Underwater SLAM (Simultaneous Localization and Mapping)-based underwater robot and use method thereof

Abstract

The invention relates to an underwater robot based on underwater SLAM and a use method thereof, and belongs to the technical field of underwater robots. According to the underwater robot based on the underwater SLAM and the using method thereof, the underwater robot comprises an underwater robot body, a supporting frame and a plurality of moving wheels, the supporting frame is fixedly installed at the bottom of the underwater robot body, the moving wheels are fixedly installed on the outer side of the supporting frame, a detection sensor and a multi-depth adjusting mechanism are fixedly installed on one side of the underwater robot body, and the multi-depth adjusting mechanism is fixedly installed on the other side of the underwater robot body. The multi-depth adjusting mechanism comprises a fixed frame, a high-pressure air pump, a high-pressure water pump, an adaptive assembly and a detection assembly; the buoyancy cavities are increased or decreased according to needs through the adaptation assembly, the high-pressure air pump and the high-pressure water pump are combined to inject air or liquid into the buoyancy cavities, accurate adjustment of the downward pressure of the underwater robot is achieved, the detection assembly monitors the contact pressure below the moving wheels, ground hardness data are fed back to the control component, downward pressure distribution is optimized in real time, the moving wheels can be prevented from slipping, and the stability of the underwater robot is improved. And excessive pressing sinking is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robots, and in particular to an underwater robot based on underwater SLAM and a method of using the same. Background Art

[0002] Underwater robots based on SLAM (simultaneous localization and mapping) technology can perceive the surrounding underwater terrain in real time through sonar, inertial measurement units, depth sensors and other devices in deep-sea environments where GPS signals fail. Such robots are widely used in tasks such as submarine pipeline inspection, shipwreck detection, and seabed geological surveys, relying on SLAM algorithms to achieve autonomous navigation, obstacle avoidance and target positioning.

[0003] However, existing wheeled underwater SLAM robots generally use fixed ballast blocks, which cannot achieve real-time and targeted weight distribution for the hardness of the seabed, such as loose mud or hard rocks, and local obstacles such as rock protrusions and seaweed. Once the ballast design does not match the on-site geology, the robot is prone to slipping and sinking in soft sand, and lacks the ability to cross or move sideways in hard or rugged terrain, resulting in a significant decrease in overall maneuverability and reliability, making it difficult to meet the continuous operation needs in complex seabed environments. Summary of the Invention

[0004] Based on this, it is necessary to provide an underwater robot based on underwater SLAM and its use method to address the problems that existing wheeled underwater SLAM robots mostly rely on fixed ballast blocks, cannot achieve dynamic weight distribution on terrains such as soft mud, hard rocks or seaweed, have limited maneuverability and reliability, and are difficult to meet the continuous operation needs of complex seabeds.

[0005] An underwater robot based on underwater SLAM includes an underwater robot, a support frame and a plurality of moving wheels, wherein the support frame is fixedly mounted on the bottom of the underwater robot, the plurality of moving wheels are fixedly mounted on the outside of the support frame, and a detection sensor is fixedly mounted on one side of the underwater robot;

[0006] A multi-depth adjustment mechanism, comprising a fixing frame, a high-pressure air pump, a high-pressure water pump, an adapter assembly, and a detection assembly. The fixing frame is fixedly mounted on the top of the underwater robot. The high-pressure air pump and the high-pressure water pump are both fixedly mounted on the top of the underwater robot. The top of the fixing frame is provided with an adapter assembly, and the outside of the underwater robot is provided with a detection assembly.

[0007] Among them, the adapter assembly includes multiple mounting grooves and multiple buoyancy chambers, multiple mounting grooves are opened at the top of the fixed frame, multiple buoyancy chambers are respectively located on one side of the multiple mounting grooves, and the inner bottom walls of the multiple mounting grooves are fixedly installed with injection plates, and the top of the injection plate is fixedly connected with two docking ports.

[0008] In one embodiment, the adapter assembly also includes two connecting ports fixedly installed at the bottom of the buoyancy chamber, and the two connecting ports are respectively slidably connected to the two docking ports in the corresponding installation grooves. Two sealing blocks are fixedly installed on the inner wall of the installation groove, and sealing grooves are opened on both sides of the buoyancy chamber. The two sealing blocks are respectively connected to the two sealing grooves.

[0009] In one embodiment, two fixed blocks are provided inside the installation groove, and the two fixed blocks are respectively located on both sides of the buoyancy chamber. Connecting plates are provided on both sides of the buoyancy chamber, and limiting plates are fixedly installed on the bottom of the two connecting plates. Limiting grooves are provided on the adjacent sides of the two fixed blocks, and the two limiting plates are respectively clamped with the two limiting grooves.

[0010] In one embodiment, a plurality of tooth grooves are provided on the top of the limiting plate, a plurality of teeth are provided on the inner wall of the limiting groove, and the limiting plate and the limiting groove are engaged and connected through the corresponding tooth grooves and teeth.

[0011] In one embodiment, the bottom of the limiting plate is set to be a slope, the top edge of the fixed block is set to be a slope, the fixed block is slidingly connected to the bottom wall of the mounting groove, a driving frame is provided on the top of the buoyancy chamber, a first elastic block is fixedly connected between the driving frame and the top of the buoyancy chamber, and the two connecting plates are fixedly connected to both sides of the driving frame.

[0012] In one embodiment, the two fixed blocks are both slidably connected to the inner wall of the mounting groove, and the sides of the two fixed blocks away from each other are fixedly connected to a second elastic block, the two second elastic blocks are both fixedly connected to the inner wall of the mounting groove, and a driving plate is fixedly installed on the top of the two fixed blocks.

[0013] In one embodiment, the detection component includes a hub fixedly mounted inside a moving wheel, and an air pressure sensor is fixedly mounted inside the moving wheel.

[0014] In one embodiment, a plurality of gripping strips are fixedly mounted on the outer side of the moving wheel, and the cross-sections of the plurality of gripping strips are all configured to be conical.

[0015] In one embodiment, a guide ring is fixedly mounted on the outer side of the detection sensor, and a plurality of nozzles are fixedly mounted on the surface of the guide rings. The plurality of nozzles are arranged in a surrounding shape on the outer side of the detection sensor.

[0016] In one embodiment, an input pipe is fixedly installed on one side of the underwater robot, one end of the input pipe is fixedly connected to the high-pressure air pump, and the multiple nozzles are all arranged in an "L" shape.

[0017] A method for using an underwater robot based on underwater SLAM

[0018] A1. By adapting components to increase or decrease the buoyancy chamber as needed and using high-pressure air and water pumps to inject air or liquid into the buoyancy chamber, precise adjustment of the underwater robot's downforce is achieved. The detection component monitors the contact pressure under the moving wheels and the air pressure in the cabin, and feeds the ground hardness data back to the control component. The control component adjusts the air pump operating status accordingly, optimizing the downforce distribution in real time to ensure that the moving wheels are prevented from slipping and excessive collapse, thereby improving the maneuverability and stability of underwater SLAM navigation.

[0019] A2. When the buoyancy chamber needs to be disassembled, just press the drive frame downward. The drive frame will drive the connecting plate and the limit plate to move downward as a whole, so that the limit plate and the limit groove are out of engagement with the teeth. At this time, you can gently push the fixing block to separate it from the sealing slot of the connecting plate. Under the restoring force of the first elastic block, the drive frame automatically returns to its original position. Finally, pull out the buoyancy chamber upward to complete the quick disassembly.

[0020] A3. The guide ring is connected to the high-pressure air pump, and only high-pressure airflow is used to surround and spray the surface of the detection sensor through the nozzle to form an airflow cleaning barrier. The high-pressure airflow can effectively blow away and remove attached mud and algae, avoid secondary deposition, and ensure the detection accuracy and reliability of the detection sensor during long-term underwater operation.

[0021] Beneficial effects

[0022] The above underwater robot based on underwater SLAM,

[0023] 1. By adapting components to increase or decrease the buoyancy chamber as needed to adapt to usage scenarios at different water depths, high-pressure air pumps and high-pressure water pumps are used to inject air or liquid into the buoyancy chamber to achieve precise adjustment of the underwater robot's downforce. The detection component monitors the contact pressure under the moving wheels and the air pressure in the cabin, and feeds the ground hardness data back to the control component. The control component adjusts the working status of the high-pressure air pump accordingly, optimizing the downforce distribution in real time to ensure that the moving wheels are prevented from slipping and excessive depression, thereby improving the maneuverability and stability of underwater SLAM navigation.

[0024] 2. The number of buoyancy chambers can be quickly increased or decreased according to different water depth scenarios, so that the underwater robot retains only a small number of compartments in shallow water areas to reduce downforce, and adds more compartments in deep water areas to improve ground stability, save pressure regulation energy, and avoid excessive structural load.

[0025] 3. The guide ring is connected to the high-pressure air pump. The high-pressure airflow surrounds the surface of the detection sensor through the "L"-shaped nozzle, forming a continuous airflow cleaning barrier. It can effectively blow away and remove attached mud and algae during movement, detect secondary deposition on the sensor surface, and maintain a clear field of view for a long time. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 It is a schematic diagram of the main structure of the present invention;

[0028] Figure 2 It is a structural schematic diagram of the multi-depth adjustment mechanism of the present invention;

[0029] Figure 3 It is a schematic diagram of the structure of the fixing frame and the buoyancy chamber of the present invention;

[0030] Figure 4 This is a structural diagram of the fixing frame and the mounting slot of the present invention;

[0031] Figure 5 This is a schematic diagram of the internal structure of the fixing frame of the present invention;

[0032] Figure 6 Schematic diagram of the buoyancy chamber structure of the present invention;

[0033] Figure 7 This is a schematic diagram of the structure of the fixing block and the limiting groove of the present invention;

[0034] Figure 8 This is a schematic diagram of the nozzle and structure of the detection sensor of the present invention;

[0035] Figure 9 This is a schematic diagram of the internal structure of the moving wheel of the present invention;

[0036] Figure 10 It is a schematic diagram of the nozzle and guide ring structure of the present invention.

[0037] Reference numerals:

[0038] 100. Underwater robot; 110. Support frame; 120. Moving wheel; 200. Detection sensor; 300. Multi-depth adjustment mechanism; 310. Fixing frame; 311. High-pressure air pump; 312. High-pressure water pump; 320. Adapter assembly; 321. Mounting slot; 322. Buoyancy chamber; 323. Injection plate; 324. Docking port; 325. Connecting port; 326. Connecting plate; 327. Limiting plate; 328. Drive frame; 329. First elastic block; 3210. Fixing block; 3211. Second elastic block; 3212. Sealing block; 3213. Sealing slot; 3214. Limiting slot; 3215. Drive plate; 330. Detection assembly; 331. Wheel hub; 332. Air pressure sensor; 333. Guide ring; 334. Nozzle; 335. Input pipe; 336. Grip strip. DETAILED DESCRIPTION

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0040] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it may be directly on the other component or there may be a central component. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be a central component at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in the specification of the present invention are for illustrative purposes only and do not represent the only implementation method.

[0041] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0042] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it can mean that the first feature is directly in contact with the second feature, or the first feature and the second feature are in contact indirectly through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it can mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is higher in level than the second feature. When a first feature is "below," "below," or "below" a second feature, it can mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is lower in level than the second feature.

[0043] Unless otherwise defined, all technical and scientific terms used in the present description have the same meanings as those commonly understood by those skilled in the art to which this invention pertains. The terms used in this description are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used in this description includes any and all combinations of one or more of the associated listed items.

[0044] The following combination Figures 1-10 The present invention describes an underwater robot based on underwater SLAM and a method for using the underwater robot.

[0045] In one embodiment, an underwater robot based on underwater SLAM includes an underwater robot 100, a support frame 110, and a plurality of movable wheels 120. The support frame 110 is fixedly mounted on the bottom of the underwater robot 100, and the plurality of movable wheels 120 are fixedly mounted on the outside of the support frame 110. A detection sensor 200 is fixedly mounted on one side of the underwater robot 100.

[0046] The multi-depth adjustment mechanism 300 includes a fixing frame 310, a high-pressure air pump 311, a high-pressure water pump 312, an adapter assembly 320, and a detection assembly 330. The fixing frame 310 is fixedly mounted on the top of the underwater robot 100. The high-pressure air pump 311 and the high-pressure water pump 312 are both fixedly mounted on the top of the underwater robot 100. The adapter assembly 320 is provided on the top of the fixing frame 310, and the detection assembly 330 is provided on the outside of the underwater robot 100.

[0047] Among them, the adapter component 320 includes multiple installation grooves 321 and multiple buoyancy chambers 322. The multiple installation grooves 321 are all opened at the top of the fixed frame 310. The multiple buoyancy chambers 322 are respectively located on one side of the multiple installation grooves 321. The inner bottom walls of the multiple installation grooves 321 are fixedly installed with injection plates 323, and the top of the injection plate 323 is fixedly connected with two docking ports 324.

[0048] In this embodiment, the buoyancy chambers 322 can be added or removed as needed on the fixed frame 310 through the adapter assembly 320, and can be injected with air or liquid by means of the high-pressure air pump 311 and the high-pressure water pump 312. This can achieve precise adjustment of the downforce of the underwater robot 100, allowing it to maintain sufficient ground friction in soft muddy environments and reduce resistance on hard or rugged terrain to improve passability. The modular buoyancy chambers 322 are quickly connected to the high-pressure air pump 311 and the high-pressure water pump 312 through the injection plate 323 and the docking port 324. The detection assembly 330 continuously monitors the contact pressure under each moving wheel 120 and the changes in the air pressure in the cabin, and feeds the collected ground hardness data back to the control component. The control component adjusts the operating status of the high-pressure air pump 311 and the high-pressure water pump 312 accordingly, allowing the underwater robot 100 to optimize the downforce distribution in real time in various complex underwater environments, ensuring that the moving wheels 120 group neither slips nor is excessively depressed during movement, significantly improving the maneuverability and stability of underwater SLAM navigation.

[0049] It should be noted that the detection sensor 200 is the core perception unit for realizing SLAM positioning and environmental mapping, and mainly includes a multi-beam sonar to obtain the surrounding terrain distance information, an underwater camera to record the real seabed scene for image feature matching and semantic enhancement, a depth sensor to measure the water depth in real time and correct the height drift, a Doppler current meter to measure the movement speed relative to the seabed, an auxiliary odometer, and an inertial measurement unit to provide attitude angle and acceleration data to ensure positioning continuity;

[0050] When in use, each sensor collects data simultaneously or alternately at a predetermined frequency and sends it to the SLAM calculation module through the internal data bus. The sonar first establishes the terrain framework, the camera supplements the visual features, the depth meter and DVL provide depth and speed references, and the IMU continuously calibrates the posture. The SLAM algorithm fuses this information and outputs the underwater robot's 100 postures and environmental maps in real time to drive subsequent navigation and obstacle avoidance decisions.

[0051] like Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 and Figure 7 As shown, the adapter assembly 320 also includes two connecting ports 325 fixedly installed at the bottom of the buoyancy chamber 322, and the two connecting ports 325 are respectively slidably connected to the two docking ports 324 in the corresponding installation groove 321. Two sealing blocks 3212 are fixedly installed on the inner wall of the installation groove 321, and sealing grooves 3213 are opened on both sides of the buoyancy chamber 322. The two sealing blocks 3212 are respectively connected to the two sealing grooves 3213.

[0052] In this embodiment, when installing the buoyancy chamber 322, it is only necessary to align the two connecting ports 325 at the bottom of the buoyancy chamber 322 with the docking ports 324 in the corresponding mounting groove 321 in the fixed frame 310, and then slide it in along the guide. At the same time, the sealing grooves 3213 on both sides of the buoyancy chamber 322 will automatically be sealed and engaged with the sealing blocks 3212 preset on the inner wall of the mounting groove 321. By quickly connecting the injection plate 323 with the high-pressure air pump 311 or the high-pressure water pump 312, the buoyancy chamber 322 can be injected with air or liquid, and the precise configuration of the downward pressure or upward buoyancy can be quickly completed.

[0053] Two fixing blocks 3210 are provided inside the mounting groove 321. The two fixing blocks 3210 are respectively located on both sides of the buoyancy chamber 322. Connecting plates 326 are provided on both sides of the buoyancy chamber 322. Limiting plates 327 are fixedly installed on the bottom of the two connecting plates 326. Limiting grooves 3214 are provided on the adjacent sides of the two fixing blocks 3210. The two limiting plates 327 are respectively engaged with the two limiting grooves 3214.

[0054] In this embodiment, after the buoyancy chamber 322 is guided to slide into the installation groove 321, the limit plates 327 on both sides of the connecting plate 326 are automatically embedded in the limit grooves 3214 corresponding to the adjacent fixed blocks 3210 and are engaged with them, thereby achieving precise positioning of the buoyancy chamber 322 and preventing axial movement; at the same time, the sealing block 3212 is tightly engaged with the sealing groove 3213 to ensure reliable sealing in deep water environments.

[0055] The top of the limiting plate 327 is provided with a plurality of tooth grooves, and the inner wall of the limiting groove 3214 is provided with a plurality of teeth. The limiting plate 327 and the limiting groove 3214 are engaged with each other through the corresponding tooth grooves and teeth.

[0056] In this embodiment, when the buoyancy chamber 322 slides into the mounting groove 321 and is initially aligned with the fixing block 3210, the teeth on the limiting plate 327 will engage with the teeth on the inner wall of the limiting groove 3214 one by one, so that the buoyancy chamber 322 is precisely locked in both the axial and radial directions, effectively preventing the buoyancy chamber 322 from loosening, rotating or falling off due to water flow or vibration, thereby further improving the connection stability and sealing reliability.

[0057] The bottom of the limiting plate 327 is set to be a slope, the top edge of the fixed block 3210 is set to be a slope, the fixed block 3210 is slidingly connected to the inner bottom wall of the mounting groove 321, and a driving frame 328 is set at the top of the buoyancy chamber 322. A first elastic block 329 is fixedly connected between the driving frame 328 and the top of the buoyancy chamber 322, and the two connecting plates 326 are fixedly connected to both sides of the driving frame 328.

[0058] In this embodiment, when the buoyancy chamber 322 needs to be disassembled, it is only necessary to press the drive frame 328 downward. The drive frame 328 drives the connecting plate 326 and the limiting plate 327 to move downward as a whole, so that the limiting plate 327 is disengaged from the teeth of the limiting groove 3214; at this time, the fixing block 3210 can be gently pushed to separate it from the sealing card groove 3213 of the connecting plate 326, and under the action of the restoring force of the first elastic block 329, the drive frame 328 automatically returns to its original position; finally, the buoyancy chamber 322 is pulled out upward to complete the quick disassembly.

[0059] The two fixed blocks 3210 are both slidably connected to the inner wall of the installation groove 321, and the sides of the two fixed blocks 3210 away from each other are fixedly connected to the second elastic blocks 3211, and the two second elastic blocks 3211 are both fixedly connected to the inner wall of the installation groove 321, and the tops of the two fixed blocks 3210 are fixedly installed with drive plates 3215.

[0060] In this embodiment, the two second elastic blocks 3211 always apply an elastic thrust inward to the two fixed blocks 3210, so that the fixed blocks 3210 are close to each other and close to the inner wall of the installation groove 321, thereby self-locking and fixing the buoyancy chamber 322. When the driving frame 328 is pressed down to act on the driving plate 3215, the two fixed blocks 3210 can be separated outward with the help of additional external force, squeezing the second elastic blocks 3211 to release the self-locking state. Once the external force is removed, the second elastic block 3211 will automatically recover and push the fixed blocks 3210 back to the close position.

[0061] like Figure 2 、 Figure 8 、 Figure 9 and Figure 10 As shown, the detection component 330 includes a hub 331 fixedly installed inside the moving wheel 120 , and an air pressure sensor 332 is fixedly installed inside the moving wheel 120 .

[0062] In this embodiment, the air pressure sensor 332 continuously measures the changes in air pressure in the wheel hub 331. When the moving wheel 120 contacts the seabed of different hardness, the tire will produce a slight deformation due to the change in the pressure under the ballast, causing the air pressure in the wheel hub 331 to fluctuate accordingly. The air pressure sensor 332 feeds back the real-time collected air pressure signal to the control component, judges the hardness of the seabed according to the preset threshold, and links the high-pressure air pump 311 and the high-pressure water pump 312 to adjust the amount of air or liquid injected into the buoyancy chamber 322, forming a detection, feedback and adjustment closed loop, thereby ensuring that the robot can maintain the best ground ballast state on various terrains and achieve stable and reliable underwater movement.

[0063] A plurality of gripping strips 336 are fixedly mounted on the outer side of the moving wheel 120 , and the cross-sections of the plurality of gripping strips 336 are all configured to be conical.

[0064] In this embodiment, the tapered cross-section of the grip strip 336 enables it to penetrate into soft mud or crevices like a micro-anchor when the tire rotates, significantly improving friction and grip, thereby providing continuous and stable traction on various soft and hard terrains, ensuring that the underwater robot 100 does not slip when walking on the bottom of the water.

[0065] A guide ring 333 is fixedly mounted on the outer side of the detection sensor 200 . A plurality of nozzles 334 are fixedly mounted on the surface of the guide rings 333 . The plurality of nozzles 334 are arranged in a surrounding shape on the outer side of the detection sensor 200 .

[0066] In this embodiment, the guide ring 333 is connected to the high-pressure air pump 311, and only the high-pressure airflow is sprayed around the nozzle 334 to the surface of the detection sensor 200 to form an airflow cleaning barrier. The high-pressure airflow can effectively blow away and remove attached mud and algae, avoid secondary deposition, and ensure the detection accuracy and reliability of the sonar and camera during long-term underwater operation.

[0067] An input pipe 335 is fixedly installed on one side of the underwater robot 100. One end of the input pipe 335 is fixedly connected to the high-pressure air pump 311. The multiple nozzles 334 are all arranged in an "L" shape.

[0068] In this embodiment, after the high-pressure air pump 311 is started, the compressed gas is transported to the inside of the guide ring 333 through the input pipe 335, and then the high-pressure airflow is ejected around the detection sensor 200 through the L-shaped nozzle 334, forming an airflow cleaning layer around it, effectively blowing away and removing the mud and algae attached to the surface of the sensor, ensuring that the detection sensor 200 always remains clean under different flow rates and suspended particle environments.

[0069] A method for using an underwater robot based on underwater SLAM

[0070] A1. The buoyancy chamber 322 is increased or decreased as needed through the adapter component 320, and the buoyancy chamber 322 is injected with air or liquid using the high-pressure air pump 311 and the high-pressure water pump 312 to achieve precise adjustment of the downward pressure of the underwater robot 100. The detection component 330 monitors the contact pressure under the moving wheel 120 and the air pressure in the cabin, and feeds the ground hardness data back to the control component. The control component adjusts the working state of the air pump accordingly, optimizing the downward pressure distribution in real time, ensuring that the moving wheel 120 is prevented from slipping and excessive collapse, thereby improving the maneuverability and stability of underwater SLAM navigation.

[0071] A2. When the buoyancy chamber 322 needs to be disassembled, it is only necessary to press the drive frame 328 downward. The drive frame 328 drives the connecting plate 326 and the limiting plate 327 to move downward as a whole, so that the limiting plate 327 is disengaged from the teeth of the limiting groove 3214. At this time, the fixing block 3210 can be gently pushed to separate it from the sealing groove 3213 of the connecting plate 326. Under the action of the restoring force of the first elastic block 329, the drive frame 328 automatically returns to its original position. Finally, the buoyancy chamber 322 can be pulled out upward to complete the quick disassembly.

[0072] A3. The guide ring 333 is connected to the high-pressure air pump 311, and only the high-pressure airflow is sprayed around the surface of the detection sensor 200 through the nozzle 334 to form an airflow cleaning barrier. The high-pressure airflow can effectively blow away and remove attached mud and algae, avoid secondary deposition, and ensure the detection accuracy and reliability of the detection sensor 200 during long-term underwater operation.

[0073] Working Principle: The underwater robot 100 controls the injection of air and liquid into the buoyancy chamber 322 through a high-pressure air pump 311 and a high-pressure water pump 312, dynamically adjusting the downward pressure on the underwater robot 100 to adapt to varying seabed hardness and softness. During the movement of the underwater robot 100, the air pressure sensor 332 built into the moving wheel 120 monitors the air pressure changes within the wheel hub 331 in real time, reflecting the underwater load status. The control system adjusts the pressure in the buoyancy chamber 322 accordingly, ensuring that the moving wheel 120 has sufficient grip to prevent slipping but does not sink excessively to prevent sinking into mud and sand, achieving stable movement. The detection sensor 200, combined with the SLAM algorithm, performs real-time positioning and environmental mapping, ensuring the underwater robot 100's autonomous navigation and obstacle avoidance capabilities. To ensure the cleanliness of the detection sensor 200, the guide ring 333 delivers compressed gas through the high-pressure air pump 311, and forms an airflow barrier through the "L"-shaped nozzle 334, continuously removing mud and algae attachment, and improving the detection accuracy and reliability of the detection sensor 200. During maintenance, the limit lock of the buoyancy chamber 322 is released by pressing the drive frame 328, and the reset function of the second elastic block 3211 is cooperated to realize the rapid disassembly and replacement of the buoyancy chamber 322, which facilitates on-site operation and improves the continuous operation capability of the underwater robot 100.

[0074] It should be noted that the detection sensors, air pressure sensors, high-pressure water pumps and high-pressure air pumps in the above description are all devices with relatively mature applications of existing technologies. The specific models can be selected according to actual needs. The detection sensors, air pressure sensors, high-pressure water pumps and high-pressure air pumps can be powered by built-in power supplies. The specific power supply method is selected according to the situation and will not be elaborated here.

[0075] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0076] The above-described embodiments merely illustrate several embodiments of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, and these modifications and improvements fall within the scope of the present invention. Therefore, the scope of the present invention shall be determined by the appended claims.

Claims

1. An underwater robot based on underwater SLAM, comprising an underwater robot (100), a support frame (110) and a plurality of moving wheels (120), characterized in that: The support frame (110) is fixedly mounted on the bottom of the underwater robot (100), the plurality of moving wheels (120) are fixedly mounted on the outside of the support frame (110), and a detection sensor (200) is fixedly mounted on one side of the underwater robot (100); A multi-depth adjustment mechanism (300), comprising a fixing frame (310), a high-pressure air pump (311), a high-pressure water pump (312), an adapter component (320), and a detection component (330); the fixing frame (310) is fixedly mounted on the top of an underwater robot (100); the high-pressure air pump (311) and the high-pressure water pump (312) are both fixedly mounted on the top of the underwater robot (100); the adapter component (320) is disposed on the top of the fixing frame (310); and the detection component (330) is disposed on the outside of the underwater robot (100); The adapter assembly (320) includes a plurality of mounting grooves (321) and a plurality of buoyancy chambers (322), the plurality of mounting grooves (321) are all opened on the top of the fixing frame (310), the plurality of buoyancy chambers (322) are respectively located on one side of the plurality of mounting grooves (321), the inner bottom walls of the plurality of mounting grooves (321) are all fixedly mounted with injection plates (323), and the top of the injection plate (323) is fixedly connected with two docking ports (324).

2. The underwater robot based on underwater SLAM according to claim 1, characterized in that: The adapter assembly (320) further comprises two connection ports (325) fixedly mounted on the bottom of the buoyancy chamber (322), the two connection ports (325) being slidably connected to the two docking ports (324) in the corresponding mounting groove (321), two sealing blocks (3212) being fixedly mounted on the inner wall of the mounting groove (321), sealing grooves (3213) being provided on both sides of the buoyancy chamber (322), and the two sealing blocks (3212) being respectively engaged with the two sealing grooves (3213).

3. The underwater robot based on underwater SLAM according to claim 1, characterized in that: Two fixing blocks (3210) are provided inside the installation groove (321), and the two fixing blocks (3210) are respectively located on both sides of the buoyancy chamber (322). Connecting plates (326) are provided on both sides of the buoyancy chamber (322), and limiting plates (327) are fixedly installed on the bottoms of the two connecting plates (326). A limiting groove (3214) is provided on the adjacent side of the two fixing blocks (3210), and the two limiting plates (327) are respectively engaged with the two limiting grooves (3214).

4. The underwater robot based on underwater SLAM according to claim 3, characterized in that: The top of the limiting plate (327) is provided with a plurality of tooth grooves, the inner wall of the limiting groove (3214) is provided with a plurality of teeth, and the limiting plate (327) and the limiting groove (3214) are both engaged and clamped through the corresponding tooth grooves and teeth.

5. The underwater robot based on underwater SLAM according to claim 3, characterized in that: The bottom of the limiting plate (327) is configured to be inclined, the top edge of the fixing block (3210) is configured to be inclined, the fixing block (3210) is slidably connected to the inner bottom wall of the mounting groove (321), a driving frame (328) is provided at the top of the buoyancy chamber (322), a first elastic block (329) is fixedly connected between the driving frame (328) and the top of the buoyancy chamber (322), and the two connecting plates (326) are fixedly connected to both sides of the driving frame (328).

6. The underwater robot based on underwater SLAM according to claim 3, characterized in that: The two fixing blocks (3210) are both slidably connected to the inner wall of the installation groove (321), and the two fixing blocks (3210) are both fixedly connected to the second elastic block (3211) on the side away from each other, and the two second elastic blocks (3211) are both fixedly connected to the inner wall of the installation groove (321), and the tops of the two fixing blocks (3210) are both fixedly installed with a driving plate (3215).

7. The underwater robot based on underwater SLAM according to claim 1, characterized in that: The detection component (330) comprises a hub (331) fixedly mounted inside the moving wheel (120), and an air pressure sensor (332) is fixedly mounted inside the moving wheel (120).

8. The underwater robot based on underwater SLAM according to claim 1, characterized in that: A plurality of gripping strips (336) are fixedly mounted on the outer side of the moving wheel (120), and the cross sections of the plurality of gripping strips (336) are all arranged in a conical shape.

9. The underwater robot based on underwater SLAM according to claim 1, characterized in that: A guide ring (333) is fixedly mounted on the outside of the detection sensor (200), and a plurality of nozzles (334) are fixedly mounted on the surface of the guide rings (333). The plurality of nozzles (334) are arranged in a surrounding shape on the outside of the detection sensor (200).

10. The underwater robot based on underwater SLAM according to claim 9, characterized in that: An input pipe (335) is fixedly installed on one side of the underwater robot (100), one end of the input pipe (335) is fixedly connected to the high-pressure air pump (311), and the plurality of nozzles (334) are all arranged in an "L" shape.

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