies. The control module and the independent power module are installed in the second control cabin and are installed in front of the connecting crossbeam assembly through a pedestal. A winch is built in at each of the four positions where the connecting crossbeam assembly is connected to the left and right crawler assemblies. One end of each of the four sling secondary cables is connected to the winch, and the other ends of the sling secondary cables converge into a main cable below the lifting ring float.

[0010] Its further technical solution lies in:

[0011] The structure of the left and right crawler assemblies is as follows: it includes a crawler frame. The crawler frame is arranged longitudinally along the crawler-type ROV. The driven wheel and the driving wheel are respectively installed on the front and rear sides of the crawler frame. The trailing wheel and the road wheel are respectively installed on the upper and lower sides of the crawler frame. The crawler plate winds around the outside of each wheel. One end of the tensioning device is fixed on the crawler frame, and the other end of the tensioning device abuts against the crawler plate to provide a tensioning force. The driving motor provides torque to the driving wheel through a reducer and drives the crawler to rotate.

[0012] The number of road wheels is greater than the number of trailing wheels.

[0013] The connecting crossbeam assembly includes a bow connecting crossbeam group and a stern connecting crossbeam group. The bow connecting crossbeam group and the stern connecting crossbeam group are arranged symmetrically before and after along the center of the disposable crawler chassis.

[0014] The bow connecting crossbeam group and the stern connecting crossbeam group have the same structure, and their cross-sections are both circular.

[0015] When the ROV body is in a normal connected motion state with the disposable crawler chassis, the winch pulls the sling secondary cable and winds the excess cable around the winch. The lifting ring float is pulled and tightened towards the disposable crawler chassis side and is constrained above the disposable crawler chassis.

[0016] The structure of the first locking and releasing unit is as follows: It includes four locking sleeves. Each locking sleeve is provided with a guiding opening on its top surface. The four locking sleeves are symmetrically installed above the connecting beam assembly along the center line of the disposable crawler chassis. A locking push cylinder is arranged outside each locking sleeve, and a locking push cylinder hole corresponds to the output end of the locking push cylinder. Two ejecting push cylinders are respectively fixed behind the connecting beam assembly. The first locking shaft with built-in power supply path and the first locking shaft with built-in communication path are located at the bottom of the locking sleeve. Electric power and control signals are respectively transmitted to the electrical equipment in the disposable crawler chassis through the first locking shaft with built-in power supply path and the first locking shaft with built-in communication path.

[0017] The structure of the second locking and releasing unit is as follows: It includes four locking shafts. The four locking shafts are symmetrically arranged in the front, rear, left, and right directions along the center line of the ROV body, corresponding to the locking sleeves in groups. Each locking shaft is provided with a locking shaft hole. The second locking shaft with built-in power supply path and the second locking shaft with built-in communication path are located below the locking shaft. The ejecting push cylinder bottom plate is located directly above the ejecting push cylinder and is fixedly connected to the locking sleeve on both the left and right sides.

[0018] An underwater acoustic positioning machine and a strobe positioning light are installed on the connecting beam assembly.

[0019] A separation and recovery method for the disposable chassis of a dual-mode moving underwater robot includes the following operation process:

[0020] When the ROV body is fixedly connected to the disposable crawler chassis under normal movement conditions, the locking shafts in the second locking and releasing unit are coaxially nested in the locking sleeves of the first locking and releasing unit. The ejecting push cylinders are retracted downward to the lowest position. The locking push cylinder holes are aligned with the locking shaft holes, and the locking push cylinders extend outward into the aligned holes, thereby mechanically locking the ROV body and the disposable crawler chassis. At this time, the first locking shaft with built-in power supply path and the first locking shaft with built-in communication path are respectively inserted into the second locking shaft with built-in power supply path and the second locking shaft with built-in communication path, and the power supply and communication of the disposable crawler chassis are turned on. The disposable crawler chassis normally crawls on the seabed according to the remote control instructions.

[0021] When an emergency occurs, the locking push cylinders are retracted from the aligned holes formed by the locking push cylinder holes and the locking shaft holes. The first locking shaft with built-in power supply path and the first locking shaft with built-in communication path are respectively disconnected from the second locking shaft with built-in power supply path and the second locking shaft with built-in communication path. The ROV body moves upward under the action of buoyancy and separates from the disposable crawler chassis and is recovered by the mother ship on the water surface.

[0022] After the ROV body is separated from the disposable crawler chassis, the independent power supply module starts to supply power externally, and the underwater acoustic positioning machine and the strobe positioning light are activated to indicate the position of the chassis left underwater to the outside through underwater acoustic signals and flashing.

[0023] When the disposable crawler chassis is in an inclined state stuck in an obstacle, the second control module can control the winch to release the sling, and make the sling float ball connected to the sling always in a vertical floating state for easy rescue and recovery by the surface mother ship;

[0024] After the sling float ball is successfully connected to the crane hook of the surface rescue mother ship, the disposable crawler chassis is lifted off the seabed. The second control module controls the winch to take in the cable, so that the four auxiliary cables of the sling have the same length and are evenly stressed. The disposable crawler chassis is lifted and placed on the deck of the surface rescue mother ship in a horizontal state with zero inclination angle to complete the recovery.

[0025] The beneficial effects of the present invention are as follows:

[0026] The structure of the present invention is compact, reasonable, and easy to operate. It is a tracked cable-controlled underwater robot with the function of collecting and transporting large-load samples on the seabed. The tracked ROV has both propeller navigation and seabed crawler crawling as two maneuvering means, and can switch between the above two motion modes to adapt to different working conditions. The dual-mode motion tracked ROV has an underwater dual-mode motion mode. Before sampling, it relies on the propeller to quickly navigate over a large range to the designated sampling operation area. After sampling a large load on the seabed, it switches to the crawler stable crawling motion mode to return to the mother ship. On the seabed in the sampling area, the distribution of different types of terrain conditions is very complex, with soft silt, banded seagrass, coral reefs, and dark rock gullies densely intertwined, making it extremely easy for the crawler chassis to get stuck and unable to break free, resulting in the whole machine being trapped on the seabed. In severe cases, it will cause huge losses that the robot cannot be recovered. To solve the above problems, the present invention proposes a disposable chassis for a tracked ROV and its separation and recovery method. The tracked ROV allows the chassis to be discarded emergently in case of emergency to get out of trouble and relies on the surface mother ship to salvage and recover the chassis again, which can provide a safe, convenient, and efficient solution for the collection and transportation of large-capacity samples on the seabed.

[0027] At the same time, the present invention also has the following advantages:

[0028] (1) When the tracked ROV is trapped on the seabed due to external factors or chassis self-failure, the chassis can be quickly released and returned to the water surface, effectively resolving the dangerous situation that the whole machine cannot be recovered due to chassis anchoring;

[0029] (2) The disposable chassis has a chassis power supply and communication transmission path built into the abandonment device. When the chassis is separated from the ROV body, the power supply and transmission path connection is automatically disconnected. There is no need to use a cutter to physically cut off the power and communication transmission cables. The integration is higher, and the chassis can be repeatedly recombined with the body after recovery;

[0030] (3) An independent power supply module is accommodated in the disposable chassis to ensure that the underwater acoustic positioning machine, winch, strobe positioning light, and attitude sensor can still be powered after the power supply connection between the chassis and the ROV body is separated, ensuring their normal operation until the mother ship arrives for rescue;

[0031] (4) The first locking and releasing unit of the disposable chassis is provided with an ejecting push cylinder, which can eject the second locking and releasing unit connected to the ROV body and force them to separate under the condition that the tracked ROV is stuck in an underwater obstacle and tilted, enabling the ROV body to have the ability to smoothly separate from the chassis in a tilted state;

[0032] (5) After the disposable chassis is separated from the ROV body, the four suspension cables connecting the floating ball sling and the winch can automatically adjust the cable release length of each cable according to the attitude sensor in the electronic cabin of the chassis to ensure that the sling remains vertically floating for the mother ship to hook and recover;

[0033] (6) After the tracked ROV abandons the chassis, the mother ship on the water surface can still locate and salvage the chassis left on the seabed, effectively avoiding the economic losses caused by the loss of valuable equipment;

[0034] (7) The disposable chassis is connected to the ROV through a convenient interface, and various ROVs can be modified and combined with the disposable chassis through the quick locking and releasing unit, greatly extending the function expansion ability of the existing ROV. Description of the Drawings

[0035] Figure 1 is a schematic structural diagram of the dual-mode motion tracked ROV in the separated state of the present invention.

[0036] Figure 2 is a schematic structural diagram of the dual-mode motion tracked ROV in the connected state of the present invention.

[0037] Figure 3 is a schematic external view of the disposable tracked chassis of the present invention.

[0038] Figure 4 is a top view of the disposable tracked chassis of the present invention.

[0039] Figure 5 is a cross-sectional view of the first locking and releasing unit of the present invention.

[0040] Figure 6 is an installation schematic diagram of the first locking and releasing unit of the present invention.

[0041] Figure 7 is a schematic diagram of the second locking and releasing unit of the present invention (partial view).

[0042] Figure 8 is an installation schematic diagram of the second locking and releasing unit of the present invention.

[0043] Figure 9 is a schematic diagram of the separation process of the dual-mode motion tracked ROV in the state of large-angle anchoring on the seabed of the present invention.

[0044] Figure 10 This is a schematic diagram of the recovery process of the disposable crawler chassis under the condition of large dip angle anchoring on the seabed of the present invention.

[0045] Wherein: 1. ROV body; 2. Quick locking and releasing unit; 3. Disposable crawler chassis; 4. First locking and releasing unit; 5. Second locking and releasing unit; 6. Left and right crawler assemblies; 7. Connecting beam assembly; 8. Second control cabin; 11. Sling; 12. Winch; 13. Hoisting ring float; 14. Underwater acoustic positioning machine; 15. Stroboscopic positioning light;

[0046] 401. Guide port; 402. Locking sleeve; 403. Locking push cylinder; 404. Locking push cylinder hole; 405. Ejecting push cylinder; 406. Built-in power supply path of the first locking shaft; 407. Built-in communication path of the first locking shaft;

[0047] 501. Locking shaft; 502. Locking shaft hole; 503. Built-in power supply path of the second locking shaft; 504. Built-in communication path of the second locking shaft; 505. Ejecting push cylinder backing plate;

[0048] 601. Crawler frame; 602. Driving wheel; 603. Driven wheel; 604. Load-carrying wheel; 605. Trailer wheel; 606. Tensioning device; 607. Crawler plate; 608. Driving motor;

[0049] 701. Bow connecting beam; 702. Stern connecting beam;

[0050] 1101. Sling secondary cable. Detailed implementation manners

[0051] The following will describe the detailed implementation manners of the present invention with reference to the accompanying drawings.

[0052] As Figures 1 - 10 shown, the disposable chassis of the dual-mode motion underwater robot in this embodiment includes an ROV body 1, a quick locking and releasing unit 2, and a disposable crawler chassis 3 arranged in sequence from top to bottom. The ROV body 1 and the disposable crawler chassis 3 are locked and fixed and released through the quick locking and releasing unit 2;

[0053] The ROV body 1 includes an upper buoyancy material, a middle-layer frame structure, a first power supply cabin, a first control cabin, an umbilical cable, thrusters and sampling tools. The power and signals provided by the umbilical cable are respectively connected to the first power supply cabin and the first control cabin;

[0054] The quick locking and releasing unit 2 includes a first locking and releasing unit 4 fixed on the disposable crawler chassis 3 and a second locking and releasing unit 5 fixed on the ROV body 1;

[0055] The disposable crawler chassis 3 includes left and right crawler assemblies 6 arranged symmetrically. A connecting beam assembly 7 is installed in the middle of the left and right crawler assemblies 6. The control module and the independent power module are installed in the second control cabin 8 and are installed in front of the connecting beam assembly 7 through a pedestal. Four winches 12 are respectively built in at four positions where the connecting beam assembly 7 is connected to the left and right crawler assemblies 6. One end of four sling sub-ropes 1101 is connected to the winch 12, and the other ends of the sling sub-ropes 1101 converge into a main rope below the sling float ball 13.

[0056] The structure of the left and right crawler assemblies 6 is as follows: It includes a crawler frame 601. The crawler frame 601 is longitudinally arranged along the crawler-type ROV. The driven wheel 603 and the driving wheel 602 are respectively installed on the front and rear sides of the crawler frame 601. The trailing wheel 605 and the idler wheel 604 are respectively installed on the upper and lower sides of the crawler frame 601. The crawler plate 607 is wound around the outside of each wheel. One end of the tensioning device 606 is fixed on the crawler frame 601, and the other end of the tensioning device 606 abuts against the crawler plate 607 to provide a tensioning force. The driving motor 608 provides torque to the driving wheel 602 through a speed reducer and drives the crawler to rotate.

[0057] The number of idler wheels 604 is greater than the number of trailing wheels 605.

[0058] The connecting beam assembly 7 includes a bow connecting beam group 701 and a stern connecting beam group 702. The bow connecting beam group 701 and the stern connecting beam group 702 are arranged symmetrically before and after along the center of the disposable crawler chassis 3.

[0059] The bow connecting beam group 701 and the stern connecting beam group 702 have the same structure, and both have a circular cross-section.

[0060] When the ROV body 1 is in a normal connection and moving state with the disposable crawler chassis 3, the winch 12 pulls the sling sub-rope 1101 and winds the excess cable around the winch 12. The sling float ball 13 is pulled and tightened towards the disposable crawler chassis 3 side and is constrained above the disposable crawler chassis 3.

[0061] The structure of the first locking and releasing unit 4 is as follows: It includes four locking sleeves 402. A guiding port 401 is provided on the top surface of each locking sleeve 402. The four locking sleeves 402 are symmetrically installed above the connecting beam assembly 7 along the center line of the disposable crawler chassis 3. A locking push cylinder 403 is provided on the outside of each locking sleeve 402. A locking push cylinder hole 404 corresponds to the output end of the locking push cylinder 403. Two ejecting push cylinders 405 are respectively fixed behind the connecting beam assembly 7. The first locking shaft built-in power supply path 406 and the first locking shaft built-in communication path 407 are located at the bottom of the locking sleeve 402. Electric power and control signals are respectively transmitted to the electrical equipment in the disposable crawler chassis 3 through the first locking shaft built-in power supply path 406 and the first locking shaft built-in communication path 407.

[0062] The structure of the second locking and releasing unit 5 is as follows: It includes four locking shafts 501, which are symmetrically arranged around the center line of the ROV body 1 in the front, rear, left, and right directions, and are grouped corresponding to the locking sleeve 402. Each locking shaft 501 is provided with a locking shaft hole 502. The built-in power supply path 503 and the built-in communication path 504 of the second locking shaft are located below the locking shaft 501. The ejecting push cylinder bottom plate 505 is located directly above the ejecting push cylinder 405 and is fixedly connected to the locking sleeve 402 on both the left and right sides.

[0063] An underwater acoustic positioning machine 14 and a strobe positioning light 15 are installed on the connecting crossbeam assembly 7.

[0064] The specific structure and functions of the dual-mode motion underwater robot disposable chassis involved in the present invention are as follows:

[0065] From top to bottom, it is successively the ROV body 1, the quick locking and releasing unit 2, and the disposable crawler chassis 3. During normal sampling operation and movement, the ROV body 1 and the disposable crawler chassis 3 are locked and fixed through the quick locking and releasing unit 2.

[0066] The ROV body 1 includes an upper buoyancy material, an intermediate frame structure, a first power supply cabin, a first control cabin, an umbilical cable, thrusters, and sampling tools. Each main device is installed on the intermediate frame structure through fixing bolts. The power and signals provided by the umbilical cable are respectively connected to the first power supply cabin and the first control cabin.

[0067] The quick locking and releasing unit 2 is an actuator for realizing the locking connection and disengagement between the ROV body 1 and the disposable crawler chassis 3, and includes a first locking and releasing unit 4 and a second locking and releasing unit 5. Among them, the first locking and releasing unit 4 is fixed to the disposable crawler chassis 3, and the second locking and releasing unit 5 is fixed to the ROV body 1.

[0068] Before the tracked ROV is deployed into the water by the mother ship, the ROV body 1 and the disposable crawler chassis 3 are in a mechanically locked state through the mutual cooperation of the first locking and releasing unit 4 and the second locking and releasing unit 5, so as to realize the common movement during the seabed mobile sampling operation.

[0069] The disposable crawler chassis 3 includes left and right crawler assemblies 6, a connecting crossbeam assembly 7, a second control cabin 8, a control module, an independent power supply module, a sling 11, a winch 12, a sling float 13, an underwater acoustic positioning machine 14, and a strobe positioning light 15.

[0070] The left and right crawler assemblies 6 are symmetrically arranged around the longitudinal center line of the disposable crawler chassis 3, and include a crawler frame 601, a driving wheel 602, a driven wheel 603, a load wheel 604, a trailing wheel 605, a tensioning device 606, a crawler plate 607, a driving motor and a reducer 608.

[0071] The crawler frame 601 is arranged longitudinally along the tracked ROV. The driven wheel 603 and the driving wheel 602 are respectively installed on the front and rear sides of the crawler frame 601. The trailing wheel 605 and the road wheel 604 are respectively installed on the upper and lower sides of the crawler frame 601. The crawler plate 607 is wound around the outside of each wheel. One end of the tensioning device 606 is fixed on the crawler frame 601, and the other end abuts against the crawler plate 607 to provide a tensioning force thereto. The drive motor 608 provides torque to the driving wheel 602 through a speed reducer and drives the crawler to rotate.

[0072] The connecting beam assembly 7 is composed of a bow connecting beam group 701 and a stern connecting beam group 702. The bow connecting beam group 701 and the stern connecting beam group 702 are symmetrically arranged before and after the center of the disposable crawler chassis 3. The two sides of the connecting beam assembly 7 are respectively connected to the left and right crawler assemblies 6. The control module and the independent power supply module are installed in the second control cabin 8 and are installed in front of the bow connecting beam group 701 through a pedestal.

[0073] The cross-section of the connecting beam assembly 7 is circular. A winch 12 is built in at each of the four positions where the connecting beam assembly 7 is connected to the left and right crawler assemblies 6.

[0074] One end of the four sling secondary ropes 1101 is connected to the winch 12, and the other ends converge into a main rope below the sling float 13 and are connected to the sling through the central perforation of the float.

[0075] When the dual-mode motion underwater robot of the present invention is in the motion state where the ROV body 1 is normally connected to the disposable crawler chassis 3, the winch 12 pulls the sling secondary rope 1101 and winds the excess cable around the winch 12. The sling float 13 is pulled and tightened towards the disposable crawler chassis 3 side and is constrained above the disposable crawler chassis 3.

[0076] When the dual-mode motion underwater robot of the present invention is in an emergency state and the ROV body 1 is separated from the disposable crawler chassis 3, the underwater acoustic positioning machine 14 and the strobe positioning light 15 jointly indicate the seabed position of the disposable crawler chassis 3 to the surface ship in a combined acoustic and optical manner. The winch 12 releases the excess cable outwards. The sling floats upwards away from the chassis under the action of the float and waits for hook rescue and recovery.

[0077] The first locking and releasing unit 4 includes a guiding port 401, a locking sleeve 402, a locking push cylinder 403, a locking push cylinder hole 404, an ejecting push cylinder 405, a first locking shaft built-in power supply path 406, and a first locking shaft built-in communication path 407.

[0078] Four locking sleeves 402 are symmetrically installed above the connecting beam assembly 7 along the center line of the disposable crawler chassis 3. Two ejecting push cylinders 405 are respectively fixed behind the connecting beam assembly 7.

[0079] The built-in power supply path 406 and the built-in communication path 407 of the first locking shaft are located at the bottom of the locking sleeve 402. Electric power and control signals are respectively transmitted to the electrical equipment in the disposable crawler chassis 3 through the built-in power supply path 406 and the built-in communication path 407 of the first locking shaft.

[0080] The second locking and releasing unit 5 includes a locking shaft 501, a locking shaft hole 502, a second built-in power supply path 503 of the locking shaft, a second built-in communication path 504 of the locking shaft, and a top-out push cylinder abutment plate 505. The four locking shafts 501 are symmetrically arranged around the center line of the ROV body 1 in the front, back, left, and right directions, corresponding to the locking sleeve 402 in a group. The second built-in power supply path 503 and the second built-in communication path 504 of the locking shaft are located below the locking shaft 501. The top-out push cylinder abutment plate 505 is located directly above the top-out push cylinder 405, and is fixedly connected to the locking sleeve 402 on both the left and right sides.

[0081] Specifically, when the ROV body 1 is fixedly connected to the disposable crawler chassis 3 during normal movement, the locking shaft 501 in the second locking and releasing unit 5 is coaxially nested in the locking sleeve 402 of the first locking and releasing unit 4. The top-out push cylinder 405 retracts downward to the lowest position, the locking push cylinder hole 404 is aligned with the locking shaft hole 502, and the locking push cylinder 403 extends outward into the aligned hole, thereby mechanically locking the ROV body 1 and the disposable crawler chassis 3. At this time, the built-in power supply path 406 and the built-in communication path 407 of the first locking shaft are respectively inserted into the second built-in power supply path 503 and the second built-in communication path 504 of the locking shaft, and the power supply and communication of the disposable crawler chassis 3 are turned on. The disposable crawler chassis 3 can normally perform seabed crawling movements according to remote control instructions.

[0082] As an implementation method, when an emergency occurs, the locking push cylinder 403 retracts from the aligned hole formed by the locking push cylinder hole 404 and the locking shaft hole 502. The built-in power supply path 406 and the built-in communication path 407 of the first locking shaft are respectively disconnected from the second built-in power supply path 503 and the second built-in communication path 504 of the locking shaft. The ROV body 1 moves upward under the action of buoyancy and separates from the disposable crawler chassis 3, and is recovered by the surface mother ship.

[0083] When the dual-mode moving tracked ROV is in an anchoring situation on the seabed with a certain inclination angle such as driving into a gully or getting stuck in a rock gap, and the ROV body 1 cannot smoothly pull out the locking shaft 501 from the locking sleeve 402 under the action of buoyancy to complete the separation from the disposable crawler chassis 3, the front and rear groups of top-out push cylinders 405 in the first locking and releasing unit 4 extend upward and lift the top-out push cylinder abutment plate 505 in the second locking and releasing unit 5, forcing the connected ROV body 1 to lift outward from the disposable crawler chassis 3, and the two are separated.

[0084] After the ROV body 1 is separated from the disposable crawler chassis 3, the independent power module starts to supply power externally, and the underwater acoustic position indicator 14 and the strobe position light 15 are activated to indicate the position of the chassis left underwater to the outside world through underwater acoustic signals and flashing.

[0085] The winch 12 releases the sling 11 outward under the power supply support of the independent power module and the control of the control module. The sling float 13 is controlled to float upward out of the disposable crawler chassis 3 under the combined action of buoyancy and the pulling of the sling 11. The disposable crawler chassis 3 measures the current tilt angle of the chassis through the attitude sensor in the control module, and the control module controls the asynchronous cable release of the winch 12 to control the lengths of the four auxiliary cables in the sling 11, so that the sling on the sling float 13 always maintains a vertical floating posture for the mother ship to hook and recover.

[0086] When the disposable crawler chassis 3 is in an inclined state of being stuck in an obstacle, the second control module can control the winch 12 to release the sling 11 and make the sling float 13 connected to the sling 11 always in a vertical floating state for the mother ship on the water surface to rescue and recover.

[0087] After the sling float 13 is successfully connected to the crane hook of the rescue mother ship on the water surface, the disposable crawler chassis 3 is lifted off the seabed. The control module controls the winch 12 to take in the cable, so that the lengths of the four auxiliary cables of the sling 11 are the same and the forces are evenly distributed. The disposable crawler chassis 3 is lifted and placed on the deck of the rescue mother ship on the water surface in a horizontal state with zero inclination angle to complete the recovery.

[0088] The above description is an explanation of the present invention, not a limitation of the invention. The scope defined by the present invention is referred to the claims. Any form of modification can be made within the protection scope of the present invention.

Claims

1. A disposable chassis for a dual-mode mobile underwater robot, characterized in that: It includes an ROV body (1), a quick locking and releasing unit (2), and a disposable crawler chassis (3) arranged in sequence from top to bottom. The ROV body (1) and the disposable crawler chassis (3) are locked and fixed and released through the quick locking and releasing unit (2). The ROV body (1) includes an upper buoyancy material, an intermediate frame structure, a first power supply cabin, a first control cabin, an umbilical cable, thrusters, and sampling tools. The power and signals provided by the umbilical cable are respectively connected to the first power supply cabin and the first control cabin. The quick locking and releasing unit (2) includes a first locking and releasing unit (4) fixed on the disposable crawler chassis (3) and a second locking and releasing unit (5) fixed on the ROV body (1). The disposable crawler chassis (3) includes left and right crawler assemblies (6) arranged symmetrically. A connecting crossbeam assembly (7) is installed in the middle of the left and right crawler assemblies (6). A control module and an independent power supply module are installed in the second control cabin (8) and are installed on the front of the connecting crossbeam assembly (7) through a pedestal. A winch (12) is built in at each of the four positions where the connecting crossbeam assembly (7) is connected to the left and right crawler assemblies (6). One end of four sling sub-ropes (1101) is connected to the winch (12), and the other ends of the sling sub-ropes (1101) converge into a main rope below the sling float (13).

2. The disposable chassis of a dual-mode motion underwater robot according to claim 1, characterized in that: The structure of the left and right crawler assemblies (6) is as follows: it includes a crawler frame (601). The crawler frame (601) is arranged longitudinally along the crawler-type ROV. A driven wheel (603) and a driving wheel (602) are respectively installed on the front and rear sides of the crawler frame (601). A trailing wheel (605) and a load-bearing wheel (604) are respectively installed on the upper and lower sides of the crawler frame (601). The crawler plate (607) is wound around the outside of each wheel. One end of a tensioning device (606) is fixed on the crawler frame (601), and the other end of the tensioning device (606) abuts against the crawler plate (607) to provide a tensioning force. The driving motor (608) provides torque to the driving wheel (602) through a reducer and drives the crawler to rotate.

3. The disposable chassis of a dual-mode mobile underwater robot according to claim 2, wherein: The number of the load-bearing wheels (604) is greater than the number of the trailing wheels (605).

4. The disposable chassis of a dual-mode motion underwater robot according to claim 1, characterized in that: The connecting crossbeam assembly (7) includes a bow connecting crossbeam group (701) and a stern connecting crossbeam group (702). The bow connecting crossbeam group (701) and the stern connecting crossbeam group (702) are arranged symmetrically before and after the center of the disposable crawler chassis (3).

5. The disposable chassis of a dual-mode motion underwater robot according to claim 4, characterized in that: The bow connecting crossbeam group (701) and the stern connecting crossbeam group (702) have the same structure, and their cross-sections are both circular.

6. The disposable chassis of a dual-mode mobile underwater robot according to claim 1, characterized in that: When the ROV body (1) and the disposable crawler chassis (3) are in a normal connected motion state, the winch (12) pulls the sling sub-rope (1101) and winds the excess cable around the winch (12). The sling float (13) is pulled and tightened towards the side of the disposable crawler chassis (3) and is constrained above the disposable crawler chassis (3).

7. A disposable chassis for a dual-mode moving underwater robot according to claim 1, characterized in that: The structure of the first locking and releasing unit (4) is as follows: It includes four locking sleeves (402). A guiding port (401) is provided on the top surface of each locking sleeve (402). The four locking sleeves (402) are symmetrically installed above the connecting beam assembly (7) along the center line of the disposable crawler chassis (3). A locking push cylinder (403) is provided outside each locking sleeve (402). A locking push cylinder hole (404) corresponds to the output end of the locking push cylinder (403). Two ejecting push cylinders (405) are respectively fixed behind the connecting beam assembly (7). The first locking shaft built-in power supply path (406) and the first locking shaft built-in communication path (407) are located at the bottom of the locking sleeve (402). Electric power and control signals are respectively transmitted to the electrical equipment in the disposable crawler chassis (3) through the first locking shaft built-in power supply path (406) and the first locking shaft built-in communication path (407).

8. The disposable chassis of a dual-mode mobile underwater robot according to claim 7, characterized in that: The structure of the second locking and releasing unit (5) is as follows: It includes four locking shafts (501). The four locking shafts (501) are symmetrically arranged in the front, back, left, and right directions along the center line of the ROV body (1), corresponding in groups to the locking sleeves (402). A locking shaft hole (502) is formed on each locking shaft (501). The second locking shaft built-in power supply path (503) and the second locking shaft built-in communication path (504) are located below the locking shaft (501). The ejecting push cylinder backing plate (505) is located directly above the ejecting push cylinder (405) and is fixedly connected to the locking sleeves (402) on the left and right sides.

9. The disposable chassis of a dual-mode moving underwater robot according to claim 1, characterized in that: An underwater acoustic locator (14) and a stroboscopic locator light (15) are installed on the connecting beam assembly (7).

10. A method for separating and recovering a disposable chassis of a dual-mode underwater robotic vehicle, characterized in that: It includes the following operation procedures: When the ROV body (1) is fixedly connected to the disposable crawler chassis (3) under normal movement conditions, the locking shaft (501) in the second locking and releasing unit (5) is coaxially nested inside the locking sleeve (402) of the first locking and releasing unit (4). The ejecting push cylinder (405) retracts downward to the lowest position. The locking push cylinder hole (404) is aligned with the locking shaft hole (502). The locking push cylinder (403) extends outward into the aligned holes, thereby mechanically locking the ROV body (1) and the disposable crawler chassis (3); At this time, the first locking shaft built-in power supply path (406) and the first locking shaft built-in communication path (407) are respectively inserted into the second locking shaft built-in power supply path (503) and the second locking shaft built-in communication path (504). The power supply and communication of the disposable crawler chassis (3) are connected. The disposable crawler chassis (3) normally crawls on the seabed according to the remote control instructions; When an emergency occurs, the locking push cylinder (403) retracts from the aligned holes formed by the locking push cylinder hole (404) and the locking shaft hole (502). The first locking shaft built-in power supply path (406) and the first locking shaft built-in communication path (407) are respectively disconnected from the second locking shaft built-in power supply path (503) and the second locking shaft built-in communication path (504). The ROV body (1) moves upward under the action of buoyancy and separates from the disposable crawler chassis (3) and is recovered by the surface mother ship; After the ROV body (1) is separated from the disposable crawler chassis (3), the independent power module starts to supply power externally, and the underwater acoustic positioning machine (14) and the strobe positioning light (15) are activated to indicate the position of the chassis left underwater to the outside through underwater acoustic signals and flashes; When the disposable crawler chassis (3) is in an inclined state of being stuck in an obstacle, the second control module can control the winch (12) to release the sling (11), and make the sling float ball (13) connected to the sling (11) always in a vertical floating state for easy rescue and recovery by the surface mother ship; After the sling float ball (13) is successfully connected to the crane hook of the surface rescue mother ship, the disposable crawler chassis (3) is lifted off the seabed, and the second control module controls the winch (12) to take in the cable, so that the four auxiliary cables of the sling (11) have the same length and uniform force, and the disposable crawler chassis (3) is lifted and placed on the deck of the surface rescue mother ship in a horizontal state with zero inclination to complete the recovery.

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