Underwater robot and control method thereof

Abstract

The invention provides an underwater robot and a control method thereof.The underwater robot comprises a robot body, a propelling mechanism arranged on the side face of the robot body and used for providing propelling force, and a processing mechanism in communication connection with the propelling mechanism and arranged in a closed space, the processing mechanism sends an operation instruction to the propelling mechanism so as to solve the problems that when the robot works in a narrow space (such as the interior of a net cage and between pipeline supports), the robot cannot counteract center-of-gravity shift through large-range maneuvering, and the robot is prone to collide with surrounding structures; and in a strong ocean current environment, frequent attitude correction further amplifies the risk of position drift.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of underwater robots, in particular to an underwater robot and a control method thereof. BACKGROUND

[0002] In recent years, with the rapid development of deep-sea oil and gas field exploitation, offshore wind farm operation and maintenance, submarine pipeline / cable inspection, and deep-sea intelligent fish farming, underwater robots have evolved from "optional tools" to "critical infrastructure". Meanwhile, the frequent occurrence of extreme weather has led to an increase in incidents such as river flooding, subway backflow, and water accumulation in underground spaces. There are many "water and fire coexisting" scenarios in petrochemical parks, ports, and LNG bases, which cannot be approached by traditional divers, and emergency work such as exploration, rescue, and salvage cannot be carried out in a timely manner.

[0003] In a typical engineering scenario, the thrusters are arranged centrally at the rear or top of the body, and the mechanical arm is fixed to the front end of the body. Once the mechanical arm needs to change the working direction (for example, from horizontal grabbing to vertical cutting), the robot must pitch, roll, or yaw as a whole, resulting in strong coupling between the whole machine attitude and the working direction. This coupling not only prolongs the adjustment time, but also easily causes secondary drift due to water flow disturbance.

[0004] After the mechanical arm is deployed, the additional moment caused by its own weight and the force arm of the grabbed load will instantaneously move the center of gravity of the whole machine outward. It can only rely on the start and stop of multiple thrusters to compensate for the thrust difference.

[0005] When working in a narrow space (such as inside a net cage or between pipeline supports), the robot cannot compensate for the center of gravity shift through large-scale maneuvering, and is easily collided with the surrounding structure; and in a strong ocean current environment, frequent attitude correction further amplifies the risk of position drift. SUMMARY

[0006] The present application provides an underwater robot and a control method thereof to solve the problem that when working in a narrow space, the center of gravity of the whole machine moves outward after the mechanical arm of the robot is deployed, which cannot be compensated by large-scale maneuvering, and is easily collided with the surrounding structure.

[0007] The technical solutions of the present application are as follows:

[0008] An underwater robot, comprising:

[0009] a body, a closed space is formed inside the body;

[0010] a propulsion mechanism arranged on the side surface of the body, the propulsion mechanism provides a propulsion force;

[0011] a processing mechanism in communication connection with the propulsion mechanism, the processing mechanism is arranged in the closed space.

[0012] Further, the propulsion mechanism in the underwater robot comprises: a first propeller and a second propeller;

[0013] The first propeller is at least two, arranged around the body, the first propeller is provided with a first water inlet and a first water outlet, the center of the first water inlet and the center of the first water outlet are located on the same straight line, the plane of the first water inlet is perpendicular to the plane of the body.

[0014] The second propeller is at least two, arranged between the two first propellers, the second propeller is provided with a second water inlet and a second water outlet, the center of the second water inlet and the center of the second water outlet are located on the same straight line, the plane of the second water inlet is parallel to the plane of the body.

[0015] Preferably, the line connecting the water inlet and the water outlet of each first propeller is located in the same plane.

[0016] Preferably, the water inlets of each second propeller are located in the same plane, and / or the water outlets of each first propeller are located in the same plane, and / or the middle section of each first propeller parallel to the water inlet or water outlet is located in the same plane.

[0017] Further, the first propeller in the underwater robot of the present application is four, arranged around the body.

[0018] The second propeller is also four, arranged between the first propeller along the length direction of the body.

[0019] Further, the first propeller in the underwater robot of the present application is four, arranged around the body.

[0020] Further, the first propeller in the underwater robot of the present application is four, arranged around the body.

[0021] Further, the first propeller in the underwater robot of the present application is four, arranged around the body.

[0022] Further, the first propeller in the underwater robot of the present application is four, arranged around the body.

[0023] Further, the body of the underwater robot comprises a body body and a mounting platform.

[0024] The body body is internally provided with the sealed space.

[0025] The mounting platform is arranged outside the body body, and the propulsion mechanism is arranged on the mounting platform and / or the body body.

[0026] Further, the first propeller and the second propeller of the underwater robot are mounted on the mounting platform.

[0027] Further, the mounting platform of the underwater robot comprises a first mounting plate and a second mounting plate.

[0028] The first mounting plate and the second mounting plate are arranged in parallel, and the first mounting plate and the second mounting plate are detachably connected.

[0029] The body body is arranged between the first mounting plate and the second mounting plate.

[0030] The first propeller and the second propeller are arranged in the region between the first mounting plate and the second mounting plate, and are connected to the first mounting plate and / or the second mounting plate through the fixing member.

[0031] Preferably, the region of the first mounting plate and the second mounting plate towards which the water inlet and the water outlet of the second propeller are arranged is provided with an opening.

[0032] Preferably, the area of the opening is greater than or equal to the area of the water inlet or the water outlet towards the opening.

[0033] Further, the second mounting plate of the underwater robot is provided with a support at the bottom.

[0034] Preferably, the support comprises a first support plate and a second support plate.

[0035] The first support plate and the second support plate are symmetrically arranged at the bottom of the second mounting plate along the length direction of the underwater robot.

[0036] Preferably, a reinforcing member is connected between the first support plate and the second support plate.

[0037] Preferably, the first support plate and the second support plate are provided with a hollow structure.

[0038] Further, the underwater robot further comprises a buoyancy part.

[0039] The buoyancy part is detachably connected with the body.

[0040] Preferably, the buoyancy part is arranged on the top of the second mounting plate or the bottom of the first mounting plate.

[0041] Preferably, the buoyancy part has buoyancy or adjustable buoyancy, for example, the buoyancy part can be a balloon, a gas bag, a closed-cell foam, hollow glass beads, a composite material, a hollow aluminum alloy float or other materials with a density less than water.

[0042] Further, the mounting platform in the underwater robot of the present application further comprises a connecting piece arranged in the area between the first mounting plate and the second mounting plate, one end of the connecting piece being connected to the first mounting plate and the other end being connected to the second mounting plate.

[0043] Preferably, the connecting piece has multiple (i.e. at least two) and is arranged in the area between the edge of the first mounting plate and the edge of the second mounting plate.

[0044] Further, the body of the underwater robot of the present application is provided with a handle.

[0045] Preferably, the handle comprises a first handle and a second handle.

[0046] The first handle is arranged on the outer surface of the body or the first handle is arranged on the surface of the second mounting plate.

[0047] Preferably, the first handle is arranged on the side of the body close to the second mounting plate, and the second mounting plate is provided with an opening through which the first handle can pass.

[0048] Preferably, the second handle is arranged on the side of the connecting piece away from the body.

[0049] Further, the body of the underwater robot of the present application is provided with a cable interface, which connects the sealed space with the outside.

[0050] Further, the underwater robot of the present application further comprises a power mechanism arranged in the sealed space, the power mechanism being connected to the propulsion mechanism and providing power for the propulsion mechanism.

[0051] Preferably, the power mechanism is a power supply device, such as a storage battery (including dry batteries, secondary batteries, etc.).

[0052] Preferably, the storage battery is provided with a charging input port and a discharging output port, the charging input port being connected to a charging power source through the cable interface when charging is needed, and the discharging output port being connected to the propulsion mechanism.

[0053] Preferably, the power mechanism is a transformer and / or a voltage stabilizer, which is arranged in the closed space, and is connected to a high-voltage power supply through one end of the cable interface and connected to the propulsion mechanism through the other end to provide power for the propulsion mechanism.

[0054] Preferably, the processing mechanism is a control circuit board, which is arranged in the closed space, and is used to control the operation of the power mechanism and / or the propulsion mechanism.

[0055] Preferably, the data line and / or the electric wire are extended into the closed space through the cable interface, and the data line and / or the electric wire are sealed between the data line and / or the electric wire and the cable interface.

[0056] Preferably, the data line is connected to the control circuit board in the closed space.

[0057] Preferably, the electric wire is connected to the power mechanism in the closed space.

[0058] Preferably, the power mechanism is connected to the propulsion mechanism through the electric wire.

[0059] Preferably, the fuselage body is provided with a plurality of (i.e. at least two) cable interfaces, and the electric wire has a plurality of (i.e. at least two), and each of the first propeller and the second propeller is connected to the power mechanism through a separate electric wire.

[0060] Further, the underwater robot of the present application further comprises: a working mechanism arranged on the side of the fuselage, and the working mechanism is rotatably connected to the fuselage.

[0061] Preferably, the working mechanism is rotatably connected to the fuselage body.

[0062] Further, the working mechanism in the underwater robot of the present application comprises: a camera assembly and a grabbing assembly connected to the camera assembly.

[0063] The camera assembly is rotatably connected to the fuselage body.

[0064] The grabbing assembly is fixedly connected to the side of the camera assembly.

[0065] Further, the camera assembly in the underwater robot of the present application comprises: a camera compartment, an output shaft, and a steering engine.

[0066] The steering engine is arranged in the camera compartment.

[0067] The output shaft is perpendicularly and rotatably connected to the output end of the steering engine, and the output shaft penetrates the camera compartment at both ends and is fixedly connected to the fuselage.

[0068] Further, the grabbing assembly in the underwater robot of the present application comprises: an extension arm and a clamping claw.

[0069] One end of the extension arm is fixed to the lower surface of the camera compartment;

[0070] The clamping jaw is fixed to the end of the extension arm away from the camera compartment.

[0071] Further, the underwater robot further comprises a lamp assembly, which is arranged on the top surface of the body near the end of the camera assembly and can illuminate.

[0072] Preferably, the lamp assembly is arranged on the side surface of the second mounting plate away from the first mounting plate and / or on the side surface of the first mounting plate away from the second mounting plate.

[0073] Preferably, the lamp assembly has more than one.

[0074] Preferably, the lamp assembly is symmetrically arranged on the second mounting plate and / or the first mounting plate and / or arranged on the first mounting plate and the second mounting plate respectively.

[0075] In the above content of the application, the bottom refers to the surface of the first mounting plate away from the second mounting plate, and the top refers to the surface of the second mounting plate away from the first mounting plate.

[0076] The application further discloses a control method applied to an underwater robot, comprising the following steps:

[0077] Input operation data to the processing mechanism;

[0078] The processing mechanism sends the operation data to one or more propelling mechanisms;

[0079] The propelling mechanism receiving the operation data works according to the received operation data.

[0080] Further, in the control method of the underwater robot, the propelling mechanism comprises a first propeller and a second propeller.

[0081] The first propeller has at least two and is arranged in an array around the body, the first propeller is provided with a first water inlet and a first water outlet, the center of the first water inlet and the center of the first water outlet are located on the same straight line, and the plane where the first water inlet is located is perpendicular to the plane where the body is located.

[0082] The second propeller has at least two and is arranged between two first propellers, the second propeller is provided with a second water inlet and a second water outlet, the center of the second water inlet and the center of the second water outlet are located on the same straight line, and the plane where the second water inlet is located is parallel to the plane where the body is located.

[0083] The control method of the underwater robot further comprises the following steps:

[0084] The processing mechanism converts the operation data into first propeller data of the first propeller and second propeller data of the second propeller;

[0085] The first propeller operates according to the first propeller data;

[0086] The second propeller operates according to the second propeller data.

[0087] Preferably, in the control method of the underwater robot, when the underwater robot needs to ascend or descend, the second propeller is started to operate according to the second propeller data to push the underwater robot to the pushing position.

[0088] Specifically, when the underwater robot needs to descend, the second propeller is started to rotate forward, and the processing mechanism calculates the second propeller data according to the required descending height, and the second propeller rotates forward to push the underwater robot to the pushing position.

[0089] Specifically, when the underwater robot needs to ascend, the second propeller is started to rotate reversely, and the processing mechanism calculates the second propeller data according to the required ascending height, and the second propeller rotates reversely to push the underwater robot to the pushing position.

[0090] Further, in the underwater robot, the first propellers located on the same side of the body are symmetrically arranged along the length direction of the body.

[0091] Further, in the underwater robot, the first propellers located on the same side of the body are symmetrically arranged along the width direction of the body.

[0092] Further, in the underwater robot, the centers of the two first propellers located on the diagonal direction of the body are symmetrically arranged.

[0093] Preferably, in the control method of the underwater robot, when the underwater robot needs to move forward or backward, the first propeller is started to operate according to the first propeller data to push the underwater robot to the pushing position.

[0094] Specifically, when the underwater robot needs to move forward, the first propeller on the side of the body close to the working mechanism is started to rotate forward, and the first propeller on the side of the body far from the working mechanism is started to rotate reversely, the processing mechanism calculates the first propeller data according to the required moving distance, and the first propeller rotates forward and / or reversely to push the underwater robot to the pushing position.

[0095] Specifically, when the underwater robot needs to back up, the first propeller on the side of the body far from the working mechanism is started to rotate forward, the first propeller on the side close to the working mechanism is started to rotate reversely, the processing mechanism calculates the first propelling data according to the distance of the required back up, and the first propeller rotates forward and / or reversely to propel the underwater robot to the propelling position.

[0096] Preferably, in the control method of the underwater robot, when the underwater robot needs to turn, the processing mechanism sends the first propelling data to the first propeller according to the angle of the required turn, and the first propeller operates according to the first propelling data.

[0097] Specifically, when the underwater robot needs to turn left, the first propeller on the side of the body close to the working mechanism and located on the right side of the working mechanism is started to rotate forward, the first propeller on the side of the body close to the working mechanism and located on the left side of the working mechanism is started to rotate reversely, the first propeller on the side of the body far from the working mechanism and located on the left side of the working mechanism is started to rotate forward, and the first propeller on the side of the body far from the working mechanism and located on the right side of the working mechanism is started to rotate reversely, the processing mechanism calculates the first propelling data according to the angle of the required turn, and the first propeller rotates forward and / or reversely to propel the underwater robot to the propelling position.

[0098] Specifically, when the underwater robot needs to turn right, the first propeller on the side of the body close to the working mechanism and located on the left side of the working mechanism is started to rotate forward, the first propeller on the side of the body close to the working mechanism and located on the right side of the working mechanism is started to rotate reversely, the first propeller on the side of the body far from the working mechanism and located on the right side of the working mechanism is started to rotate forward, and the first propeller on the side of the body far from the working mechanism and located on the left side of the working mechanism is started to rotate reversely, the processing mechanism calculates the first propelling data according to the angle of the required turn, and the first propeller rotates forward and / or reversely to propel the underwater robot to the propelling position.

[0099] Further, in the control method of the underwater robot, the first propeller has four, which are arranged around the body;

[0100] The second propeller also has four, which are arranged between the first propellers along the length direction of the body;

[0101] The control method further comprises that the processing mechanism calculates the first propelling data according to the angle of the plurality of first propellers;

[0102] The processing mechanism calculates the second propelling data according to the angle of the plurality of second propellers.

[0103] Further, in the control method of the underwater robot, the included angle of the two first propellers located on the same side of the body along the length direction of the body is 100-140 degrees (preferably 110-130 degrees, such as 115 degrees, 120 degrees, 125 degrees), and the included angle of the two first propellers located on the same side of the body along the width direction of the body is 40-80 degrees (preferably 50-70 degrees, such as 55 degrees, 60 degrees, 65 degrees).

[0104] The control method further comprises that the processing mechanism calculates the first propelling data according to the angles of the plurality of first propellers.

[0105] The processing mechanism calculates the second propelling data according to the angles of the plurality of second propellers.

[0106] Further, in the control method of the underwater robot, the bottom of the second mounting plate is provided with a support.

[0107] The control method comprises that before the underwater robot is put into water, the underwater robot is docked on the ground through the support.

[0108] When the underwater robot shoots the water bottom, the underwater robot is docked on the water bottom through the support.

[0109] Preferably, the support comprises a first support plate and a second support plate.

[0110] The first support plate and the second support plate are symmetrically arranged on the bottom of the second mounting plate along the length direction of the underwater robot.

[0111] The underwater robot is docked on the ground or the water bottom through the first support plate and the second support plate.

[0112] Preferably, a reinforcing member is connected between the first support plate and the second support plate.

[0113] Preferably, the first support plate and the second support plate are provided with a hollow structure.

[0114] Further, in the control method of the underwater robot, the underwater robot further comprises a buoyancy part.

[0115] The buoyancy part is detachably connected with the body, and the buoyancy part can provide buoyancy.

[0116] The control method further comprises the following steps:

[0117] When the processing mechanism processes the operation data into the propelling data, the propelling data is calculated according to the buoyancy provided by the buoyancy part.

[0118] Preferably, the buoyancy part is arranged on the top of the second mounting plate or the bottom of the first mounting plate.

[0119] The control method further comprises the following steps:

[0120] When the processing mechanism calculates the propulsion data according to the buoyancy provided by the buoyancy part, the provided buoyancy is calculated according to the position of the buoyancy part.

[0121] Preferably, the buoyancy part has buoyancy or adjustable buoyancy, for example, the buoyancy part can be a balloon, an airbag, a closed-cell foam, hollow glass beads, a composite material, a hollow aluminum alloy float or other materials with a density less than water.

[0122] The control method further comprises the following steps:

[0123] When the processing mechanism calculates the propulsion data according to the buoyancy provided by the buoyancy part, the provided buoyancy is calculated according to the material and structure of the buoyancy part.

[0124] Further, in the control method of the underwater robot, a handle is arranged on the body.

[0125] The control method further comprises the following steps:

[0126] When the underwater robot is put into water or pulled out from water, the handle is gripped to lift the underwater robot.

[0127] Preferably, the handle comprises a first handle and a second handle.

[0128] The first handle is arranged on the outer surface of the body, or the first handle is arranged on the surface of the second mounting plate.

[0129] The control method further comprises the following steps:

[0130] When the underwater robot is lifted, the first handle and / or the second handle is gripped.

[0131] Further, in the control method of the underwater robot, a cable interface is arranged on the body, the cable interface connects the sealed space with the outside, and the cable interface is connected with a cable for transmitting power and / or signals.

[0132] The control method further comprises the following steps:

[0133] Before the underwater robot is put into water, the cable is connected with the cable interface.

[0134] Preferably, the data line and / or the electric lead are extended into the sealed space through the cable interface, and the data line and / or the electric lead are sealed between the cable interface.

[0135] The control method further comprises the following steps:

[0136] The data line and / or the electric line are connected with the cable interface before the underwater robot is put into water.

[0137] Further, in the control method of the underwater robot, the underwater robot further comprises a power mechanism arranged in the sealed space, the power mechanism being connected with the propulsion mechanism and providing power for the propulsion mechanism.

[0138] The control method further comprises the following steps:

[0139] The power mechanism is started when the operation data is inputted.

[0140] Preferably, the power mechanism is a power supply device, such as a storage battery (including dry battery, secondary battery, etc.).

[0141] Preferably, the storage battery is provided with a charging input port and a discharging output port, the charging input port being connected with a charging power source through a cable interface when charging is needed, and the discharging output port being connected with the propulsion mechanism.

[0142] Preferably, the power mechanism is a transformer and / or a voltage stabilizer, which is arranged in the sealed space, one end of which is connected with a high-voltage power source through a cable interface, and the other end of which is connected with the propulsion mechanism to provide power for the propulsion mechanism.

[0143] The control method further comprises the following steps:

[0144] The transformer and / or the voltage stabilizer is started when the operation data is inputted, and the current inputted by the high-voltage power source is converted into a current suitable for the propulsion mechanism.

[0145] Preferably, the processing mechanism is a control circuit board, which is arranged in the sealed space.

[0146] The control method further comprises the following steps:

[0147] The control circuit board controls the working of the power mechanism and / or the propulsion mechanism.

[0148] Preferably, the data line is connected with the control circuit board in the sealed space.

[0149] The control method further comprises the following steps:

[0150] The data line transmits the operation data when the operation data is inputted.

[0151] Preferably, the electric line is connected with the power mechanism in the sealed space.

[0152] The control method further comprises the following steps:

[0153] The electric wire transmits power to the power mechanism and the propulsion mechanism when the operation data is inputted.

[0154] Preferably, the power mechanism is connected to the propulsion mechanism through the electric wire.

[0155] The control method further comprises the following steps:

[0156] The electric wire transmits power to the power mechanism and the propulsion mechanism when the operation data is inputted.

[0157] Preferably, the body is provided with a plurality of (i.e. at least two) cable interfaces, and the electric wire is also a plurality of (i.e. at least two), each of the first and second propellers is connected to the power mechanism through a single electric wire.

[0158] The control method further comprises the following steps:

[0159] Each of the electric wires transmits power to different power mechanisms and propulsion mechanisms when the operation data is inputted.

[0160] Further, the control method of the underwater robot further comprises: a working mechanism arranged on the side of the body, and the working mechanism is rotatably connected to the body.

[0161] The control method further comprises the following steps: the working mechanism acquires detection data, and the working mechanism sends the detection data to the processing mechanism.

[0162] The processing mechanism processes the detection data into operation data, and sends the operation data to the propulsion mechanism and the working mechanism.

[0163] The propulsion mechanism and the working mechanism operate according to the operation data.

[0164] Preferably, the working mechanism is rotatably connected to the body.

[0165] The operation data in the control method comprises rotation data of the working mechanism.

[0166] Preferably, in the control method of the underwater robot, when the underwater robot needs to hover, the detection data comprises water flow data, the processing mechanism converts the water flow data into the first propulsion data, sends the first propulsion data to the first propeller, and the first propeller operates according to the first propulsion data to realize hovering.

[0167] Further, the underwater robot control method comprises the operation mechanism, wherein the operation mechanism comprises a camera assembly and a grabbing assembly connected with the camera assembly.

[0168] The camera assembly is rotatably connected with the body.

[0169] The grabbing assembly is fixedly connected with the side surface of the camera assembly.

[0170] The underwater robot control method further comprises the following steps.

[0171] The camera assembly acquires detection data and transmits the detection data to the processing mechanism.

[0172] The processing mechanism converts the detection data into operation data and transmits the operation data to the grabbing assembly and the propelling mechanism.

[0173] The grabbing assembly and the propelling mechanism operate according to the operation data.

[0174] Preferably, the operation data further comprises grabbing data, and the grabbing assembly operates according to the grabbing data.

[0175] Preferably, the operation data further comprises rotating data, and the camera assembly rotates the shooting angle according to the rotating data.

[0176] Preferably, the grabbing assembly rotates the grabbing angle according to the rotating data.

[0177] Further, the underwater robot control method comprises that the camera assembly further acquires current position data.

[0178] The underwater robot control method further comprises the following steps.

[0179] The camera assembly acquires current position data and image data of a target position and transmits the current position data and the image data to the processing mechanism.

[0180] The processing mechanism calculates target position data according to the image data, calculates distance data from the target position according to the target position data and the current position data, converts the distance data into the operation data, and transmits the operation data to the propelling mechanism and the grabbing assembly.

[0181] The grabbing assembly and the propelling mechanism operate according to the operation data.

[0182] Further, the underwater robot control method comprises that the grabbing assembly comprises an extension arm and a clamping claw.

[0183] One end of the extension arm is fixed to the lower surface of the camera assembly;

[0184] The clamping claw is fixed to the end of the extension arm away from the camera assembly;

[0185] The control method of the underwater robot further comprises the following steps:

[0186] The processing mechanism converts the grabbing data into extension data of the extension arm and clamping data of the clamping claw;

[0187] The extension arm operates according to the extension data;

[0188] The clamping claw operates according to the clamping data.

[0189] Further, in the control method of the underwater robot, the working mechanism further comprises a lamp assembly; the lamp assembly is arranged on the end of the top surface of the body close to the camera assembly, and the lamp assembly can illuminate;

[0190] The control method of the underwater robot further comprises the following steps:

[0191] Before the working mechanism acquires the detection data, the processing mechanism controls the lamp assembly to illuminate the working position of the working mechanism.

[0192] Preferably, the lamp assembly is arranged on the side surface of the second mounting plate away from the first mounting plate, and / or arranged on the side surface of the first mounting plate away from the second mounting plate;

[0193] Preferably, the lamp assembly has more than one;

[0194] The control method further comprises the following steps:

[0195] The processing mechanism controls the lamp assembly to illuminate in the same and / or different directions.

[0196] Preferably, the lamp assembly is symmetrically arranged on the second mounting plate, and / or the first mounting plate, and / or respectively arranged on the first mounting plate and the second mounting plate;

[0197] The control method further comprises the following steps:

[0198] The processing mechanism controls the lamp assembly to illuminate in the same and / or different directions according to the position of the lamp assembly.

[0199] Compared with the prior art, the present application has the following obvious and substantial features and advantages:

[0200] The underwater robot of the technical solution is characterized in that the fuselage, the propulsion mechanism and the operation mechanism are integrated, and the multi-point vector thrust layout is adopted, so that the underwater robot can realize high mobility, low energy consumption, fast response and visualized accurate operation in a complex environment, the camera assembly and the grabbing mechanism are integrally connected with the fuselage through the steering engine and the output shaft to form a rotatable pair, the camera assembly and the grabbing mechanism can independently complete pitching or yawing while the fuselage keeps the hovering posture unchanged, water flow disturbance and position drift caused by rotation of the whole machine are avoided, and the underwater robot is particularly suitable for narrow net cages, pipeline supports and other limited spaces. BRIEF DESCRIPTION OF DRAWINGS

[0201] The accompanying drawings, which form a part of the present application, are used to provide further understanding of the present application, and serve as an explanation of the illustrative embodiments of the present application, and do not constitute improper limitations to the present application. In the drawings:

[0202] Figure 1 is a perspective view of the underwater robot of the present application.

[0203] Figure 2 is an exploded view of the underwater robot of the present application.

[0204] Figure 3 is a right view of the underwater robot of the present application.

[0205] Figure 4 is a top view of the underwater robot of the present application.

[0206] Figure 5 is a rear view of the underwater robot of the present application.

[0207] Figure 6 is a side sectional view of the underwater robot of the present application.

[0208] Figure 7 is a bottom sectional view of the underwater robot of the present application.

[0209] In the drawings: 1, fuselage, 10, fuselage body, 11, first mounting plate, 12, second mounting plate, 13, buoyancy part, 2, propulsion mechanism, 21, first propeller, 22, second propeller, 3, operation mechanism, 31, camera assembly, 311, camera compartment, 312, output shaft, 313, steering engine, 32, grabbing assembly, 321, extension arm, 322, clamping claw, 33, lamp assembly, 34, cable interface, 35, first handle, 36, second handle, 4, power mechanism. DETAILED DESCRIPTION

[0210] The present application provides an underwater robot, in order to make the purpose, technical scheme and effect of the present application more clear and definite, the present application will be further described in detail below with reference to the drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present application, and do not limit the present application.

[0211] It should be noted that the terms "first", "second" and the like in the description and in the claims of the present application and in the above drawings, are used only for distinguishing between similar objects and do not necessarily have to describe a specific order or sequence, it being understood that the data so designated can be interchanged in proper circumstances. Moreover, the terms "comprising", "having", "including", and "containing" and any variations thereof are intended to cover a non-exclusive inclusion, such that processes, methods, systems, products, or devices that comprise, have, include or contain a list of steps or elements, but do not necessarily comprise, have, include, or contain only those steps or elements, but can include additional steps or elements not expressly listed or inherent to such processes, methods, products, or devices.

[0212] As shown in Figure 1 The present application provides an underwater robot, comprising: a body 1, a propulsion mechanism 2 and a processing mechanism. The body 1 forms a sealed space inside, and the processing mechanism is completely encapsulated in the space; the propulsion mechanism 2 is arranged on the side of the body 1 to provide propulsion for the body 1; only a cable is needed to drive the propeller, reducing the number of dynamic seals in the structure and expanding the pressure depth.

[0213] In combination with Figure 1 and Figure 2 Further, in a preferred embodiment of the underwater robot of the present application, the propulsion mechanism 2 comprises: a first propeller 21 and a second propeller 22; the first propeller 21 is at least two, arranged in an array around the body 1, and the first propeller 21 is provided with a first water inlet and a first water outlet, the center of the first water inlet and the center of the first water outlet are located on the same straight line, and the plane where the first water inlet is located is perpendicular to the plane where the body 1 is located, forming a horizontal jet thrust surface, which is responsible for forward, backward and turning in place, and can be orthogonal with the vertical jet to realize the control of translation and rotation in any direction. The second propeller 22 is at least two, arranged between the two first propellers 21, and the second propeller 22 is provided with a second water inlet and a second water outlet, the center of the second water inlet and the center of the second water outlet are located on the same straight line, and the plane where the second water inlet is located is parallel to the plane where the body 1 is located, forming a vertical jet thrust surface, which can directly generate heave (up or down) and roll torque, without the need for the whole machine to pitch to quickly adjust the depth; the array distribution makes the thrust center and the gravity center of the body 1 at the same height, the roll torque arm is the shortest, the roll angular velocity is improved, the energy consumption is reduced, when the mechanical arm is expanded to cause the lateral gravity center to deviate, the horizontal jet can instantaneously generate a reverse side thrust, the gravity center is compensated within 1s, and the whole machine does not need to yaw.

[0214] Further, the connecting line of the water inlet and the water outlet of each first propeller 21 is located in the same plane.

[0215] Further, the water inlets of the respective second thrusters 22 are located in the same plane, and / or the water outlets of the respective first thrusters 21 are located in the same plane, and / or the intermediate cross-sections of the respective first thrusters 21 parallel to the water inlets or outlets are located in the same plane.

[0216] Further, in a preferred embodiment of the underwater robot of the present invention, there are four first thrusters 21, which are arranged in a "pin" array around the fuselage 1, and the jet axes are parallel to the plane of the fuselage 1, responsible for providing forward, backward and lateral movement torques; there are also four second thrusters 22, which are symmetrically arranged on both sides of the center line of the fuselage 1 along the length direction and are arranged between the first thrusters 21, and their jet axes are perpendicular to the plane of the fuselage 1, responsible for providing heave and roll torques.

[0217] Further, along the length direction of the fuselage of the underwater robot of the present invention, the first thrusters on the same side of the fuselage are symmetrically arranged.

[0218] Further, along the width direction of the fuselage of the underwater robot of the present invention, the first thrusters on the same side of the fuselage are symmetrically arranged.

[0219] Further, the centers of the two first thrusters located in the diagonal direction of the fuselage of the underwater robot of the present invention are centrosymmetric.

[0220] As Figure 3 shown, further, in a preferred embodiment of the underwater robot of the present invention, in the length direction (longitudinal direction) of the fuselage 1, two first thrusters 21 on the same side are symmetrically arranged based on the width direction (lateral direction) of the fuselage 1, and the included angle between their axes is 100 degrees - 140 degrees (preferably 110 - 130 degrees, such as 115 degrees, 120 degrees, 125 degrees); the preferred longitudinal included angle enables the fuselage 1 to quickly move laterally, for lateral translation or in-place side-sliding.

[0221] Preferably, in a preferred embodiment of the underwater robot of the present invention, in the width direction (lateral direction) of the fuselage 1, two first thrusters 21 on the same side are symmetrically arranged based on the length direction (longitudinal direction) of the fuselage 1, and the included angle between their axes is 40 degrees - 80 degrees (preferably 50 degrees - 70 degrees, such as 55 degrees, 60 degrees, 65 degrees). After the two thrust vectors are inclined outward and synthesized, a larger lateral (sideways) thrust is formed, for lateral translation or in-place side-sliding; the preferred lateral included angle enables the fuselage 1 to quickly move forward and backward, forming a four-thrust cone surface with "outer V" and "inner V" composite included angles on the same side wall. The thrust components in the longitudinal, lateral and vertical directions all have redundancy, and the robot can still be controllable even if any single thruster fails; the control algorithm only needs to perform matrix inversion once to allocate thrust in real time, and the system response is faster.

[0222] Furthermore, the underwater robot of the present invention includes: a body 10 and a mounting platform; the body 10 has a sealed space inside; the mounting platform is located on the outside of the body 10, and the propulsion mechanism 2 is located on the mounting platform and / or the body 10.

[0223] Preferably, in a preferred embodiment of the underwater robot of the present invention, the first thruster 21 and the second thruster 22 share a common mounting platform, forming an orthogonal vector thrust network. If any single thruster fails, the remaining seven thrusters can still maintain directional control through real-time thrust redistribution; the two thrusters at the front and rear generate thrust in the same or opposite directions, achieving stepless speed change for forward and backward movement; during reverse differential movement, a turnaround can be completed on the spot with a turning radius of 0. When the gripping mechanism extends, causing the longitudinal center of gravity to shift forward, the two second thrusters 22 at the rear increase thrust, thus restoring the horizontal attitude without the need for additional roll adjustment.

[0224] Furthermore, in a preferred embodiment of the underwater robot of the present invention, the mounting platform includes a first mounting plate 11 and a second mounting plate 12, the first mounting plate 11 and the second mounting plate 12 being arranged in parallel and detachably connected; the body 10 is disposed between the first mounting plate 11 and the second mounting plate 12; the first thruster 21 and the second thruster 22 are disposed in the area between the first mounting plate 11 and the second mounting plate 12, and are connected to the first mounting plate 11 and / or the second mounting plate 12 by fasteners.

[0225] Furthermore, in a preferred embodiment of the underwater robot of the present invention, the first thruster 21 and the second thruster 22 are all embedded in the side wall of the fuselage 1, with no protrusions on the outer contour, reducing the number of external supports, reducing the surface area, and reducing cruising resistance; they share a common power bus, reducing dynamic sealing points and improving the pressure resistance level.

[0226] Preferably, the areas on the first mounting plate 11 and the second mounting plate 12 facing the water inlet and outlet of the second propeller 22 are provided with openings.

[0227] Preferably, the area of ​​the opening is greater than or equal to the area of ​​the inlet or outlet facing the opening.

[0228] like Figure 4 As shown, further, the second mounting plate 12 in the underwater robot of the present invention is provided with a support at the bottom.

[0229] Preferably, the support includes a first support plate and a second support plate;

[0230] The first support plate and the second support plate are symmetrically arranged at the bottom of the second mounting plate 12 along the length direction of the underwater robot.

[0231] Preferably, a reinforcing member is connected between the first support plate and the second support plate.

[0232] Preferably, the first support plate and the second support plate are provided with a hollow structure.

[0233] Further, the underwater robot of the present application further comprises a buoyancy part 13.

[0234] The buoyancy part 13 is detachably connected with the body 1.

[0235] Preferably, the buoyancy part 13 is arranged on the top of the second mounting plate 12 or the bottom of the first mounting plate 11.

[0236] Preferably, the buoyancy part 13 has buoyancy or adjustable buoyancy, for example, the buoyancy part 13 can be a balloon, an air bag, a closed-cell foam, a hollow glass microsphere composite material, a hollow aluminum alloy float or other materials with a density less than water.

[0237] The buoyancy part 13 is fixed on the top of the second mounting plate 12 by bolts or dovetail grooves, and is located above the center of gravity of the robot as a whole. The buoyancy part 13 generates continuous upward buoyancy on the top, and forms a height difference with the center of gravity of the first mounting plate 11 below and the internal equipment, thereby generating a righting lever arm. Even if the mechanical arm is stretched to cause lateral eccentricity, the robot can restore the horizontal posture without the need for additional thrusters to compensate.

[0238] Preferably, in a preferred embodiment of the underwater robot of the present application, the buoyancy part 13 has three specifications of thicknesses of 30mm, 50mm and 80mm, and can be replaced within 2 minutes on site; in the scenario of seawater / freshwater density difference, the neutral buoyancy can be maintained by replacing the buoyancy part 13, without the need for reweighting, thereby shortening the task preparation time.

[0239] Further, in a preferred embodiment of the underwater robot of the present application, the buoyancy part 13 is conformally attached to the top of the second mounting plate 12, without increasing the additional wing span; compared with the side-hung float scheme, the wet surface area is reduced, and the cruising resistance is reduced; at the same time, the buoyancy part 13 is located at the highest point, and contacts the obstacles first when operating near the seabed or the bottom of the net cage, thereby playing a role of "anti-collision cap" to protect the lower precision equipment.

[0240] Preferably, in a preferred embodiment of the underwater robot of the present application, the buoyancy part 13 is detachably connected with the second mounting plate 12, and the main cabin seal will not be damaged when the buoyancy part 13 is detached, so that the buoyancy material can be replaced or maintained on site without opening the pressure cabin, thereby ensuring that the internal electronic equipment is always in a dry environment, and the maintenance risk is reduced to zero.

[0241] Further, the mounting platform in the underwater robot further comprises a connecting piece, which is arranged in the region between the first mounting plate 11 and the second mounting plate 12, one end of the connecting piece is connected with the first mounting plate 11, and the other end is connected with the second mounting plate 12.

[0242] Preferably, the connecting piece is multiple (i.e. at least two), which is arranged in the region between the edge of the first mounting plate 11 and the edge of the second mounting plate 12.

[0243] Further, the underwater robot further comprises a handle arranged on the body 10.

[0244] Preferably, the handle comprises a first handle 35 and a second handle 36.

[0245] The first handle 35 is arranged on the outer surface of the body 10, or the first handle 35 is arranged on the surface of the second mounting plate 12.

[0246] Preferably, the first handle 35 is arranged on the side of the body 10 close to the second mounting plate 12, and the second mounting plate 12 is provided with an opening through which the first handle 35 penetrates.

[0247] Preferably, the second handle 36 is arranged on the side of the connecting piece away from the body 10.

[0248] Further, the underwater robot further comprises a cable interface 34 arranged on the body 10, which connects the sealed space with the outside.

[0249] Further, the underwater robot further comprises a power mechanism 4 arranged in the sealed space, which is connected with the propulsion mechanism 2 and provides power for the propulsion mechanism 2.

[0250] In combination with Figure 6 and Figure 7 It is shown that the underwater robot further comprises a working mechanism 3, which is also arranged on the side of the body 10 and is rotatably connected with the body 10.

[0251] Preferably, in a preferred embodiment of the underwater robot, the propulsion mechanism 2 and the working mechanism 3 are powered by the power mechanism 4 arranged in the sealed space of the body 10, the propulsion mechanism 2 and the working mechanism 3 can be controlled synchronously, when the working mechanism 3 is working, the propulsion mechanism 2 adjusts the direction of thrust in real time, a single power source is centrally managed, a set of independent propulsion motors is reduced, the system weight is reduced, and the cruising time is prolonged.

[0252] Preferably, the power mechanism 4 is a power supply device, such as a battery (including dry batteries, secondary batteries, etc.).

[0253] Preferably, the battery is provided with a charging input port and a discharging output port, the charging input port is connected with a charging power source through the cable interface 34 when charging is needed, and the discharging output port is connected with the propulsion mechanism 2.

[0254] Preferably, the power mechanism 4 is a transformer and / or a voltage stabilizer, which is arranged in the closed space, one end of which is connected with a high-voltage power source through the cable interface 34, and the other end of which is connected with the propulsion mechanism 2 to provide power for the propulsion mechanism 2.

[0255] Preferably, the processing mechanism is a control circuit board, which is arranged in the closed space and used to control the operation of the power mechanism 4 and / or the propulsion mechanism 2.

[0256] Preferably, the data line and / or the electric wire are extended into the closed space through the cable interface 34, and the data line and / or the electric wire are sealed between the data line and / or the electric wire and the cable interface 34.

[0257] Preferably, the data line is connected with the control circuit board in the closed space.

[0258] Preferably, the electric wire is connected with the power mechanism 4 in the closed space.

[0259] Preferably, the power mechanism 4 is connected with the propulsion mechanism 2 through the electric wire.

[0260] Preferably, the fuselage body 10 is provided with a plurality (i.e., at least two) of the cable interfaces 34, and the electric wire has a plurality (i.e., at least two), each of the first propeller 21 and the second propeller 22 is connected with the power mechanism 4 through the electric wire.

[0261] Preferably, in a preferred embodiment of the underwater robot, the working mechanism 3 comprises a camera assembly 31 and a grabbing assembly 32 connected with the camera assembly 31, the camera assembly 31 is rotatably connected with the fuselage body 10, and the grabbing assembly 32 is fixedly connected to the side of the camera assembly 31. The fuselage body 10 remains stationary, and the camera and the grabbing assembly 32 can be rotated, so that the working angle conversion can be realized without rotating the whole machine, and the flow disturbance is reduced. The included angle between the grabbing assembly 32 and the fuselage body 10 is real-time adjustable, the force arm can be shortened by reverse rotation after grabbing the load, the gravity center offset amount is controlled, and the propeller compensation power consumption is reduced. The camera optical axis always coincides with the center line of the grabbing assembly 32, the visual closed loop of "what you see is what you get" is realized, and the grabbing success rate is improved. The camera and the grabbing assembly 32 constitute a "whole rotating unit" to swing synchronously, the working direction can be changed without any attitude adjustment of the fuselage body 10, and the attitude adjustment time and energy consumption are saved.

[0262] Further, in another preferred embodiment of the underwater robot of the present application, the camera assembly 31 comprises a camera bin 311, an output shaft 312 and a steering engine 313. The steering engine 313 is arranged inside the camera bin 311, and the output end of the steering engine 313 is vertically connected to and can drive the output shaft 312 to rotate; the output shaft 312 penetrates the wall of the camera bin 311 at both ends and is directly fixed to the body 10, so that the steering engine 313 drives the entire camera bin 311 to rotate relative to the body 10 through the output shaft 312, and the connection between the two ends of the output shaft 312 and the wall of the camera bin 311 is sealed, so that the entire operating mechanism 3 only needs one output shaft 312 to realize power transmission, thereby reducing the leakage probability; at the same time, the grabbing assembly 32 is modularly installed and can be replaced as a whole within 3 minutes underwater, thereby improving the maintenance efficiency.

[0263] Preferably, in another preferred embodiment of the underwater robot of the present application, the rotation axis of the camera assembly 31 is perpendicular to the longitudinal axis of the body 10, and the rotation angle can reach ±90° to ±180°. In a narrow space, the robot can keep the body 10 horizontally hovering, and only through the rotation of the camera assembly 31 can the grabbing assembly 32 complete the lowering and recovery action in the vertical plane, thereby avoiding the collision risk caused by the pitching of the entire robot.

[0264] Further, in another preferred embodiment of the underwater robot of the present application, double-end support is adopted between the camera bin 311 and the output shaft 312: the output shaft 312 penetrates the two side walls of the bin body, so that the double-end support reduces the radial runout of the camera bin 311 when rotating, ensures the stability of the camera picture without shaking, and improves the image recognition accuracy; the load torque is borne by the two side bearings, and the stress on the output shaft 312 is reduced by half.

[0265] Preferably, in a preferred embodiment of the underwater robot of the present application, a cable hole is formed in the side of the camera bin 311 close to the body 10, and the cable hole is sealed by a threading nut, so that the steering engine 313 is in a dry cabin environment, thereby avoiding deep water high pressure and seawater corrosion and prolonging the service life; the entire camera assembly 31 (including the steering engine 313) can realize rotation relative to the body 10 through a single shaft, thereby reducing the leakage probability and expanding the pressure resistance depth.

[0266] Further, in another preferred embodiment of the underwater robot of the present application, the grabbing assembly 32 is fixed to the bottom surface of the camera assembly 31, and the relative position between the two is constant, and the end of the grabbing assembly 32 away from the camera assembly 31 is always located on the center line of the camera field of view. The image acquisition optical axis is zero-parallax with the grabbing center of the grabbing assembly 32, so that the operator can realize accurate grabbing without additional coordinate conversion, thereby reducing the positioning error and improving the grabbing success rate.

[0267] Preferably, in a preferred embodiment of the underwater robot of the present application, the grabbing assembly 32 comprises: an extension arm 321 and a mechanical claw 322; one end of the extension arm 321 is fixedly connected to the lower surface of the camera compartment 311, and the other end of the extension arm 321 is fixedly connected to the mechanical claw 322; the three form a fixed series chain of the camera compartment 311, the extension arm 321 and the mechanical claw 322. When the camera compartment 311 rotates, the extension arm 321 and the mechanical claw 322 swing synchronously, without lag or jitter caused by flexible hinge.

[0268] Further, in a preferred embodiment of the underwater robot of the present application, the length of the extension arm 321 can be changed according to the task, and the shorter the force arm, the smaller the overturning moment generated when the load is grabbed.

[0269] Preferably, in a preferred embodiment of the underwater robot of the present application, the fixing between the camera compartment 311, the extension arm 321 and the mechanical claw 322 adopts bolt connection, which can be disassembled as a whole within 1 minute underwater.

[0270] Further, in a preferred embodiment of the underwater robot of the present application, the mechanical claw 322 can be quickly replaced with end tools such as shears and suction cups, without the need to recover the whole machine, thereby realizing multifunctional operation.

[0271] Preferably, in another preferred embodiment of the underwater robot of the present application, a through wire slot is reserved inside the extension arm 321, and the control cable reaches the mechanical claw 322 along the arm cavity, without external wire harness. This avoids the risk of wire harness being impacted and worn by seawater, and makes the appearance neat, reduces water resistance, and improves the cruising speed of the whole machine.

[0272] Preferably, in a preferred embodiment of the underwater robot of the present application, the working mechanism 3 further comprises: a lamp assembly 33; the lamp assembly 33 is arranged on the top surface of the second mounting plate 12 near the end of the camera assembly 31, and the lamp assembly 33 can illuminate.

[0273] Further, in a preferred embodiment of the underwater robot of the present application, the lamp assembly 33 comprises a pressure-resistant lamp shell and a transparent cover, which are arranged on the top surface of the second mounting plate 12 at the most front end, on the same side as the camera assembly 31 and in the same direction as the optical axis; the rear end of the lamp shell passes through a small hole in the top of the machine body 10 through an electric lead, and is connected with the power supply and the light adjusting module in the sealed space, thereby forming a modular lighting unit which is independent and can be replaced.

[0274] Preferably, in a preferred embodiment of the underwater robot of the present application, the optical axis of the lamp assembly 33 is parallel to the optical axis of the camera, and the shadow falls on the back of the camera when the light is irradiated underwater, without blocking the picture.

[0275] Further, in a preferred embodiment of the underwater robot of the present application, the lamp assembly 33 is located above the camera and emits obliquely downward, thereby avoiding direct reflection of the light beam back to the lens and eliminating image glare.

[0276] Preferably, in a preferred embodiment of the underwater robot of the present application, the lamp assembly 33 adopts a buckle interface, and can be replaced underwater. There is only one static seal between the lamp shell and the top of the second mounting plate 12, so that the closed space is not damaged when disassembled, realizing "live quick replacement" and zero water leakage risk.

[0277] Further, in a preferred embodiment of the underwater robot of the present application, two groups of lamp assemblies 33 are symmetrically arranged on the top surface of the second mounting plate 12, forming a 120° wide-angle fan-shaped light field. In turbid water, bilateral cross light compensation reduces suspended particle shadows and improves image contrast.

[0278] The present application also discloses a control method applied to an underwater robot, comprising the following steps:

[0279] Input operation data to the processing mechanism, the operation data representing target position, attitude correction amount and operation action instruction;

[0280] The processing mechanism sends the operation data to one or more propelling mechanisms 2;

[0281] The propelling mechanism 2 adjusts the thrust vector, attitude angle and navigation trajectory according to the received operation data, realizing overall motion control of the underwater robot.

[0282] Further, in the control method of the underwater robot of the present application, the propelling mechanism 2 comprises a first propeller 21 and a second propeller 22;

[0283] The first propeller 21 is arranged in an array around the fuselage 1, and is provided with a first water inlet and a first water outlet. The center of the first water inlet and the center of the first water outlet are located on the same straight line, and the plane on which the first water inlet is located is perpendicular to the plane on which the fuselage 1 is located;

[0284] The second propeller 22 is arranged between two first propellers 21, and is provided with a second water inlet and a second water outlet. The center of the second water inlet and the center of the second water outlet are located on the same straight line, and the plane on which the second water inlet is located is parallel to the plane on which the fuselage 1 is located;

[0285] The control method of the underwater robot further comprises the following steps:

[0286] The processing mechanism converts the operation data into first propelling data of the first propeller 21 and second propelling data of the second propeller 22;

[0287] The first propeller 21 operates according to the first propelling data;

[0288] The second propeller 22 is operated according to the second propelling data.

[0289] Preferably, in the control method of the underwater robot, when the underwater robot needs to ascend or descend, the second propeller 22 is started to operate according to the second propelling data to the propelling position.

[0290] Specifically, when the underwater robot needs to descend, the second propeller is started to rotate forward, and the processing mechanism calculates the second propelling data according to the required descending height, and the second propeller rotating forward propels the underwater robot to the propelling position.

[0291] Specifically, when the underwater robot needs to ascend, the second propeller is started to rotate backward, and the processing mechanism calculates the second propelling data according to the required ascending height, and the second propeller rotating backward propels the underwater robot to the propelling position.

[0292] Further, in the underwater robot, the first propellers located on the same side of the body are symmetrically arranged along the length direction of the body.

[0293] Further, in the underwater robot, the first propellers located on the same side of the body are symmetrically arranged along the width direction of the body.

[0294] Further, in the underwater robot, the centers of the two first propellers located in the diagonal direction of the body are symmetrically arranged.

[0295] Preferably, in the control method of the underwater robot, when the underwater robot needs to move forward or backward, the first propeller 21 is started to operate according to the first propelling data to the propelling position.

[0296] Specifically, when the underwater robot needs to move forward, the first propeller on the side of the body close to the working mechanism is started to rotate forward, and the first propeller on the side of the body away from the working mechanism is started to rotate backward, the processing mechanism calculates the first propelling data according to the required moving distance, and the first propeller rotating forward and / or backward propels the underwater robot to the propelling position.

[0297] Specifically, when the underwater robot needs to move backward, the first propeller on the side of the body away from the working mechanism is started to rotate forward, and the first propeller on the side of the body close to the working mechanism is started to rotate backward, the processing mechanism calculates the first propelling data according to the required moving distance, and the first propeller rotating forward and / or backward propels the underwater robot to the propelling position.

[0298] Preferably, in the control method of the underwater robot, when the underwater robot needs to turn, the processing mechanism sends the first propelling data to the first propeller 21 according to the angle of the required turn, and the first propeller 21 operates according to the first propelling data.

[0299] Specifically, when the underwater robot needs to turn left, the first propeller on the right side of the working mechanism on the side of the body close to the working mechanism is started to rotate forward, the first propeller on the left side of the working mechanism on the side of the body close to the working mechanism is started to rotate reversely, the first propeller on the left side of the working mechanism on the side of the body away from the working mechanism is started to rotate forward, and the first propeller on the right side of the working mechanism on the side of the body away from the working mechanism is started to rotate reversely. The processing mechanism calculates the first propelling data according to the angle of the required turn, and the first propeller rotates forward and / or reversely to propel the underwater robot to the propelling position.

[0300] Specifically, when the underwater robot needs to turn right, the first propeller on the left side of the working mechanism on the side of the body close to the working mechanism is started to rotate forward, the first propeller on the right side of the working mechanism on the side of the body close to the working mechanism is started to rotate reversely, the first propeller on the right side of the working mechanism on the side of the body away from the working mechanism is started to rotate forward, and the first propeller on the left side of the working mechanism on the side of the body away from the working mechanism is started to rotate reversely. The processing mechanism calculates the first propelling data according to the angle of the required turn, and the first propeller rotates forward and / or reversely to propel the underwater robot to the propelling position.

[0301] Further, in the control method of the underwater robot, the first propeller 21 has four, which are arranged around the body 1;

[0302] The second propeller 22 also has four, which are arranged between the first propeller 21 along the length direction of the body 1;

[0303] The control method further comprises that the processing mechanism calculates the first propelling data according to the angle of the plurality of first propellers 21;

[0304] The processing mechanism calculates the second propelling data according to the angle of the plurality of second propellers 22.

[0305] Further, in the control method of the underwater robot, the included angle of two first propellers 21 on the same side of the body 1 along the length direction of the body 1 is 100-140 degrees (preferably 110-130 degrees, such as 115 degrees, 120 degrees, 125 degrees), and the included angle of two first propellers 21 on the same side of the body 1 along the width direction of the body 1 is 40-80 degrees (preferably 50-70 degrees, such as 55 degrees, 60 degrees, 65 degrees).

[0306] The control method further comprises: the processing mechanism calculates the first propulsion data according to the angles of the plurality of first propellers 21.

[0307] The processing mechanism calculates the second propulsion data according to the angles of the plurality of second propellers 22.

[0308] Further, in the control method of the underwater robot, the second mounting plate 12 is provided with a support at the bottom thereof.

[0309] The control method comprises: before the underwater robot is put into water, the underwater robot is stopped on the ground by the support.

[0310] When the underwater robot shoots the water bottom, the underwater robot is stopped on the water bottom by the support.

[0311] Preferably, the support comprises a first support plate and a second support plate.

[0312] The first support plate and the second support plate are symmetrically arranged on the bottom of the second mounting plate 12 along the length direction of the underwater robot.

[0313] The underwater robot is stopped on the ground or the water bottom by the first support plate and the second support plate.

[0314] Preferably, a reinforcing member is connected between the first support plate and the second support plate.

[0315] Preferably, the first support plate and the second support plate are provided with a hollow structure.

[0316] Further, in the control method of the underwater robot, the underwater robot further comprises a buoyancy part 13.

[0317] The buoyancy part 13 is detachably connected with the body 1, and the buoyancy part 13 can provide buoyancy.

[0318] The control method further comprises the following steps:

[0319] When the processing mechanism processes the operation data into the propulsion data, the buoyancy provided by the buoyancy part 13 is calculated.

[0320] Preferably, the buoyancy part 13 is arranged on the top of the second mounting plate 12 or the bottom of the first mounting plate 11.

[0321] The control method further comprises the following steps:

[0322] When the processing mechanism calculates the propulsion data according to the buoyancy provided by the buoyancy part 13, the buoyancy provided by the buoyancy part 13 is calculated according to the position of the buoyancy part 13.

[0323] Preferably, the buoyancy part 13 has buoyancy or adjustable buoyancy, for example, the buoyancy part 13 can be a balloon, a gas bag, a closed-cell foam, hollow glass beads, a composite material, a hollow aluminum alloy float or other materials with a density less than water;

[0324] The control method further comprises the following steps:

[0325] When the processing mechanism calculates the propulsion data according to the buoyancy provided by the buoyancy part 13, the buoyancy provided by the buoyancy part 13 is calculated according to the material and structure of the buoyancy part 13.

[0326] Further, in the control method of the underwater robot, a handle is arranged on the body 1.

[0327] The control method further comprises the following steps:

[0328] When the underwater robot is put into water or pulled out from water, the handle is gripped to lift the underwater robot.

[0329] Preferably, the handle comprises a first handle 35 and a second handle 36.

[0330] The first handle 35 is arranged on the outer surface of the body 10, or the first handle 35 is arranged on the surface of the second mounting plate 12.

[0331] The control method further comprises the following steps:

[0332] When the underwater robot is lifted, the first handle 35 and / or the second handle 36 is gripped.

[0333] Further, in the control method of the underwater robot, a cable interface 34 is arranged on the body 10, the cable interface 34 connects the sealed space with the outside, and the cable interface 34 is connected with a cable for transmitting power and / or signals.

[0334] The control method further comprises the following steps:

[0335] Before the underwater robot is put into water, the cable is connected with the cable interface 34.

[0336] Preferably, the data line and / or the electric lead are extended into the sealed space through the cable interface 34, and the data line and / or the electric lead are sealed between the cable interface 34.

[0337] The control method further comprises the following steps:

[0338] Before the underwater robot is put into water, the data line and / or the electric lead are connected with the cable interface 34.

[0339] Further, the control method of the underwater robot further comprises a power mechanism 4 arranged in the sealed space, the power mechanism 4 is connected with the propelling mechanism 2, and the power mechanism 4 provides power for the propelling mechanism 2.

[0340] The control method further comprises the following steps:

[0341] When the operation data is inputted, the power mechanism 4 is started.

[0342] Preferably, the power mechanism 4 is a power supply device, such as a storage battery (including dry batteries, secondary batteries, etc.).

[0343] Preferably, the storage battery is provided with a charging input port and a discharging output port, the charging input port is connected with a charging power source through a cable interface 34 when charging is needed, and the discharging output port is connected with the propelling mechanism 2.

[0344] Preferably, the power mechanism 4 is a transformer and / or a voltage stabilizer, which is arranged in the sealed space, one end of which is connected with a high-voltage power source through the cable interface 34, and the other end of which is connected with the propelling mechanism 2 to provide power for the propelling mechanism 2.

[0345] The control method further comprises the following steps:

[0346] When the operation data is inputted, the transformer and / or the voltage stabilizer is started to convert the current inputted by the high-voltage power source into a current suitable for the propelling mechanism 2.

[0347] Preferably, the processing mechanism is a control circuit board, which is arranged in the sealed space.

[0348] The control method further comprises the following steps:

[0349] The control circuit board controls the working of the power mechanism 4 and / or the propelling mechanism 2.

[0350] Preferably, a data line is connected with the control circuit board in the sealed space.

[0351] The control method further comprises the following steps:

[0352] When the operation data is inputted, the data line transmits the operation data.

[0353] Preferably, an electric lead is connected with the power mechanism 4 in the sealed space.

[0354] The control method further comprises the following steps:

[0355] When the operation data is inputted, the electric lead transmits power.

[0356] Preferably, the power mechanism 4 is connected with the propelling mechanism 2 through the electric wire;

[0357] The control method further comprises the following steps:

[0358] When the operation data is input, the electric wire transmits electric power for the power mechanism 4 and the propelling mechanism 2.

[0359] Preferably, the fuselage body 10 is provided with a plurality of (i.e. at least two) cable interfaces 34, and the electric wire has a plurality of (i.e. at least two), each of the first propeller 21 and the second propeller 22 is connected to the power mechanism 4 through a single electric wire;

[0360] The control method further comprises the following steps:

[0361] When the operation data is input, each of the electric wires respectively transmits electric power for different power mechanism 4 and propelling mechanism 2.

[0362] Further, in the control method of the underwater robot, the underwater robot further comprises: a working mechanism 3 arranged on the side of the fuselage 1, and the working mechanism 3 is rotatably connected with the fuselage 1.

[0363] The control method further comprises the following steps: the working mechanism 3 acquires detection data, and the working mechanism 3 sends the detection data to the processing mechanism;

[0364] The processing mechanism processes the detection data into operation data and sends the operation data to the propelling mechanism 2 and the working mechanism 3.

[0365] The propelling mechanism 2 and the working mechanism 3 operate according to the operation data.

[0366] Preferably, the working mechanism 3 is rotatably connected with the fuselage body 10.

[0367] The operation data in the control method comprises rotation data of the working mechanism 3.

[0368] Preferably, in the control method of the underwater robot, when the underwater robot needs to hover, the detection data comprises water flow data, the processing mechanism converts the water flow data into the first propelling data, sends the first propelling data to the first propeller 21, and the first propeller 21 operates according to the first propelling data to realize hovering.

[0369] Further, in the control method of the underwater robot, the working mechanism 3 comprises: a camera assembly 31 and a grabbing assembly 32 connected with the camera assembly 31.

[0370] The camera assembly 31 is rotatably connected to the body 1.

[0371] The grabbing assembly 32 is fixedly connected to the side of the camera assembly 31.

[0372] The control method of the underwater robot further comprises the following steps:

[0373] The camera assembly 31 acquires underwater optical detection data and transmits the detection data to the processing mechanism.

[0374] The processing mechanism converts the detection data into operation data, generates operation data containing grabbing trajectory and body posture correction amount based on target recognition and pose solving, and transmits the operation data to the grabbing assembly 32 and the propulsion mechanism 2 respectively.

[0375] The grabbing assembly 32 and the propulsion mechanism 2 operate according to the operation data.

[0376] Preferably, the operation data further comprises grabbing data, and the grabbing assembly 32 performs corresponding opening and closing, stretching and clamping actions according to the grabbing data.

[0377] Preferably, the operation data further comprises rotation data, and the camera assembly 31 rotates the shooting angle according to the rotation data.

[0378] Preferably, the grabbing assembly 32 rotates the grabbing angle according to the rotation data.

[0379] Preferably, the camera assembly 31 synchronously collects current position data and target position image data containing target objects in the same sampling period, and transmits the current position data and the target position image data to the processing mechanism in a preset communication protocol.

[0380] After receiving the target position image data, the processing mechanism extracts the spatial coordinates of the target object by image recognition algorithm to generate target position data, and differentiates the target position data and the current position data to obtain distance data representing the relative position relationship; then, the processing mechanism maps the distance data into operation data containing the propulsion force vector of the propulsion mechanism 2 and the opening and closing stroke of the grabbing assembly 32, and respectively issues the operation data to the propulsion mechanism 2 and the grabbing assembly 32.

[0381] The propulsion mechanism 2 adjusts the propulsion force size and direction according to the operation data to drive the underwater robot to approach the target position along the shortest path; the grabbing assembly 32 performs corresponding opening and closing, translation and clamping actions according to the operation data to complete the grabbing operation when reaching the target position.

[0382] Further, the underwater robot control method, the camera assembly 31 can also acquire current position data;

[0383] The underwater robot control method further comprises the following steps:

[0384] The camera assembly 31 acquires current position data and image data of the target position, and transmits the current position data and the image data to the processing mechanism;

[0385] The processing mechanism calculates target position data according to the image data, calculates distance data from the target position according to the target position data and the current position data, converts the distance data into the running data, and transmits the running data to the propulsion mechanism 2 and the grabbing assembly 32;

[0386] The grabbing assembly 32 and the propulsion mechanism 2 operate according to the running data.

[0387] Further, the underwater robot control method, the grabbing assembly 32 comprises: an extension arm 321 and a clamping claw 322;

[0388] One end of the extension arm 321 is fixed to the lower surface of the camera assembly 31;

[0389] The clamping claw 322 is fixed to one end of the extension arm 321 away from the camera assembly 31;

[0390] The underwater robot control method further comprises the following steps:

[0391] The processing mechanism converts the grabbing data into extension data of the extension arm 321 and clamping data of the clamping claw 322;

[0392] The extension arm 321 operates according to the extension data;

[0393] The clamping claw 322 operates according to the clamping data.

[0394] Further, the underwater robot control method, the work mechanism 3 further comprises: a lamp assembly 33; the lamp assembly 33 is arranged at the end of the top surface of the fuselage 1 close to the camera assembly 31, and the lamp assembly 33 can illuminate;

[0395] The underwater robot control method further comprises the following steps:

[0396] Before the work mechanism 3 acquires detection data, the processing mechanism controls the lamp assembly 33 to illuminate the work position of the work mechanism 3.

[0397] Further, the control method of the underwater robot further comprises the following steps:

[0398] Before the working mechanism 3 performs the acquisition of the detection data, the processing mechanism sends a lighting instruction to the lamp assembly 33.

[0399] The lamp assembly 33 responds to the lighting instruction to actively illuminate the working position with a preset light intensity and irradiation angle.

[0400] The camera assembly 31 acquires optical detection data under the lighting condition provided by the lamp assembly 33 and transmits the detection data to the processing mechanism.

[0401] Preferably, the lamp assembly 33 is arranged on the side surface of the second mounting plate 12 away from the first mounting plate 11 and / or arranged on the side surface of the first mounting plate 11 away from the second mounting plate 12.

[0402] Preferably, the lamp assembly 33 is more than one.

[0403] The control method further comprises the following steps:

[0404] The processing mechanism controls the lamp assembly 33 to illuminate in the same and / or different directions.

[0405] Preferably, the lamp assembly 33 is symmetrically arranged on the second mounting plate 12 and / or the first mounting plate 11 and / or respectively arranged on the first mounting plate 11 and the second mounting plate 12.

[0406] The control method further comprises the following steps:

[0407] The processing mechanism controls the lamp assembly 33 to illuminate in the same and / or different directions according to the position of the lamp assembly 33.

[0408] The above detailed description of the specific embodiments of the present application is only as an example, and the present application is not limited to the above described specific embodiments. Any equivalent modifications and substitutions made by those skilled in the art to the present application are also within the scope of the present application. Therefore, any equivalent transformation and modification made without departing from the spirit and scope of the present application should be covered within the scope of the present application.

Claims

1. An underwater robot, comprising: a body, a sealed space formed inside the body; a propulsion mechanism arranged on a side surface of the body, the propulsion mechanism providing a propulsion force; a processing mechanism in communication with the propulsion mechanism, the processing mechanism arranged in the sealed space.

2. The underwater robot of claim 1, wherein, The propulsion mechanism comprises: a first propeller and a second propeller; The first propeller is at least two, arranged in an array around the body, the first propeller is provided with a first water inlet and a first water outlet, the center of the first water inlet and the center of the first water outlet are located on the same straight line, the plane of the first water inlet is perpendicular to the plane of the body; The second propeller is at least two, arranged between two first propellers, the second propeller is provided with a second water inlet and a second water outlet, the center of the second water inlet and the center of the second water outlet are located on the same straight line, the plane of the second water inlet is parallel to the plane of the body.

3. The underwater robot of claim 2, wherein, The first propeller is four, arranged in an array around the body; The second propeller is also four, arranged between the first propeller along the length direction of the body.

4. The underwater robot of claim 3, wherein, Along the length direction of the body, the included angle of two first propellers located on the same side of the body is 100-140 degrees, and along the width direction of the body, the included angle of two first propellers located on the same side of the body is 50-70 degrees.

5. The underwater robot of claim 4, wherein, The body comprises: a body body, a mounting platform; The body body is provided with the sealed space inside; The mounting platform is arranged outside the body body, and the propulsion mechanism is arranged on the mounting platform and / or the body body.

6. A control method for the underwater robot according to claim 1, characterized in that, It comprises the following steps: inputting operation data to the processing mechanism; The processing mechanism sends the operation data to one or more propulsion mechanisms; The propulsion mechanism receiving the operation data works according to the received operation data.

7. The control method of the underwater robot according to claim 6, wherein The propulsion mechanism comprises: a first propeller and a second propeller; The first propeller is at least two, arranged in an array around the body, the first propeller is provided with a first water inlet and a first water outlet, the center of the first water inlet and the center of the first water outlet are located on the same straight line, the plane of the first water inlet is perpendicular to the plane of the body; The second propeller is at least two, arranged between two first propellers, the second propeller is provided with a second water inlet and a second water outlet, the center of the second water inlet and the center of the second water outlet are located on the same straight line, the plane of the second water inlet is parallel to the plane of the body. The control method of the underwater robot further comprises the following steps: The processing mechanism converts the operation data into first propeller data of the first propeller and second propeller data of the second propeller; The first propeller operates according to the first propeller data; The second propeller operates according to the second propeller data.

8. The control method of the underwater robot according to claim 7, wherein The first propeller is four, arranged in an array around the body; The second propeller is also four, arranged between the first propeller along the length direction of the body; The control method further comprises: the processing mechanism calculates the first propulsion data according to the angles of the first plurality of propellers; The processing mechanism calculates the second propulsion data according to the angles of the second plurality of propellers.

9. The underwater robot of claim 8, wherein, The underwater robot further comprises: a buoyancy part; The buoyancy part is detachably connected with the body, and the buoyancy part can provide buoyancy; The control method further comprises the following steps: When the processing mechanism processes the operation data into the propulsion data, the propulsion data is calculated according to the buoyancy provided by the buoyancy part.

10. The control method of claim 9, the underwater robot further comprising: A power mechanism is arranged in the sealed space, the power mechanism is connected with the propulsion mechanism, and the power mechanism provides power for the propulsion mechanism; The control method further comprises the following steps: When the operation data is input, the power mechanism is started.

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