Underwater node device and underwater robot

Abstract

The application discloses an underwater node device and an underwater robot. The underwater node device comprises a device main body, the inside of the device main body is filled with a medium for providing buoyancy, the lower part of the device main body is provided with a first cavity, the first cavity is provided with an open end formed in the lower end of the device main body; a data acquisition module is arranged in the inside of the device main body, and the data acquisition module is used for acquiring underwater data; a negative pressure mechanism is arranged in the inside of the device main body, and the negative pressure mechanism is used for providing negative pressure for the first cavity, so that the lower end of the device main body can be adsorbed on underwater sediments through the open end; and a control module is arranged in the inside of the device main body, the control module is electrically connected with the negative pressure mechanism and can control the opening and closing of the negative pressure mechanism. The underwater node device can be completely recycled after completing data acquisition, which is not only beneficial to environmental protection, but also will not cause interference to future investigation operations.

Description

Technical Field

[0001] This application relates to the field of underwater exploration technology, and in particular to an underwater node device and an underwater robot. Background Technology

[0002] Marine electromagnetic surveying is a commonly used method for investigating marine geological conditions. It primarily measures the electromagnetic responses of different components of marine strata under natural or artificial alternating electromagnetic fields, thereby confirming seafloor geological structures, exploring resources (such as oil and gas, and minerals), and monitoring changes in the marine environment. Among these methods, magnetotellurics, utilizing natural electromagnetic fields, uses a natural alternating electromagnetic field as the field source to measure changes in the seafloor's electric and magnetic fields, inverting the resistivity distribution of the seafloor medium to confirm the stratigraphic structure. This method typically uses underwater nodal devices as electromagnetic response data acquisition equipment, which are deployed long-term on the seafloor for data collection.

[0003] However, when traditional underwater node devices are deployed on the seabed with sedimentary bottoms, they inevitably sink over time, becoming embedded in the sediment and making them difficult to recover. Furthermore, when the sediment in the operating area has poor bearing capacity, the underwater node device may become embedded in the sediment during deployment, affecting the operational effectiveness.

[0004] In related technologies, to facilitate rapid recovery of underwater node devices, a negative buoyancy base and a positive buoyancy node body are designed, and these two are connected by a release device. After the underwater node device completes data acquisition, the release device is activated, the node body separates from the base, and the node body rises to the surface under positive buoyancy, where it is retrieved by a working vessel. However, after this type of underwater node device completes its survey operation, its base portion remains permanently on the seabed, which not only alters the seabed sediment structure but also harms environmental protection and hinders future survey operations. Summary of the Invention

[0005] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes an underwater node device that can be completely recovered after data acquisition is completed.

[0006] The underwater node device according to a first aspect embodiment of this application includes:

[0007] The device body is filled with a medium for providing buoyancy, and the lower part of the device body has a first cavity with an opening formed at the lower end of the device body;

[0008] A data acquisition module is disposed inside the main body of the device and is used to acquire underwater data.

[0009] A negative pressure mechanism is provided inside the main body of the device. The negative pressure mechanism is used to provide negative pressure to the first cavity so that the lower end of the main body of the device can be adsorbed onto underwater sediment through the opening.

[0010] A control module is located inside the main body of the device. The control module is electrically connected to the negative pressure mechanism and can control the opening and closing of the negative pressure mechanism.

[0011] The underwater node device according to the embodiments of this application has at least the following beneficial effects: In use, the underwater node device is launched onto underwater sediment. Then, the negative pressure mechanism is activated via the control module to provide negative pressure to the first chamber, allowing the lower end of the device body to adhere to the underwater sediment through the opening. After data acquisition is completed, the negative pressure mechanism is deactivated via the control module, preventing the lower end of the device body from continuing to adhere to the underwater sediment through the opening. At this point, the underwater node device floats up through the buoyancy medium filled inside the device body, facilitating its retrieval. The underwater node device of this application can be completely recovered after data acquisition, which is not only beneficial to environmental protection but also does not interfere with future survey operations.

[0012] According to some embodiments of this application, the underwater node device further includes an impact detection mechanism electrically connected to the control module, the impact detection mechanism being used to detect the impact force experienced by the device body when it comes into contact with underwater sediment.

[0013] According to some embodiments of this application, the impact detection mechanism includes a guide rod, an impact part, and an impact sensor. The guide rod is fixedly disposed inside the main body of the device and extends toward the lower end of the main body of the device. The impact part is movably sleeved on the guide rod. The impact sensor is disposed at one end of the guide rod near the opening and is electrically connected to the control module. A first limiting part is provided at one end of the guide rod away from the impact sensor. The first limiting part is used to restrict the impact part from detaching from the guide rod.

[0014] According to some embodiments of this application, the negative pressure mechanism includes a negative pressure chamber disposed inside the main body of the device. The air pressure inside the negative pressure chamber is lower than the external atmospheric pressure. The negative pressure chamber is connected to the first cavity through a pipeline. A two-position two-way valve that can realize pipeline opening and closing is provided on the pipeline used to connect the negative pressure chamber and the first cavity. The two-position two-way valve is electrically connected to the control module.

[0015] According to some embodiments of this application, a throttling valve and a flow meter are also provided on the pipeline used to connect the negative pressure chamber and the first chamber, and both the throttling valve and the flow meter are electrically connected to the control module.

[0016] According to some embodiments of this application, an acceleration sensor is also provided inside the main body of the device, and the acceleration sensor is electrically connected to the control module.

[0017] According to some embodiments of this application, the negative pressure mechanism further includes a two-position four-way valve and a pump body. The two-position four-way valve and the pump body are both electrically connected to the control module. The flow meter is disposed between the two-position two-way valve and the first cavity. The main body of the device has a fluid channel leading to the external environment. The four ports of the two-position four-way valve are connected one-to-one with the first cavity, the input end of the flow meter, the output end of the pump body, and the fluid channel. The input end of the pump body is connected to the pipeline between the two-position two-way valve and the flow meter. The two-position four-way valve is used to change the flow direction of the fluid in the pipeline so that the fluid in the pipeline can flow from the fluid channel to the first cavity or from the first cavity to the fluid channel.

[0018] According to some embodiments of this application, the underwater node device further includes a beacon module, wherein:

[0019] The beacon module includes a positioning element electrically connected to the control module and used for communication with a satellite; and / or,

[0020] The beacon module includes a light-emitting element disposed on the surface of the device body and electrically connected to the control module, and the light-emitting element is covered by a transparent cover.

[0021] An underwater robot according to a second aspect of this application includes an underwater node device according to the first aspect of this application described above, and the underwater robot further includes a launch system for launching the underwater node device toward underwater sediment.

[0022] According to some embodiments of this application, the ejection system includes a loading section having at least one ejection chamber with an open lower end for accommodating the underwater node device. A first compression spring for ejecting the underwater node device is provided inside the ejection chamber. A mounting hole is provided on the inner wall of the ejection chamber, and a limiting pin is movably disposed within the mounting hole. A driving structure is provided inside the loading section for driving the pin to extend into the ejection chamber or retract into the mounting hole. A second limiting portion is provided on the device body corresponding to the pin, and the pin cooperates with the second limiting portion to restrict the underwater node device within the ejection chamber and compress the first compression spring.

[0023] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0024] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0025] Figure 1 This is a schematic diagram of the structure of an underwater node device according to an embodiment of this application;

[0026] Figure 2 This is a cross-sectional schematic diagram of an underwater node device according to an embodiment of this application;

[0027] Figure 3 This is a schematic diagram of the structure of an impact testing mechanism according to an embodiment of this application;

[0028] Figure 4 This is a schematic diagram of the structure of a negative pressure mechanism according to an embodiment of this application;

[0029] Figure 5 This is a schematic diagram of the structure of an underwater robot according to an embodiment of this application;

[0030] Figure 6 This is a bottom view of the loading section according to an embodiment of this application;

[0031] Figure 7 This is a schematic diagram of the underwater node device according to an embodiment of this application when it is loaded inside the catapult compartment;

[0032] Figure 8 This is a schematic diagram of the state of an underwater node device according to an embodiment of this application when it is ejected from the ejection chamber.

[0033] Figure label:

[0034] Medium a used to provide buoyancy;

[0035] The device consists of a main body 100, a first cavity 110, an opening 111, and a fluid channel 120.

[0036] Data acquisition module 200;

[0037] Negative pressure mechanism 300, negative pressure chamber 310, two-position two-way valve 320, throttle valve 330, flow meter 340, two-position four-way valve 350, pump body 360;

[0038] Control module 400;

[0039] Impact detection mechanism 500, guide rod 510, first limiting part 511, impact part 520, impact sensor 530;

[0040] Beacon Module 600;

[0041] Transparent enclosure 700;

[0042] Loading section 810, ejection compartment 811, first compression spring 820, pin 830, second limiting section 840;

[0043] Tail wing 900. Detailed Implementation

[0044] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0045] In the description of this application, it should be understood that if directional descriptions are involved, such as up, down, front, back, left, right, etc., indicating the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings, it is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0046] In the description of this application, if words such as several, greater than, less than, exceeding, above, below, or within appear, "several" means one or more, "more than" means two or more, "greater than," "less than," "exceeding," etc. are understood to exclude the number itself, and "above," "below," "within," etc. are understood to include the number itself.

[0047] In the description of this application, the use of terms such as "first" and "second" is for the purpose of distinguishing technical features only, and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of the technical features indicated.

[0048] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0049] Reference Figures 1 to 8 The underwater node device according to an embodiment of this application includes a device body 100, a data acquisition module 200, a negative pressure mechanism 300, and a control module 400.

[0050] Specifically, the device body 100 is filled with a medium a for providing buoyancy. The lower part of the device body 100 has a first cavity 110 with an opening 111 formed at the lower end of the device body 100. A data acquisition module 200 is disposed inside the device body 100 and is used to collect underwater data. A negative pressure mechanism 300 is disposed inside the device body 100 and is used to provide negative pressure to the first cavity 110 so that the lower end of the device body 100 can be adsorbed onto underwater sediments through the opening 111. A control module 400 is disposed inside the device body 100 and is electrically connected to the negative pressure mechanism 300 and can control the opening and closing of the negative pressure mechanism 300.

[0051] In use, the underwater node device is launched onto underwater sediment. Then, the negative pressure mechanism 300 is activated via the control module 400, providing negative pressure to the first chamber 110 so that the lower end of the device body 100 can adhere to the underwater sediment through the opening 111. After data acquisition is complete, the negative pressure mechanism 300 is deactivated via the control module 400, preventing the lower end of the device body 100 from continuing to adhere to the underwater sediment through the opening 111. At this point, the underwater node device floats up through the buoyancy medium a filled inside the device body 100, facilitating its retrieval. The underwater node device of this application can be completely recovered after data acquisition, which is not only beneficial to environmental protection but also does not interfere with future survey operations.

[0052] Specifically, the data acquisition device includes an electromagnetic instrument, which is used to measure changes in the underwater electric and magnetic fields.

[0053] Specifically, the medium a used to provide buoyancy that fills the interior of the device body 100 can be air, foam plastic, or other media with a density less than water.

[0054] Specifically, the control module 400 includes a central processing unit (i.e., a CPU).

[0055] Reference Figure 2In some of the embodiments, the opening 111 is a cutting edge structure. Specifically, the inner or outer sidewall of the opening 111 is inclined to form a cutting edge structure so that the lower end of the device body 100 can be inserted into the underwater sediment.

[0056] In some embodiments, the underwater node device further includes an impact detection mechanism 500 electrically connected to the control module 400. The impact detection mechanism 500 is used to detect the impact force experienced by the device body 100 when it comes into contact with underwater sediment. The impact detection mechanism 500 can help determine whether the device body 100 has come into contact with underwater sediment. When the impact detection mechanism 500 detects that the device body 100 has come into contact with underwater sediment, it activates the negative pressure mechanism 300.

[0057] Reference Figure 3 In some embodiments, the impact detection mechanism 500 includes a guide rod 510, an impact part 520, and an impact sensor 530. The guide rod 510 is fixedly disposed inside the device body 100 and extends toward the lower end of the device body 100. The impact part 520 is movably sleeved on the guide rod 510. The impact sensor 530 is disposed at one end of the guide rod 510 near the opening 111 and is electrically connected to the control module 400. A first limiting part 511 is provided at one end of the guide rod 510 away from the impact sensor 530. The first limiting part 511 is used to limit the impact part 520 from disengaging from the guide rod 510. At the instant the underwater node device is launched, the device body 100 and guide rod 510 are subjected to force and begin to accelerate. Under the action of inertia, the impact part 520 moves relative to the guide rod 510, so that the impact part 520 moves away from the impact sensor 530. After the impact part 520 abuts against the first limiting part 511, the impact part 520 and the guide rod 510 move synchronously. At the instant the device body 100 contacts the underwater sediment, the device body 100 and guide rod 510 are obstructed and begin to decelerate. Under the action of inertia, the impact part 520 moves relative to the guide rod 510, so that the impact part 520 approaches and impacts the impact sensor 530, thereby realizing the detection of impact force.

[0058] Specifically, the axis of the guide rod 510 can be parallel to the axis of the device body 100.

[0059] Reference Figure 2 and Figure 4In some embodiments, the negative pressure mechanism 300 includes a negative pressure chamber 310 disposed inside the device body 100. The air pressure inside the negative pressure chamber 310 is lower than the external atmospheric pressure. The negative pressure chamber 310 is connected to the first cavity 110 via a pipeline. A two-position two-way valve 320 is provided on the pipeline connecting the negative pressure chamber 310 and the first cavity 110 to realize the opening and closing of the pipeline. The two-position two-way valve 320 is electrically connected to the control module 400. When the negative pressure mechanism 300 is started, the two-position two-way valve 320 is opened to connect the negative pressure chamber 310 with the first cavity 110. At this time, the negative pressure chamber 310 can provide negative pressure to the first cavity 110 to draw water from the first cavity 110 into the negative pressure chamber 310, so that the lower end of the device body 100 can be adsorbed onto underwater sediments through the opening 111.

[0060] Specifically, the negative pressure chamber 310 is in a vacuum state, which is beneficial to improving the adsorption effect of the lower end of the device body 100 on underwater sediments through the opening 111.

[0061] Reference Figure 4 In some embodiments, a throttle valve 330 and a flow meter 340 are also provided on the pipeline connecting the negative pressure chamber 310 and the first chamber 110. Both the throttle valve 330 and the flow meter 340 are electrically connected to the control module 400. Because underwater sediments of different densities have different deceleration effects on the device body 100, the impact force experienced by the device body 100 when in contact with the underwater sediments also varies. Specifically, lower-density underwater sediments exert less impact on the device body 100, while higher-density underwater sediments exert greater impact. Thus, the state of the underwater sediments can be determined by the detection results of the impact detection mechanism 500, allowing for further adjustment of the opening of the throttle valve 330 based on the real-time flow rate feedback from the flow meter 340. Specifically, when the density of the underwater sediment in contact with the main body 100 is low, that is, when the impact force detected by the impact detection mechanism 500 is small, the opening of the throttle valve 330 is reduced to weaken the effect of negative pressure adsorption. This helps prevent the main body 100 from inserting into the underwater sediment too quickly, and thus helps prevent the main body 100 from sinking completely into the underwater sediment, so as to facilitate subsequent surfacing and recovery. When the density of the underwater sediment in contact with the main body 100 is high, that is, when the impact force detected by the impact detection mechanism 500 is large, the opening of the throttle valve 330 is increased to enhance the effect of pressure adsorption, so as to ensure that the main body 100 can stably adsorb onto the underwater sediment.

[0062] In addition, the flow meter 340 can also monitor the remaining space in the negative pressure chamber 310. Under normal circumstances, when the flow meter 340 measures zero flow, the negative pressure chamber 310 has been filled. At this time, the adsorption has been initially completed, and the two-position two-way valve 320 can be closed.

[0063] In some embodiments, an acceleration sensor is also installed inside the main body 100 of the device, which is electrically connected to the control module 400. After the main body 100 comes into contact with underwater sediment, the acceleration sensor detects the acceleration of the main body 100, and the control module 400 adjusts the intensity of the negative pressure adsorption to enable the main body 100 to decelerate uniformly until it stops moving and is adsorbed onto the underwater sediment. Specifically, when the acceleration sensor detects that the main body 100 decelerates too quickly, the opening of the throttle valve 330 is reduced to weaken the pressure adsorption effect; when the acceleration sensor detects that the main body 100 decelerates too slowly, the opening of the throttle valve 330 is increased to enhance the pressure adsorption effect. This allows control over the depth at which the main body 100 is inserted into the underwater sediment, preventing both excessive insertion that prevents it from failing to surface and be retrieved and shallow insertion that prevents it from being stably adsorbed onto the underwater sediment.

[0064] Specifically, the intensity of negative pressure adsorption can be adjusted using a PID control algorithm.

[0065] Reference Figure 4In some embodiments, the negative pressure mechanism 300 further includes a two-position four-way valve 350 and a pump body 360. Both the two-position four-way valve 350 and the pump body 360 are electrically connected to the control module 400. The flow meter 340 is disposed between the two-position two-way valve 320 and the first cavity 110. The main body 100 of the device has a fluid channel 120 leading to the external environment. The four ports of the two-position four-way valve 350 are connected one-to-one with the first cavity 110, the input end of the flow meter 340, the output end of the pump body 360, and the fluid channel 120. The input end of the pump body 360 is connected to the pipeline between the two-position two-way valve 320 and the flow meter 340. The two-position four-way valve 350 is used to change the flow direction of the fluid in the pipeline so that the fluid in the pipeline can flow from the fluid channel 120 to the first cavity 110 or from the first cavity 110 to the fluid channel 120. When the impact detection mechanism 500 detects that the main body 100 of the device has come into contact with underwater sediment, it opens the two-position two-way valve 320 to provide negative pressure to the first chamber 110 through the negative pressure chamber 310 for negative pressure adsorption. When the flow meter 340 measures zero flow, the negative pressure chamber 310 is filled, indicating that the adsorption has been initially completed. At this time, the two-position two-way valve 320 can be closed. If the acceleration sensor detects that the main body 100 of the device has an upward movement tendency after the two-position two-way valve 320 is closed, that is, the main body 100 of the device has a floating tendency, it indicates that the negative pressure adsorption effect is not up to standard. At this time, the two-position four-way valve 350 is adjusted so that the fluid in the pipeline can flow from the first chamber 110 to the fluid channel 120. At the same time, the pump body 360 is started to extract the material in the first chamber 110 and discharge it to the external environment through the fluid channel 120, thereby further providing negative pressure to the first chamber 110, and further enhancing the effect of negative pressure adsorption, so as to ensure that the main body 100 of the device can stably adsorb underwater sediment.

[0066] In addition, after data acquisition is completed, the two-position four-way valve 350 is adjusted so that the fluid in the pipeline can flow from the fluid channel 120 to the first chamber 110. At the same time, the pump body 360 is started to draw external water into the first chamber 110 through the fluid channel 120 to break the negative pressure adsorption state, so that the main body of the device 100 can float through the medium a filled to provide buoyancy.

[0067] It should be noted that in some other embodiments, an openable and closable pressure relief valve electrically connected to the control module 400 may be provided to disrupt the negative pressure adsorption state. Specifically, the pressure relief valve is used to connect the first cavity 110 to the external environment.

[0068] Reference Figure 2In some embodiments, the device body 100 has an independently configured second cavity inside, in which the data acquisition module 200, control module 400, impact detection mechanism 500 and acceleration sensor are all disposed. The medium a used to provide buoyancy is a solid medium filled in the second cavity. In this case, the medium a used to provide buoyancy can protect the data acquisition module 200, control module 400, impact detection mechanism 500 and acceleration sensor.

[0069] It should be noted that in some other embodiments, visual sensing technology can also be used to determine when to activate the negative pressure mechanism 300.

[0070] Reference Figure 1 and Figure 2 In some embodiments, the underwater node device also includes a beacon module 600, which includes a positioning element electrically connected to the control module 400 and used for communication with a satellite. After the underwater node device completes data acquisition and surfaces, it sends location information through the positioning element so that staff can quickly and accurately recover the underwater node device.

[0071] Reference Figure 1 and Figure 2 In some embodiments, the beacon module 600 includes a light-emitting element disposed on the surface of the device body 100 and electrically connected to the control module 400. The light-emitting element is covered by a transparent cover 700 for protecting the light-emitting element. When the underwater node device completes data acquisition and floats up, it emits light through the light-emitting element so that the staff can quickly and accurately recover the underwater node device.

[0072] Specifically, the transparent cover 700 can be made of glass or plastic.

[0073] An underwater robot according to an embodiment of this application includes the underwater node device described above, and the underwater robot further includes a catapult system for launching the underwater node device toward underwater sediment.

[0074] Reference Figures 5 to 8In some embodiments, the ejection system includes a loading section 810, which has at least one ejection chamber 811 with an open lower end for accommodating an underwater node device. A first compression spring 820 for ejecting the underwater node device is provided inside the ejection chamber 811. A mounting hole is provided on the inner side wall of the ejection chamber 811, and a locking pin 830 for limiting is movably disposed in the mounting hole. A driving structure is provided inside the loading section 810 for driving the locking pin 830 to extend into the ejection chamber 811 or retract into the mounting hole. A second limiting part 840 is provided on the device body 100 corresponding to the locking pin 830. The locking pin 830 is used to cooperate with the second limiting part 840 to restrict the underwater node device within the ejection chamber 811 and keep the first compression spring 820 in a compressed state. When the underwater node device is loaded into the ejection chamber 811, the first compression spring 820 is compressed. At this time, the drive structure drives the pin 830 to extend into the ejection chamber 811. The pin 830 cooperates with the second limiting part 840 to prevent the underwater node device from detaching from the ejection chamber 811. When it is necessary to eject the underwater node device, the drive structure drives the pin 830 to retract into the mounting hole. At this time, the underwater node device is ejected from the ejection chamber 811 under the elastic force provided by the first compression spring 820.

[0075] Specifically, the pin 830 is a metal part that can be attracted by a magnet, and the driving structure includes a second compression spring for driving the pin 830 to extend into the ejection chamber 811 and an electromagnet for driving the pin 830 to retract into the mounting hole.

[0076] It should be noted that in some other embodiments, the drive structure also adopts a cylinder, electric push rod or other structure that can drive the target component to reciprocate in a straight line.

[0077] Reference Figure 1 , Figure 2 , Figure 7 and Figure 8 In some of these embodiments, a tail fin 900 for guiding the flow is provided on the outer side wall of the device body 100, which helps to stabilize the attitude of the underwater node device when it moves in the water.

[0078] When the underwater node device is equipped with a tail fin 900, at least a portion of the tail fin 900 forms a second limiting part 840. Of course, the second limiting part 840 can also be independent of the tail fin 900 and provided on the tail fin 900. In addition, the second limiting part 840 can also be independent of the tail fin 900 and provided on the outer side wall of the device body 100.

[0079] When the underwater node device is not equipped with a tail fin 900, the second limiting part 840 is provided on the outer side wall of the device body 100.

[0080] In the description of this specification, the use of terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," and "some examples" indicates that the specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0081] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. An underwater node device, characterized in that, include: The device body is filled with a medium for providing buoyancy, and the lower part of the device body has a first cavity with an opening formed at the lower end of the device body; A data acquisition module is disposed inside the main body of the device and is used to acquire underwater data. A negative pressure mechanism is provided inside the main body of the device. The negative pressure mechanism is used to provide negative pressure to the first cavity so that the lower end of the main body of the device can be adsorbed onto underwater sediment through the opening. A control module is disposed inside the main body of the device. The control module is electrically connected to the negative pressure mechanism and can control the opening and closing of the negative pressure mechanism. The underwater node device also includes an impact detection mechanism electrically connected to the control module, which is used to detect the impact force experienced by the main body of the device when it comes into contact with underwater sediments; The impact detection mechanism includes a guide rod, an impact part, and an impact sensor. The guide rod is fixedly disposed inside the main body of the device and extends toward the lower end of the main body of the device. The impact part is movably sleeved on the guide rod. The impact sensor is disposed at the end of the guide rod near the opening and is electrically connected to the control module. A first limiting part is provided at the end of the guide rod away from the impact sensor. The first limiting part is used to prevent the impact part from detaching from the guide rod. The negative pressure mechanism includes a negative pressure chamber disposed inside the main body of the device. The air pressure inside the negative pressure chamber is lower than the external atmospheric pressure. The negative pressure chamber is connected to the first cavity through a pipeline. A two-position two-way valve that can realize the opening and closing of the pipeline is provided on the pipeline used to connect the negative pressure chamber and the first cavity. The two-position two-way valve is electrically connected to the control module. A throttling valve and a flow meter are also provided on the pipeline used to connect the negative pressure chamber and the first chamber. Both the throttling valve and the flow meter are electrically connected to the control module. The negative pressure mechanism also includes a two-position four-way valve and a pump body. Both the two-position four-way valve and the pump body are electrically connected to the control module. The flow meter is disposed between the two-position two-way valve and the first cavity. The main body of the device has a fluid channel leading to the external environment. The four ports of the two-position four-way valve are connected one-to-one with the first cavity, the input end of the flow meter, the output end of the pump body, and the fluid channel. The input end of the pump body is connected to the pipeline between the two-position two-way valve and the flow meter. The two-position four-way valve is used to change the flow direction of the fluid in the pipeline so that the fluid in the pipeline can flow from the fluid channel to the first cavity or from the first cavity to the fluid channel.

2. The underwater node device as described in claim 1, characterized in that, An acceleration sensor is also installed inside the main body of the device, and the acceleration sensor is electrically connected to the control module.

3. The underwater node device as described in claim 1, characterized in that, The underwater node device also includes a beacon module, wherein: The beacon module includes a positioning element electrically connected to the control module and used for communication with a satellite; and / or, The beacon module includes a light-emitting element disposed on the surface of the device body and electrically connected to the control module, and the light-emitting element is covered by a transparent cover.

4. An underwater robot, characterized in that, The underwater robot includes the underwater node device as described in any one of claims 1 to 3, and further includes a launch system for launching the underwater node device toward underwater sediment.

5. The underwater robot as described in claim 4, characterized in that, The ejection system includes a loading section, which has at least one ejection chamber with an open lower end for accommodating the underwater node device. A first compression spring for ejecting the underwater node device is provided inside the ejection chamber. A mounting hole is provided on the inner wall of the ejection chamber, and a limiting pin is movably disposed within the mounting hole. A driving structure is provided inside the loading section, which drives the pin to extend into the ejection chamber or retract into the mounting hole. A second limiting part is provided on the device body corresponding to the pin, and the pin cooperates with the second limiting part to confine the underwater node device within the ejection chamber and compress the first compression spring.

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