An underwater robotic device for oceanographic surveying

Abstract

This invention belongs to the field of marine surveying technology, specifically a marine surveying underwater robot device, including a vehicle used for marine surveying. A base is fixedly connected to the top surface of the vehicle; a sealed box is provided on the top surface of the base, and an air inlet pipe is connected to the top of the sealed box. The air inlet pipe is used to inject colored gas into the sealed box, and an air inlet one-way valve is provided inside the air inlet pipe. A disc is fixedly connected to the top surface of the sealed box. By remotely operating a first motor, the first motor drives a lead screw to rotate. At this time, the sealing assembly seals the vent again, and the lead screw drives a push plate to move upward, thereby pushing the gas in the sealed box out of the vent. The colored gas then floats on the sea surface, allowing personnel on the mother ship to quickly spot the vehicle, facilitating its recovery.

Description

Technical Field

[0001] This invention belongs to the field of marine surveying technology, specifically a marine surveying underwater robot device. Background Technology

[0002] Marine mapping underwater robots are core equipment for conducting marine environmental exploration, seabed topography mapping, and resource exploration. Autonomous underwater vehicles (AUVs) adopt a cableless design and have the capability to operate at depths of 50-500 meters. They achieve autonomous navigation and task decision-making through preset programs or artificial intelligence systems, making them particularly suitable for large-scale nearshore mapping operations.

[0003] Its onboard multibeam echo sounder can accurately measure water depth data, and its side-scan sonar can clearly present seabed topographic features and identify targets such as shipwrecks and pipelines. In addition, the AUV integrates advanced equipment such as a CTD sensor array (measuring seawater conductivity, temperature, and depth parameters), a high-definition camera system, and a laser scanner, forming a comprehensive exploration platform integrating topographic mapping, hydrological data acquisition, and optical observation. These robots, with their intelligent operating modes, have been widely used in marine scientific research, seabed resource exploration, and underwater engineering inspection.

[0004] After an underwater robot completes its underwater exploration mission and surfaces, it typically relies on GPS for precise positioning so that the mother ship can carry out recovery operations. However, due to the influence of complex marine environments (such as severe weather, strong surge interference, or reduced visibility), even if the robot has accurately sent a positioning signal, the mother ship operators may still face the dilemma of difficulty in quickly identifying and recovering it. To address this, the present invention provides an underwater robot device for marine mapping. Summary of the Invention

[0005] In order to overcome the shortcomings of the prior art, at least one technical problem raised in the background art is solved.

[0006] The technical solution adopted by the present invention to solve its technical problem is as follows: The present invention provides an underwater robot device for marine surveying, including a vehicle used for marine surveying. A base is fixedly connected to the top surface of the vehicle. A sealing box is provided on the top surface of the base. An air inlet pipe is connected to the top of the sealing box. The air inlet pipe is used to inject colored gas into the sealing box. An air inlet one-way valve is provided in the air inlet pipe. A disc is fixedly connected to the top surface of the sealing box. A set of annularly distributed air outlet holes are opened on the disc. A first connecting shell is fixedly connected to the bottom surface of the sealing box. A lead screw is rotatably connected to the top surface of the first connecting shell. A first motor for driving the lead screw to rotate is provided in the first connecting shell. A push plate is threadedly connected to the surface of the lead screw. The push plate is slidably and sealingly connected to the inner wall of the sealing box. A sealing component for sealing the air outlet holes is provided in the disc.

[0007] Preferably, the sealing assembly includes a sealing disc, the disc having a hollow interior, the sealing disc being rotatably connected to the inner wall of the disc, the sealing disc having a set of connecting holes corresponding to the air outlet, the bottom surface of the disc being rotatably connected to a connecting shaft, the top surface of the connecting shaft being fixedly connected to the sealing disc, and a connecting assembly being provided between the lead screw and the connecting disc.

[0008] Preferably, the connecting assembly includes a hollow lead screw, a set of magnetic rings is slidably connected to the inner wall of the lead screw, a movable rod is fixedly connected to the inner wall of the magnetic rings, a pair of locking rods are fixedly connected to the top surface of the movable rod, the locking rods are slidably connected to the top surface of the lead screw, a set of locking grooves for engaging with the locking rods are opened on the bottom surface of the connecting shaft, a first spring is fixedly connected between the bottom surface of the movable rod and the inner wall of the lead screw, a pair of air inlet grooves are opened on the side wall of the lead screw near the top surface, and the magnetic rings are magnetically attracted to the push plate.

[0009] Preferably, a connecting frame is fixedly connected to the top surface of the base, a limiting frame is fixedly connected to the inner wall of the connecting frame, a limiting component for limiting the top surface of the sealing box is provided on the inner wall of the connecting frame, a float is fixedly connected to the bottom surface of the sealing box, the bottom surface of the float is in contact with the limiting frame, a steel rope is provided inside the connecting frame, and one end of the steel rope is fixedly connected to the sealing box.

[0010] Preferably, the limiting component includes rectangular grooves formed on both sides of the connecting frame. A hollow block is fixedly connected to the inner wall of the rectangular groove. A limiting plate is slidably connected to the side of the hollow block near the sealing box. A movable plate is slidably connected to the inner wall of the hollow block. The side of the movable plate near the sealing box is fixedly connected to the limiting plate. A connecting pipe is connected inside the hollow block. The connecting pipe is located on the side of the movable plate near the connecting frame. A second spring is fixedly connected between the side of the movable plate away from the limiting plate and the inner wall of the hollow block. An air injection device is provided at the end of the connecting pipe away from the hollow block.

[0011] Preferably, the air injection component includes a round rod fixed to the side wall of the aircraft, the bottom end of the round rod is open, the inner wall of the round rod is slidably connected to a sliding rod, the top surface of the sliding rod is fixedly connected to the inner wall of the round rod, and the end of the connecting pipe away from the hollow block is connected to the inside of the round rod.

[0012] Preferably, a second connecting shell is fixedly connected to the inner wall of the connecting frame, and a take-up shaft is rotatably connected to the side of the second connecting shell near the sealing box. A second motor for driving the take-up shaft to rotate is provided inside the second connecting shell, and the end of the steel rope away from the sealing box is fixedly connected to the take-up shaft.

[0013] Preferably, a circular shaft is rotatably connected to the top surface of the disc, a set of drive blades is fixedly connected to the surface of the circular shaft, and a dredging component is provided on the circular shaft.

[0014] Preferably, the unblocking component includes a flow guide shroud fixed to the side wall of the circular shaft. The top surface of the flow guide shroud is arc-shaped, and a set of through holes are provided on the flow guide shroud. A set of rubber brushes are fixedly connected to the bottom surface of the flow guide shroud.

[0015] Preferably, the flow guide shroud has a first annular groove and a second annular groove. A ring is slidably connected to the inner wall of the first annular groove. A first magnetic block is fixedly connected to the bottom surface of the ring. A fourth spring is fixedly connected between the bottom surface of the ring and the inner wall of the first annular groove. The flow guide shroud has a set of connecting grooves that communicate with the first and second annular grooves. The rubber brush has a hollow internal structure. The top surface of the rubber brush communicates with the second annular groove. A second magnetic block that is magnetically attracted to the first magnetic block is fixedly connected to the top surface of the drive blade.

[0016] The beneficial effects of this invention are as follows: 1. This invention operates a first motor remotely, causing the first motor to drive the lead screw to rotate. At this time, the sealing assembly seals the vent hole again, and the lead screw drives the push plate to move upward, thereby pushing the gas in the sealing box to be discharged from the vent hole. At this time, the colored gas will float on the sea surface, allowing the crew on the mother ship to quickly spot the vehicle, so as to facilitate the mother ship's recovery of the vehicle.

[0017] 2. When the vehicle malfunctions, the present invention can inject air into the hollow block using an air injection device. The gas can then push the moving plate, causing the moving plate to move the limiting plate away from the top of the sealed box. At this time, the sealed box will float up under the buoyancy of the float, allowing the gas inside the sealed box to be discharged from the air outlet. At this time, the staff can use the gas to determine the approximate location of the vehicle, which will facilitate subsequent salvage and recovery work. Attached Figure Description

[0018] The invention will now be further described with reference to the accompanying drawings.

[0019] Figure 1 This is a three-dimensional structural diagram of the aircraft in this invention; Figure 2 This is a schematic diagram of the connecting frame and sealing box of the present invention; Figure 3 This is a schematic diagram of the internal structure of the connecting frame and the sealing box in this invention; Figure 4 yes Figure 3 Enlarged view of point A; Figure 5 This is a schematic diagram of the internal structure of the lead screw in this invention; Figure 6 yes Figure 3 Enlarged view of point B; Figure 7 This is a schematic diagram of the internal structure of the round rod in this invention; Figure 8 This is a schematic diagram of the internal structure of the flow guide and the disk in this invention.

[0020] In the diagram: 1. Vehicle; 2. Base; 3. Connecting frame; 4. Sealing box; 5. Air intake pipe; 6. Push plate; 7. Lead screw; 8. First motor; 9. Disc; 10. Sealing disc; 11. Air outlet; 12. Connecting hole; 13. Connecting shaft; 14. Slot; 15. Air intake slot; 16. Locking rod; 17. Moving rod; 18. Limiting frame; 19. Float; 20. Second motor; 21. Steel cable; 22. 23. Take-up shaft; 24. Hollow block; 25. Moving plate; 26. Limiting plate; 27. Rectangular groove; 28. Connecting pipe; 29. ​​Magnetic ring; 20. Round rod; 31. Sliding rod; 32. Round shaft; 33. Drive blade; 34. Flow guide; 35. Through hole; 36. First annular groove; 37. Circular ring; 38. Connecting groove; 39. Second annular groove; 40. Rubber brush; 41. First magnetic block; 42. Second magnetic block. Detailed Implementation

[0021] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0022] Example 1: As Figures 1 to 7 As shown in the figure, an underwater robot device for marine surveying according to an embodiment of the present invention includes a vehicle 1, which is used for marine surveying. A base 2 is fixedly connected to the top surface of the vehicle 1. A sealing box 4 is provided on the top surface of the base 2. An air inlet pipe 5 is connected to the top of the sealing box 4. The air inlet pipe 5 is used to inject colored gas into the sealing box 4. An air inlet one-way valve is provided in the air inlet pipe 5. A disc 9 is fixedly connected to the top surface of the sealing box 4. A set of annularly distributed air outlet holes 11 are opened on the disc 9. A first connecting shell is fixedly connected to the bottom surface of the sealing box 4. A lead screw 7 is rotatably connected to the top surface of the first connecting shell. A first motor 8 is provided in the first connecting shell to drive the lead screw 7 to rotate. A push plate 6 is threadedly connected to the surface of the lead screw 7. The push plate 6 is slidably connected to the inner wall of the sealing box 4. A sealing assembly for sealing the air outlet holes 11 is provided in the disc 9. In this application, when conducting marine surveying, the vehicle 1 can be placed in the water with the help of a mother ship. The vehicle 1 will achieve autonomous navigation and mission decision-making according to the preset program and artificial intelligence system, and will form topographic mapping and hydrological data collection with the help of equipment such as multibeam echo sounder, side-scan sonar and high-definition camera system to complete the marine surveying work. After completing the marine surveying work, the vehicle 1 will rise to the sea surface. At this time, the vehicle 1 will use GPS to locate itself, allowing the mother ship to approach and retrieve it. If the vehicle 1 cannot be quickly identified in the sea area, when the mother ship moves to the approximate location of the GPS positioning, the first motor 8 can be remotely operated to start, so that the first motor 8 drives the lead screw 7 to rotate. At this time, the sealing component will no longer seal the vent 11, and the lead screw 7 will drive the push plate 6 to move upward, thereby pushing the gas in the sealed box 4 to be discharged from the vent 11. At this time, the colored gas will float in the sea area, so that the staff on the mother ship can quickly find the vehicle 1, so as to facilitate the mother ship to retrieve the vehicle 1.

[0023] The sealing assembly includes a sealing disc 10, the disc 9 having a hollow interior, the sealing disc 10 being rotatably connected to the inner wall of the disc 9, the sealing disc 10 having a set of connecting holes 12 corresponding to the vent holes 11, the bottom surface of the disc 9 being rotatably connected to a connecting shaft 13, the top surface of the connecting shaft 13 being fixedly connected to the sealing disc 10, and a connecting assembly being provided between the lead screw 7 and the connecting disc; when the gas in the sealing box 4 needs to be discharged, the connecting assembly can be used to connect the connecting shaft 13 to the lead screw 7. When the lead screw 7 rotates, the connecting shaft 13 will drive the sealing disc 10 to rotate, so that the connecting holes 12 are aligned with the vent holes 11. When the push plate 6 moves, it can push the gas in the sealing box 4 to be discharged.

[0024] The connecting assembly includes a hollow lead screw 7, a set of magnetic rings 28 are slidably connected to the inner wall of the lead screw 7, a moving rod 17 is fixedly connected to the inner wall of the magnetic rings 28, a pair of locking rods 16 are fixedly connected to the top surface of the moving rod 17, the locking rods 16 are slidably connected to the top surface of the lead screw 7, a set of locking grooves 14 are opened on the bottom surface of the connecting shaft 13 to engage with the locking rods 16, a first spring is fixedly connected between the bottom surface of the moving rod 17 and the inner wall of the lead screw 7, a pair of air inlet grooves 15 are opened on the side wall of the lead screw 7 near the top surface, and the magnetic rings 28 are magnetically attracted to the push plate 6; In this application, the locking lever 16 and the locking slot 14 are initially engaged, and the sealing disc 10 seals the vent 11. The bottom magnetic ring 28 is magnetically attracted to the push plate 6. When gas needs to be discharged, the lead screw 7 controls the push plate 6 to move upward. At this time, the push plate 6 pushes the gas in the sealing box 4 from the air inlet slot 15 into the lead screw 7. The gas then pushes the top magnetic ring 28, causing the magnetic ring 28 to drive the moving rod 17 downward, thereby disengaging the locking lever 16 from the locking slot 14. At this time, the torsion spring drives the sealing disc 10 to rotate, aligning the connecting hole 12 with the vent 11. The push plate 6 then continues to move upward, thereby pushing the gas in the storage box to be discharged. During the movement of the push plate 6, the bottom... The magnetic ring 28 will disengage from the push plate 6. When the push plate 6 moves to the magnetic ring 28 in the middle position, the push plate 6 will drive the magnetic ring 28 to move upward. At this time, the locking rod 16 will engage with the locking groove 14. Then, when the lead screw 7 rotates, it will drive the sealing plate 10 to seal the air outlet 11. At this time, the first motor 8 can be turned off. After an interval of three to five minutes, the above operation is repeated, allowing the push plate 6 to continue to move, so that the gas in the hollow groove drives the locking rod 16 to disengage from the locking groove 14. At the same time, the sealing plate 10 will no longer seal the air outlet 11 under the action of the torsion spring, so that the gas can continue to be discharged, thereby achieving multiple intermittent gas discharges to increase the time for the gas to guide and search for the spacecraft 1.

[0025] A connecting frame 3 is fixedly connected to the top surface of the base 2. A limiting frame 18 is fixedly connected to the inner wall of the connecting frame 3. A limiting component for limiting the top surface of the sealing box 4 is provided on the inner wall of the connecting frame 3. A float 19 is fixedly connected to the bottom surface of the sealing box 4. The bottom surface of the float 19 is in contact with the limiting frame 18. A steel cable 21 is provided inside the connecting frame 3. One end of the steel cable 21 is fixedly connected to the sealing box 4. Because the vehicle 1 may malfunction during operation, causing it to be unable to surface, the vehicle 1 will sink in the sea. The vehicle 1 needs to be salvaged and recovered, but it is more difficult to determine the location of the vehicle 1 in the sea. In this case, when the vehicle 1 malfunctions, the limiting component can be de-limited from the top surface of the sealing box 4. At this time, the float 19 will drive the sealing box 4 to float up, so that the sealing box 4 floats to the surface of the water. At this time, the gas in the sealing box 4 can be discharged from the vent 11. The staff can then use the gas to determine the approximate location of the vehicle 1, which will facilitate the subsequent salvage and recovery work. At the same time, the staff can also follow the steel cable 21 to further confirm the position of the steel cable 21.

[0026] The limiting component includes rectangular grooves 26 formed on both sides of the connecting frame 3. A hollow block 23 is fixedly connected to the inner wall of the rectangular groove 26. A limiting plate 25 is slidably connected to the side of the hollow block 23 near the sealing box 4. A moving plate 24 is slidably connected to the inner wall of the hollow block 23. The side of the moving plate 24 near the sealing box 4 is fixedly connected to the limiting plate 25. A connecting pipe 27 is connected inside the hollow block 23. The connecting pipe 27 is located on the side of the moving plate 24 near the connecting frame 3. A second spring is fixedly connected between the side of the moving plate 24 away from the limiting plate 25 and the inner wall of the hollow block 23. An air injection device is provided at the end of the connecting pipe 27 away from the hollow block 23. When the vehicle 1 malfunctions, air can be injected into the hollow block 23 with the help of the air injection device, so that the gas can push the moving plate 24, causing the moving plate 24 to move the limiting plate 25 away from the top of the sealing box 4. At this time, the sealing box 4 will float up under the buoyancy of the float 19.

[0027] The gas injection component includes a round rod 29 fixed to the side wall of the vehicle 1. The bottom end of the round rod 29 is open. A sliding rod 30 is slidably connected to the inner wall of the round rod 29. A third spring is fixedly connected between the top surface of the sliding rod 30 and the inner wall of the round rod 29. The end of the connecting pipe 27 away from the hollow block 23 is connected to the inside of the round rod 29. When the vehicle 1 sinks, the sliding rod 30 will be pushed by the seabed. At this time, the sliding rod 30 will push the gas in the round rod 29, so that the gas enters the hollow block 23 from the connecting pipe 27. At this time, the gas will push the moving plate 24, thereby causing the moving plate 24 to move the limiting plate 25 away from the top of the sealing box 4.

[0028] The inner wall of the connecting frame 3 is fixedly connected to a second connecting shell. The second connecting shell is rotatably connected to a take-up shaft 22 on the side near the sealing box 4. A second motor 20 is installed inside the second connecting shell to drive the take-up shaft 22 to rotate. The end of the steel rope 21 away from the sealing box 4 is fixedly connected to the take-up shaft 22. In this application, the steel rope 21 can be selected according to the appropriate length of the sea area to be explored and then wound around the take-up shaft 22. Alternatively, it can be folded and placed on the base 2 in an orderly manner. When the float 19 drives the sealing box 4 to rise, the steel rope 21 will pull the sealing box 4. After the vehicle 1 is salvaged, the second motor 20 can drive the take-up shaft 22 to rotate, so that the steel rope 21 can be wound around the take-up shaft 22, thereby winding and recovering the steel rope 21.

[0029] Example 2: Figure 8As shown in the comparative embodiment one, another embodiment of the present invention is as follows: the top surface of the disc 9 is rotatably connected to a circular shaft 31, a set of drive blades 32 are fixedly connected to the surface of the circular shaft 31, and a dredging component is provided on the circular shaft 31; when the sealing box 4 in this application floats up, impurities in the water are easily blocked on the vent 11. At this time, with the help of the above-mentioned mechanism, when the sealing box 4 moves upward, the drive blades 32 will drive the dredging component to rotate, so that the dredging component continuously cleans and dredges the vent 11, so as to prevent the vent 11 from being blocked after the sealing box 4 floats to the surface, thus affecting the gas discharge.

[0030] The unblocking assembly includes a flow guide shroud 33 fixed to the side wall of the circular shaft 31. The top surface of the flow guide shroud 33 is arc-shaped, and a set of through holes 34 are provided on the flow guide shroud 33. A set of rubber brushes 39 are fixedly connected to the bottom surface of the flow guide shroud 33. The arc-shaped design of the top surface of the flow guide shroud 33 in this application can reduce the adhesion of impurities in the water. When the sealing box 4 moves upward, the water flow will impact the drive blade 32 through the through holes 34, thereby driving the circular shaft 31 to rotate. At this time, the circular shaft 31 will drive the flow guide shroud 33 to rotate, thereby allowing the rubber brushes 39 to clean the air outlet 11.

[0031] The flow guide shroud 33 has a first annular groove 35 and a second annular groove 38. A circular ring 36 is slidably connected to the inner wall of the first annular groove 35. A first magnetic block 40 is fixedly connected to the bottom surface of the circular ring 36. A fourth spring is fixedly connected between the bottom surface of the circular ring 36 and the inner wall of the first annular groove 35. The flow guide shroud 33 has a set of connecting grooves 37 communicating with the first annular groove 35 and the second annular groove 38. The rubber brush 39 has a hollow internal structure. The top surface of the rubber brush 39 communicates with the second annular groove 38. The top surface of the drive blade 32 is fixedly connected to a component that magnetically attracts the first magnetic block 40. Second magnetic block 41; When the fan blades in this application rotate, the second magnetic block 41 will pass through the first magnetic block 40. At this time, the first magnetic block 40 will be attracted, thereby driving the ring 36 to move downward. Since the sealing box 4 is in water, the first annular groove 35 is full of seawater. When the ring 36 moves downward, it will push the water in the first annular groove 35. At this time, the water will enter the second annular groove 38 from the connecting groove 37 and finally be sprayed out from the rubber brush 39. When the rubber brush 39 passes through the air outlet 11, it can flush the air outlet 11 with the help of water to improve the effect of unblocking the air outlet 11.

[0032] Working principle: By deploying the vehicle 1 into the water with the help of a mother ship, the vehicle 1 will autonomously navigate and make mission decisions according to a preset program and artificial intelligence system. It will also use equipment such as a multibeam echo sounder, side-scan sonar, and high-definition camera system to perform topographic mapping and hydrological data collection to complete marine surveying. After completing the marine surveying, the vehicle 1 will surface. At this point, the vehicle 1 will use GPS to locate itself, allowing the mother ship to approach and retrieve it. If the vehicle 1 cannot be quickly located in the sea area, the first motor 8 can be remotely started when the mother ship moves to the approximate location determined by the GPS, causing the first motor 8 to drive the lead screw 7 to rotate. When the sealing assembly seals the vent 11 again, the screw 7 drives the push plate 6 to move upward, thereby pushing the gas in the sealing box 4 out of the vent 11. At this time, the colored gas will float on the sea, allowing the crew on the mother ship to quickly spot the vehicle 1, so that the mother ship can recover the vehicle 1. When the gas in the sealing box 4 needs to be discharged, the connecting shaft 13 can be connected to the screw 7 by means of a connecting assembly. When the screw 7 rotates, the connecting shaft 13 will drive the sealing plate 10 to rotate, so that the connecting hole 12 is aligned with the vent 11. When the push plate 6 moves, it can push the gas in the sealing box 4 out. In this application, the locking lever 16 and the locking slot 14 are initially engaged, and the sealing disc 10 seals the vent 11. The bottom magnetic ring 28 is magnetically attracted to the push plate 6. When gas needs to be discharged, the lead screw 7 controls the push plate 6 to move upward. At this time, the push plate 6 pushes the gas in the sealing box 4 from the air inlet slot 15 into the lead screw 7. The gas then pushes the top magnetic ring 28, causing the magnetic ring 28 to drive the moving rod 17 downward, thereby disengaging the locking lever 16 from the locking slot 14. At this time, the torsion spring drives the sealing disc 10 to rotate, aligning the connecting hole 12 with the vent 11. The push plate 6 then continues to move upward, thereby pushing the gas in the storage box to be discharged. During the movement of the push plate 6, the bottom... The magnetic ring 28 will disengage from the push plate 6. When the push plate 6 moves to the magnetic ring 28 in the middle position, the push plate 6 will drive the magnetic ring 28 to move upward. At this time, the locking rod 16 will engage with the locking groove 14. Then, when the screw 7 rotates, it will drive the sealing plate 10 to seal the air outlet 11. At this time, the first motor 8 can be turned off. After an interval of three to five minutes, the above operation is repeated, allowing the push plate 6 to continue to move, so that the gas in the hollow groove drives the locking rod 16 to disengage from the locking groove 14. At the same time, the sealing plate 10 will no longer seal the air outlet 11 under the action of the torsion spring, so that the gas can continue to be discharged, thereby achieving multiple intermittent gas discharges to increase the time for the gas to guide and search for the vehicle 1. During operation, the vehicle 1 may malfunction, preventing it from surfacing. In this case, the vehicle 1 will sink, requiring salvage and recovery. However, its location is difficult to pinpoint underwater. To address this, when the vehicle 1 malfunctions, the limiting component can be de-limited from the top of the sealed box 4. This allows the float 19 to lift the sealed box 4, bringing it to the surface. Gas inside the sealed box 4 can then be released through the vent 11, allowing personnel to determine its approximate location for subsequent salvage and recovery. Personnel can also use the steel cable 21 to further confirm its position. Alternatively, when the vehicle 1 malfunctions, air can be injected into the hollow block 23 using an air injection device. This gas pushes the moving plate 24, causing the limiting plate 25 to move away from the sealed box 4. The sealed box 4 will then rise under the buoyancy of the float 19. When the vehicle 1 sinks, the slide bar 30 will be pushed by the seabed. At this time, the slide bar 30 will push the gas in the round bar 29, so that the gas enters the hollow block 23 from the connecting pipe 27. The gas will then push the moving plate 24, thereby causing the moving plate 24 to move the limiting plate 25 away from the top of the sealing box 4. In this application, the steel cable 21 can be selected according to the appropriate length of the sea area to be explored, and then wound around the take-up shaft 22, or it can be folded and placed on the base 2 in an orderly manner. When the float 19 drives the sealing box 4 to rise, the steel cable 21 will pull the sealing box 4. After the vehicle 1 is salvaged, the second motor 20 can drive the take-up shaft 22 to rotate, so that the steel cable 21 can be wound around the take-up shaft 22, thereby winding and recovering the steel cable 21.

[0033] The terms "front," "back," "left," "right," "top," and "bottom" all refer to the figures in the accompanying drawings. Figure 1 Based on the perspective of the observer, the side of the device facing the observer is defined as the front, the left side of the observer is defined as the left, and so on.

[0034] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention.

[0035] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An underwater robot device for marine surveying, comprising a vehicle (1) for marine surveying, wherein a base (2) is fixedly connected to the top surface of the vehicle (1). Its features are: A sealing box (4) is provided on the top surface of the base (2). An air inlet pipe (5) is connected to the top of the sealing box (4). The air inlet pipe (5) is used to inject colored gas into the sealing box (4). An air inlet one-way valve is provided in the air inlet pipe (5). A disc (9) is fixedly connected to the top surface of the sealing box (4). A set of annularly distributed air outlet holes (11) are opened on the disc (9). The bottom surface of the sealing box (4) is fixedly connected to the first connecting shell, the top surface of the first connecting shell is rotatably connected to the lead screw (7), the first connecting shell is provided with a first motor (8) that drives the lead screw (7) to rotate, the surface of the lead screw (7) is threadedly connected to the push plate (6), the push plate (6) is slidably connected to the inner wall of the sealing box (4), and the disc (9) is provided with a sealing component that seals the air outlet (11). The sealing assembly includes a sealing disc (10), the inside of the disc (9) is hollow, the sealing disc (10) is rotatably connected to the inner wall of the disc (9), the sealing disc (10) is provided with a set of connecting holes (12) corresponding to the air outlet (11), the bottom surface of the disc (9) is rotatably connected to a connecting shaft (13), the top surface of the connecting shaft (13) is fixedly connected to the sealing disc (10), and a connecting assembly is provided between the screw (7) and the connecting disc; The connecting assembly includes a hollow screw (7), a set of magnetic rings (28) are slidably connected to the inner wall of the screw (7), a moving rod (17) is fixedly connected to the inner wall of the magnetic rings (28), a pair of locking rods (16) are fixedly connected to the top surface of the moving rods (17), the locking rods (16) are slidably connected to the top surface of the screw (7), a set of locking grooves (14) are opened on the bottom surface of the connecting shaft (13) to engage with the locking rods (16), a first spring is fixedly connected between the bottom surface of the moving rods (17) and the inner wall of the screw (7), a pair of air inlet grooves (15) are opened on the side wall of the screw (7) near the top surface, and the magnetic rings (28) and the push plate (6) are magnetically attracted to each other; A connecting frame (3) is fixedly connected to the top surface of the base (2). A limit frame (18) is fixedly connected to the inner wall of the connecting frame (3). A limit component is provided on the inner wall of the connecting frame (3) to limit the top surface of the sealing box (4). A float (19) is fixedly connected to the bottom surface of the sealing box (4). The bottom surface of the float (19) is in contact with the limit frame (18). A steel rope (21) is provided inside the connecting frame (3). One end of the steel rope (21) is fixedly connected to the sealing box (4). The limiting component includes rectangular grooves (26) on both sides of the connecting frame (3). A hollow block (23) is fixedly connected to the inner wall of the rectangular groove (26). A limiting plate (25) is slidably connected to the side of the hollow block (23) near the sealing box (4). A moving plate (24) is slidably connected to the inner wall of the hollow block (23). The side of the moving plate (24) near the sealing box (4) is fixedly connected to the limiting plate (25). A connecting pipe (27) is connected inside the hollow block (23). The connecting pipe (27) is located on the side of the moving plate (24) near the connecting frame (3). A second spring is fixedly connected between the side of the moving plate (24) away from the limiting plate (25) and the inner wall of the hollow block (23). An air injection device is provided at the end of the connecting pipe (27) away from the hollow block (23).

2. The underwater robot device for marine mapping according to claim 1, characterized in that: The air injection component includes a round rod (29) fixed to the side wall of the aircraft (1). The bottom end of the round rod (29) is open. The inner wall of the round rod (29) is sealed and slidably connected to a slide rod (30). A third spring is fixedly connected between the top surface of the slide rod (30) and the inner wall of the round rod (29). The end of the connecting pipe (27) away from the hollow block (23) is connected to the inside of the round rod (29).

3. A marine surveying underwater robot device according to claim 2, characterized in that: The inner wall of the connecting frame (3) is fixedly connected to a second connecting shell. The side of the second connecting shell near the sealing box (4) is rotatably connected to a take-up shaft (22). A second motor (20) is provided inside the second connecting shell to drive the take-up shaft (22) to rotate. The end of the steel rope (21) away from the sealing box (4) is fixedly connected to the take-up shaft (22).

4. A marine surveying underwater robot device according to claim 1, characterized in that: The top surface of the disc (9) is rotatably connected to a circular shaft (31), and a set of drive blades (32) are fixedly connected to the surface of the circular shaft (31). A dredging component is provided on the circular shaft (31).

5. A marine surveying underwater robot device according to claim 4, characterized in that: The unblocking component includes a flow guide (33) fixed to the side wall of the round shaft (31). The top surface of the flow guide (33) is arc-shaped, and a set of through holes (34) are opened on the flow guide (33). A set of rubber brushes (39) are fixedly connected to the bottom surface of the flow guide (33).

6. A marine surveying underwater robot device according to claim 5, characterized in that: The flow guide (33) has a first annular groove (35) and a second annular groove (38) inside. A ring (36) is slidably connected to the inner wall of the first annular groove (35). A first magnetic block (40) is fixedly connected to the bottom surface of the ring (36). A fourth spring is fixedly connected between the bottom surface of the ring (36) and the inner wall of the first annular groove (35). A set of connecting grooves (37) communicating with the first annular groove (35) and the second annular groove (38) is opened inside the flow guide (33). The rubber brush (39) has a hollow internal structure. The top surface of the rubber brush (39) is connected to the second annular groove (38). A second magnetic block (41) magnetically attracted to the first magnetic block (40) is fixedly connected to the top surface of the drive blade (32).

Images