Underwater robot for marine surveying and mapping

Abstract

The underwater robot comprises a top plate and a bottom plate, the top plate and a middle spiral wing are connected in a sealed mode through bolts, lug plates are fixedly installed on the two sides of the top plate and the two sides of the bottom plate, a driving assembly used for driving equipment to move in water is installed between the lug plates, and an observation cover is fixedly installed at the top of the top plate. The top of the observation cover is fixedly provided with a fixing plate, the top of the fixing plate is fixedly provided with a fish driving assembly used for preventing impact of fishes in water, and the bottom of the bottom plate is provided with a clamping assembly used for sampling; when the device moves, water flow can be injected through the water inlet base and input into the fish driving hole in the fish driving base through the communicating pipe, when the water flow penetrates through the fish driving hole, specific sound waves can be generated due to flow state disturbance, turbulence intensity and frequency characteristics, the frequency and intensity of the sound waves are matched with the negative sonotropism of fishes, and therefore fish shoal dispersing is achieved; fish shoals are prevented from impacting equipment, and the safety and surveying and mapping precision of the device in the whole operation process are effectively guaranteed.

Description

Technical Field

[0001] This invention relates to the field of marine surveying technology, specifically to an underwater robot for marine surveying. Background Technology

[0002] With the rapid development of the marine economy, the demand for high-precision marine mapping data is becoming increasingly urgent in fields such as marine resource exploration, submarine engineering construction, marine ecological protection, and underwater archaeology. As a core means of acquiring marine geographic information, the technological level of marine mapping directly affects the efficiency and safety of marine development and utilization. However, current mainstream marine mapping equipment and technologies still have many unresolved issues in practical applications, making it difficult to meet the demands for efficient, accurate, and safe operations in complex marine environments.

[0003] When operating in nearshore or reservoir waters with high fish density, the frequent approach of schools of fish poses a dual threat to surveying equipment: on the one hand, a large number of fish hitting the equipment casing may cause the equipment's movement trajectory to deviate, or even damage key external components such as cameras and sensors, resulting in equipment failure; on the other hand, when schools of fish enter the field of view of the surveying camera, they may obstruct the lens, causing problems such as image occlusion and loss of detail in the captured images, affecting the integrity and accuracy of the surveying data. Summary of the Invention

[0004] The purpose of this invention is to provide an underwater robot for marine surveying to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an underwater robot for marine mapping, comprising a top plate and a bottom plate, wherein the top plate and a central propeller are connected by bolts in a sealed manner; ear plates are fixedly installed on both sides of the top plate and the bottom plate; a drive assembly for driving the device to move in the water is installed between the ear plates; an observation hood is fixedly installed on the top of the top plate; a fixing plate is fixedly installed on the top of the observation hood; a fish-repelling assembly for preventing fish from colliding with the device is fixedly installed on the top of the fixing plate; a clamping assembly for sampling is installed on the bottom of the bottom plate; a movable seat one is fixedly installed on one side of the top plate; an adjusting arm two is bolted to the inside of the movable seat one; a movable seat three is bolted to the side of the adjusting arm two away from the movable seat one; a protective shell is fixedly installed on the side of the movable seat three away from the adjusting arm two; a high-definition underwater mapping camera is fixedly installed inside the protective shell; and a waterproof glass plate is sealed and fixedly installed on one side of the high-definition underwater mapping camera.

[0006] Preferably, the drive assembly includes a rear rotor, a middle rotor, and a front rotor. Movable seats two are fixedly mounted on the outer sides of each of the rear rotor, middle rotor, and front rotor. An adjusting bolt two is threaded into the internal threads of the movable seat two. A fastening knob two is threaded into the outer threads of the adjusting bolt two. An adjusting arm one is movably sleeved onto the outer side of the adjusting bolt two. An adjusting bolt one is threaded into the internal threads of the adjusting arm one, the end of the adjusting arm one furthest from the adjusting bolt two. A fastening knob one is threaded into the outer threads of the adjusting bolt one.

[0007] Preferably, the adjusting bolt one is slidably installed inside the adjusting groove, the end of the adjusting arm one away from the adjusting bolt two is slidably installed between the two ear plates, and the intermediate rotor is located between the rear rotor and the front rotor.

[0008] Preferably, the fish-repelling assembly includes a fish-repelling seat and a water inlet seat. The fish-repelling seat has a fish-repelling hole inside. A connecting pipe is connected to one side of the water inlet seat. The end of the connecting pipe away from the water inlet seat is connected to the water inlet of the fish-repelling hole inside the fish-repelling seat.

[0009] Preferably, the clamping assembly includes an outer rod, a push-pull rod is slidably installed inside the outer rod, a waterproof cylinder is fixedly installed at one end of the outer rod, a clamping sleeve is fixedly installed at the end of the outer rod away from the waterproof cylinder, and a gripper assembly is installed inside the clamping sleeve.

[0010] Preferably, the gripper assembly includes two hinge plates, and gripping blocks are movably mounted on both sides of the two hinge plates on opposite sides. A first hinge rod is fixedly mounted on one end of each gripping block, and a second hinge rod is movably mounted on the end of the first hinge rod away from the gripping block. A push-pull seat is movably mounted on the end of the second hinge rod away from the first hinge rod.

[0011] Preferably, the push-pull seat is slidably installed inside the clamping sleeve, the hinge plate is installed at the end of the clamping sleeve away from the outer sleeve rod, one side of the push-pull seat is fixedly connected to one end of the push-pull rod, and the output end of the waterproof cylinder is fixedly connected to the end of the push-pull rod away from the push-pull seat.

[0012] Preferably, a fixing seat is fixedly installed at the bottom of the base plate, and an mounting sleeve is fixedly installed at the bottom of the fixing seat, and the mounting sleeve is fixedly installed on the outside of the outer rod.

[0013] Preferably, support plates are symmetrically fixedly installed on both sides of the bottom of the base plate, and a support rod is fixedly installed on the end of the support plate away from the base plate.

[0014] Preferably, a control box is fixedly installed on the top of the top plate, and an observation cover is sealed on the outside of the control box. The observation cover is made of transparent tempered glass.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: when the device moves, water can be poured in through the water inlet seat and input into the fish repelling hole inside the fish repelling seat through the connecting pipe. When the water flows through the fish repelling hole, it will generate specific sound waves due to the flow disturbance, turbulence intensity and frequency characteristics. The frequency and intensity of the sound waves match the negative tonicity of fish, thereby repelling the fish and preventing the fish from hitting the equipment, effectively ensuring the safety of the device and the mapping accuracy throughout the entire operation process. In addition, the fish repelling hole consists of two layers of perforated plates with staggered openings. The upper and lower layers of openings are tilted in different directions at an angle of 45 degrees, forming a flow channel structure that is alternating vertically and horizontally. The holes are circular. When the water flows through the fish repelling hole, it will generate strong turbulence and eddies due to the sudden turn of the flow channel, forming a wide-band noise that covers the low to mid-frequency range that fish are sensitive to. The tilted design further intensifies the impact and mixing of the water flow, making the noise intensity evenly distributed and avoiding sound dead zones. The wide-band noise can interfere with the lateral line system and auditory organs of fish, triggering their escape response. The fish repellency rate can reach more than 80%. The staggered hole structure inside the fish repelling hole can stably generate such sound waves. The tilted hole design further intensifies the impact of the water flow, making the noise intensity evenly distributed within a five-meter range around the device, forming a protective circle without sound dead zones, and preventing fish from approaching from the side or rear. When materials need to be clamped, the waterproof cylinder can be activated. The output end of the waterproof cylinder can drive the push-pull rod to move inside the outer sleeve, thereby moving the push-pull seat inside the clamping sleeve, which in turn pulls the second hinge rod to move, causing the first hinge rod to open and close the clamping block, thus clamping the materials, facilitating underwater sampling and improving the effectiveness of the device. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the three-dimensional appearance structure of the present invention.

[0017] Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention viewed from below.

[0018] Figure 3 This is a three-dimensional structural schematic diagram of the present invention from another perspective.

[0019] Figure 4 This is a three-dimensional structural diagram of the present invention with the driving component and clamping component removed.

[0020] Figure 5 This is a three-dimensional structural diagram of the clamping component of the present invention.

[0021] Figure 6 This is a three-dimensional structural diagram of the driving component of the present invention.

[0022] In the diagram: 1. Top plate; 2. Observation cover; 3. Fixing plate; 4. Fish deterrent seat; 5. Connecting pipe; 6. Water inlet seat; 7. Rear propeller; 8. Middle propeller; 9. Front propeller; 10. Adjusting arm one; 11. Waterproof glass plate; 12. Hinge rod one; 13. Clamping block; 14. Hinge plate; 15. Hinge rod two; 16. Fastening knob one; 17. Support plate; 18. Support rod; 19. Adjusting groove; 20. Adjusting... 21. Adjusting Arm II; 22. Movable Seat I; 23. High-definition underwater mapping camera; 24. Ear plate; 25. Mounting sleeve; 26. Outer rod; 27. Fixed seat; 28. Base plate; 29. ​​Movable Seat II; 30. Fish deflector hole; 31. Movable Seat III; 32. Protective shell; 33. Adjusting Bolt II; 34. Fastening knob II; 35. Waterproof cylinder; 36. Clamping sleeve; 37. Push-pull rod; 38. Push-pull seat. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Please see Figures 1-6This invention provides a technical solution: an underwater robot for marine mapping, comprising a top plate 1 and a bottom plate 28. The top plate 1 and the intermediate propeller 8 are connected by bolts for sealing. Ear plates 24 are fixedly installed on both sides of the top plate 1 and the bottom plate 28. A drive assembly for moving the device in the water is installed between the ear plates 24. An observation hood 2 is fixedly installed on the top of the top plate 1. A fixing plate 3 is fixedly installed on the top of the observation hood 2. A fish-repelling assembly for preventing fish from colliding with the device is fixedly installed on the top of the fixing plate 3. The fish-repelling assembly includes a fish-repelling seat 4 and a water inlet seat 6. A fish-repelling hole 30 is provided inside the fish-repelling seat 4. A connecting pipe 5 is connected to one side of the water inlet seat 6. The end of the connecting pipe 5 away from the water inlet seat 6 is connected to the water inlet of the fish-repelling hole 30 inside the fish-repelling seat 4. A sampling clamping assembly is installed at the bottom of plate 28. A movable seat 22 is fixedly installed on one side of top plate 1. An adjusting arm 21 is bolted to the inside of movable seat 22. A movable seat 31 is bolted to the side of adjusting arm 21 away from movable seat 22. A protective shell 32 is fixedly installed on the side of movable seat 31 away from adjusting arm 21. A high-definition underwater mapping camera 23 is fixedly installed inside the protective shell 32. A waterproof glass plate 11 is sealed and fixedly installed on one side of the high-definition underwater mapping camera 23. A control box is fixedly installed on the top of top plate 1. The control box contains a processor, controller, memory and signal transceiver. The observation cover 2 is sealed on the outside of the control box. The observation cover 2 is made of transparent tempered glass.

[0025] The working principle of the above technical solution is as follows: During use, the device can be placed in the desired water area. The drive components allow the device to move underwater. While moving underwater, the high-definition underwater mapping camera 23 inside the protective casing 32 can capture and map the water environment. The high-definition underwater mapping camera 23 uses a 12-megapixel high-definition sensor, combined with a wide-angle lens and low-light imaging technology. Even in turbid and dimly lit underwater environments, it can clearly capture the topography and landforms of the water area, such as seabed beaches, rock textures, and the distribution of underwater plants; man-made structures, such as pipes, bridges, and shipwrecks; and biological activity. To improve mapping accuracy, the high-definition underwater... The underwater mapping camera 23 also supports autofocus and image stabilization, capturing 30 frames per second to ensure smooth and detailed continuous images. It transmits the captured data to the processor inside the control box, and then to the memory and remote control via a transceiver and controller. The transceiver in the control box transmits data through dual links of underwater acoustic communication and satellite communication. During underwater operations, the underwater acoustic communication module transmits data in the form of sound waves to the surface receiving device, which then forwards it to the satellite. The satellite then transmits the data in real time to the remote control center or the operator's terminal device, allowing for storage and viewing of the mapping content. Additionally, it can be used to sample underwater materials. When the device is moved, it can be clamped by the clamping assembly. Additionally, when the device moves, water can be injected through the inlet seat 6 and fed into the fish-repelling hole 30 inside the fish-repelling seat 4 through the connecting pipe 5. As the water flows through the fish-repelling hole 30, specific sound waves are generated due to flow disturbance, turbulence intensity, and frequency characteristics. The frequency and intensity of these sound waves match the negative tactile response of fish, thus dispersing the fish and preventing them from colliding with the equipment. The fish-repelling hole 30 consists of two layers of perforated plates with staggered openings. The upper and lower layers of openings are inclined in different directions at a 45-degree angle, forming an alternating vertical and horizontal flow channel structure. The holes are circular, and when the water flows through the fish-repelling hole 30, the flow channel suddenly turns... The device generates strong turbulence and eddies, creating broadband noise that covers the low to mid-frequency range to which fish are sensitive. The tilted design further intensifies the impact and mixing of the water flow, resulting in a more uniform noise distribution and avoiding dead zones. This broadband noise can interfere with the lateral line system and auditory organs of fish, triggering their escape response. The fish-repelling rate can reach over 80%. The staggered hole structure inside the fish-repelling hole 30 can stably generate this type of sound wave. The tilted hole design further intensifies the impact of the water flow, ensuring that the noise intensity is evenly distributed within a five-meter radius around the device, forming a protective circle without dead zones. This prevents fish from approaching from the side or rear, effectively ensuring the safety and mapping accuracy of the device throughout the entire operation.

[0026] In another implementation scheme, such as Figures 1-6As shown, the drive assembly includes a rear rotor 7, a middle rotor 8, and a front rotor 9. Movable seats 29 are fixedly mounted on the outer sides of the rear rotor 7, the middle rotor 8, and the front rotor 9. Adjusting bolts 23 are threaded onto the inner threads of the movable seats 29. A fastening knob 34 is threaded onto the outer threads of the adjusting bolts 23. An adjusting arm 10 is movably sleeved onto the outer side of the adjusting bolts 23. An adjusting bolt 20 is threaded onto the inner threads of the end of the adjusting arm 10 furthest from the adjusting bolts 23. A fastening knob 16 is threaded onto the outer threads of the adjusting bolt 20. The adjusting bolt 20 is slidably mounted inside the adjusting groove 19. The end of the adjusting arm 10 furthest from the adjusting bolts 23 is slidably mounted between two ear plates 24. The middle rotor 8 is located between the rear rotor 7 and the front rotor 9.

[0027] The device can move in various directions underwater by means of the rear propeller 7, the middle propeller 8, and the front propeller 9. The rear propeller 7 enables stable forward movement, the middle propeller 8 enables vertical movement, and the front propeller 9 helps the device turn underwater, improving its underwater movement. The relative positions of the rear propeller 7, the middle propeller 8, and the front propeller 9 can be adjusted using the movable seat 29 and the adjusting arm 10. After adjustment, the position of the adjusting arm 10 can be fixed using the fastening knob 16 and the adjusting bolt 20. The orientation of the rear propeller 7 and the front propeller 9 can also be adjusted. After adjustment, the positions of the rear propeller 7 and the front propeller 9 can be fixed using the fastening knob 34 and the adjusting bolt 33, further enhancing the device's performance.

[0028] In another implementation scheme, such as Figures 1-6As shown, the clamping assembly includes an outer sleeve 26, a push-pull rod 37 slidably mounted inside the outer sleeve 26, a waterproof cylinder 35 fixedly mounted at one end of the outer sleeve 26, and a clamping sleeve 36 fixedly mounted at the end of the outer sleeve 26 away from the waterproof cylinder 35. A gripper assembly is installed inside the clamping sleeve 36. The gripper assembly includes two hinge plates 14, and clamping blocks 13 are movably mounted on both sides of opposite sides of the two hinge plates 14. A hinge rod 12 is fixedly mounted at one end of each clamping block 13, and a hinge rod 2 is movably mounted at the end of the hinge rod 12 away from the clamping block 13. 15. A push-pull seat 38 is movably installed at the end of the second hinge rod 15 away from the first hinge rod 12. The push-pull seat 38 is slidably installed inside the clamping sleeve 36. The hinge plate 14 is installed at the end of the clamping sleeve 36 away from the outer sleeve rod 26. One side of the push-pull seat 38 is fixedly connected to one end of the push-pull rod 37. The output end of the waterproof cylinder 35 is fixedly connected to the end of the push-pull rod 37 away from the push-pull seat 38. A fixing seat 27 is fixedly installed at the bottom of the base plate 28. An installation sleeve 25 is fixedly installed at the bottom of the fixing seat 27. The installation sleeve 25 is fixedly installed on the outside of the outer sleeve rod 26.

[0029] When materials need to be clamped, the waterproof cylinder 35 can be activated. The output end of the waterproof cylinder 35 can drive the push-pull rod 37 to move inside the outer sleeve rod 26, thereby causing the push-pull seat 38 to move inside the clamping sleeve 36, which in turn pulls the second hinge rod 15 to move, thereby causing the first hinge rod 12 to drive the clamping block 13 to open and close, thus achieving material clamping, facilitating underwater sampling, and improving the effectiveness of the device.

[0030] In another implementation scheme, such as Figures 1-6 As shown, support plates 17 are symmetrically fixedly installed on both sides of the bottom of the base plate 28, and support rods 18 are fixedly installed on the end of the support plate 17 away from the base plate 28.

[0031] The support plate 17 and support rod 18 can support the entire device when it is underwater and when it is not in use.

[0032] Working Principle: During use, the device can be placed in the desired water area. The drive components enable underwater movement. The rear propeller 7, middle propeller 8, and front propeller 9 allow for movement in all directions underwater. The rear propeller 7 provides stable forward movement, while the middle propeller 8 enables vertical movement. The front propeller 9 facilitates underwater turning, improving underwater mobility. The relative positions of the rear propeller 7, middle propeller 8, and front propeller 9 can be adjusted using the movable base 29 and adjusting arm 10. After adjustment, the adjusting arm 10 can be tightened using the fastening knob 16 and adjusting bolt 20. The position of the device is fixed, and the orientation of the rear propeller 7 and the front propeller 9 can be adjusted. After adjustment, the positions of the rear propeller 7 and the front propeller 9 can be fixed by tightening knob 2 34 and adjusting bolt 2 33 to improve the device's performance. When the device moves underwater, it can use the high-definition underwater mapping camera 23 inside the protective shell 32 to photograph and map the aquatic environment. The high-definition underwater mapping camera 23 uses a 12-megapixel high-definition sensor, combined with a wide-angle lens and low-light imaging technology. Even in turbid and dimly lit underwater environments, it can clearly capture the topography and landforms of the water, such as seabed beaches, rock textures and underwater plant distribution, man-made facilities such as pipes, bridges and shipwrecks, and organisms. To enhance surveying accuracy, the high-definition underwater surveying camera 23 supports autofocus and image stabilization, capturing 30 frames per second to ensure smooth and detailed continuous images. The captured data is transmitted to the processor inside the control box, and then transferred to memory and remote control via a transceiver and controller. The transceiver in the control box transmits data through dual links of underwater acoustic communication and satellite communication. During underwater operations, the underwater acoustic communication module transmits data as sound waves to the surface receiving device, which then forwards it to the satellite. The satellite then transmits the data in real time to the remote control center or the operator's terminal device for storage and viewing. Additionally, when sampling underwater materials is required, the camera can be clamped... The components are clamped together. Additionally, when the device moves, water can be injected through the inlet seat 6 and fed into the fish-repelling hole 30 inside the fish-repelling seat 4 via the connecting pipe 5. As the water flows through the fish-repelling hole 30, specific sound waves are generated due to flow disturbance, turbulence intensity, and frequency characteristics. The frequency and intensity of these sound waves match the negative tactile response of fish, thus dispersing the fish and preventing them from colliding with the equipment. The fish-repelling hole 30 consists of two layers of perforated plates with staggered openings. The upper and lower layers of openings are inclined in different directions at a 45-degree angle, forming an alternating vertical and horizontal flow channel structure. The holes are circular. When the water flows through the fish-repelling hole 30, strong turbulence and eddies are generated due to the sudden turn in the flow channel, creating broadband noise covering the low- to mid-frequency range that fish are sensitive to.The inclined design further intensifies the impact and mixing of water flow, resulting in a more uniform noise distribution and eliminating acoustic dead zones. Broadband noise can interfere with the lateral line system and auditory organs of fish, triggering their escape response and achieving a fish-repelling rate of over 80%. The staggered hole structure inside the fish-repelling hole 30 stably generates this type of sound wave. The inclined hole design further intensifies the impact of the water flow, ensuring a uniform noise distribution within a five-meter radius around the device, forming a protective circle without acoustic dead zones. This prevents fish from approaching from the side or rear, effectively ensuring the safety and mapping accuracy of the device throughout the entire operation. When materials need to be clamped, the waterproof cylinder 35 can be activated. The output end of the waterproof cylinder 35 can drive the push-pull rod 37 to move inside the outer sleeve rod 26, thereby moving the push-pull seat 38 inside the clamping sleeve 36, which in turn pulls the second hinge rod 15 to move. This causes the first hinge rod 12 to drive the clamping block 13 to open and close, thus clamping the materials, facilitating underwater sampling, and improving the effectiveness of the device. The support plate 17 and support rod 18 can support the entire device when it is underwater and not in use.

[0033] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An underwater robot for marine mapping, comprising a top plate (1) and a bottom plate (28), characterized in that: The top plate (1) and the intermediate propeller (8) are connected by bolts for sealing. Ear plates (24) are fixedly installed on both sides of the top plate (1) and the bottom plate (28). A drive assembly for moving the device in the water is installed between the ear plates (24). An observation hood (2) is fixedly installed on the top of the top plate (1). A fixing plate (3) is fixedly installed on the top of the observation hood (2). A fish-repelling assembly for preventing fish from colliding with the device is fixedly installed on the top of the fixing plate (3). A clamping assembly for sampling is installed at the bottom of the bottom plate (28). (1) A movable seat 1 (22) is fixedly installed on one side. An adjusting arm 2 (21) is installed inside the movable seat 1 (22) by bolts. A movable seat 3 (31) is installed on the side of the adjusting arm 2 (21) away from the movable seat 1 (22) by bolts. A protective shell (32) is fixedly installed on the side of the movable seat 3 (31) away from the adjusting arm 2 (21). A high-definition underwater mapping camera (23) is fixedly installed inside the protective shell (32). A waterproof glass plate (11) is sealed and fixedly installed on one side of the high-definition underwater mapping camera (23).

2. The underwater robot for marine mapping according to claim 1, characterized in that: The drive assembly includes a rear rotor (7), a middle rotor (8), and a front rotor (9). A movable seat (29) is fixedly installed on the outer side of each of the rear rotor (7), the middle rotor (8), and the front rotor (9). An adjusting bolt (33) is installed on the internal thread of the movable seat (29). A fastening knob (34) is connected to the outer thread of the adjusting bolt (33). An adjusting arm (10) is movably sleeved on the outer side of the adjusting bolt (33). An adjusting bolt (20) is connected to the internal thread of the end of the adjusting arm (10) away from the adjusting bolt (33). A fastening knob (16) is connected to the outer thread of the adjusting bolt (20).

3. The underwater robot for marine mapping according to claim 2, characterized in that: The first adjusting bolt (20) is slidably installed inside the adjusting groove (19), the first adjusting arm (10) is slidably installed between the two ear plates (24) at the end away from the second adjusting bolt (33), and the middle rotor (8) is located between the rear rotor (7) and the front rotor (9).

4. The underwater robot for marine mapping according to claim 3, characterized in that: The fish-repelling assembly includes a fish-repelling seat (4) and a water inlet seat (6). The fish-repelling seat (4) has a fish-repelling hole (30) inside. A connecting pipe (5) is connected to one side of the water inlet seat (6). The end of the connecting pipe (5) away from the water inlet seat (6) is connected to the water inlet of the fish-repelling hole (30) inside the fish-repelling seat (4).

5. An underwater robot for marine mapping according to claim 4, characterized in that: The clamping assembly includes an outer sleeve (26), a push-pull rod (37) is slidably installed inside the outer sleeve (26), a waterproof cylinder (35) is fixedly installed at one end of the outer sleeve (26), a clamping sleeve (36) is fixedly installed at the end of the outer sleeve (26) away from the waterproof cylinder (35), and a gripper assembly is installed inside the clamping sleeve (36).

6. An underwater robot for marine mapping according to claim 5, characterized in that: The gripper assembly includes two hinge plates (14), and gripping blocks (13) are movably installed on both sides of the two hinge plates (14). A first hinge rod (12) is fixedly installed at one end of the gripping block (13), and a second hinge rod (15) is movably installed at the end of the first hinge rod (12) away from the gripping block (13). A push-pull seat (38) is movably installed at the end of the second hinge rod (15) away from the first hinge rod (12).

7. An underwater robot for marine mapping according to claim 6, characterized in that: The push-pull seat (38) is slidably installed inside the clamping sleeve (36), the hinge plate (14) is installed at the end of the clamping sleeve (36) away from the outer sleeve rod (26), one side of the push-pull seat (38) is fixedly connected to one end of the push-pull rod (37), and the output end of the waterproof cylinder (35) is fixedly connected to the end of the push-pull rod (37) away from the push-pull seat (38).

8. An underwater robot for marine mapping according to claim 7, characterized in that: A fixing seat (27) is fixedly installed at the bottom of the base plate (28), and an installation sleeve (25) is fixedly installed at the bottom of the fixing seat (27). The installation sleeve (25) is fixedly installed on the outside of the outer sleeve rod (26).

9. An underwater robot for marine mapping according to claim 8, characterized in that: Support plates (17) are symmetrically fixedly installed on both sides of the bottom of the base plate (28), and a support rod (18) is fixedly installed on the end of the support plate (17) away from the base plate (28).

10. An underwater robot for marine mapping according to claim 9, characterized in that: A control box is fixedly installed on the top of the top plate (1), and an observation cover (2) is sealed on the outside of the control box. The observation cover (2) is made of transparent tempered glass.

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