A dual-ducted propeller type underwater rescue and exploration robot

Abstract

The application discloses a double-ducted propeller type underwater rescue and detection robot, which comprises a main body, left and right ducted propeller assemblies symmetrically arranged on both sides of the middle part of the main body, a multifunctional detection assembly installed at the center of the top of the main body, a front panoramic detection array located at the front part of the main body, a tail auxiliary function area located at the rear part of the main body, a sealed battery cabin, a duct center flow guide structure and a main control circuit module. The main body is a streamlined sealed shell; the double-ducted propeller assemblies provide main thrust and attitude control and have anti-winding characteristics; the multifunctional detection assembly is used for connecting a mooring cable or a working module; the front panoramic detection array realizes underwater environment sensing and target identification; and the duct center flow guide structure comprises an integrally formed holding part, and is convenient for rapid deployment. Through the symmetrical double-ducted layout and integrated design, the application improves the anti-interference ability and operation efficiency in a complex underwater environment, and is suitable for underwater rescue, detection and other multi-scene operations.

Description

Technical Field

[0001] This invention relates to the field of underwater robot technology, specifically to a dual-duct propulsion underwater rescue and detection robot. Background Technology

[0002] Underwater rescue and exploration operations face complex and variable environments, including challenges such as undercurrents, entanglement with aquatic plants, and low visibility. Traditional underwater robots often employ open-type propeller propulsion, which is easily entangled in debris such as aquatic plants and fishing nets, leading to power failure. Furthermore, existing equipment exhibits poor maneuverability in confined spaces (such as inside shipwrecks or culverts), making it difficult to achieve high-precision hovering and agile turning. In addition, the detection equipment and propulsion system of traditional robots are often separated, hindering compact overall design and coordinated control. To address these issues, this invention proposes an underwater rescue and exploration robot integrating dual-duct propulsion, multi-functional detection, and a modular protection structure to improve the stability, adaptability, and intelligence of underwater operations. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and propose a dual-duct propulsion underwater rescue and exploration robot to solve the problems of low propulsion efficiency, poor anti-entanglement ability and insufficient structural integration of existing underwater robots in complex environments.

[0004] To achieve the above objectives, this invention employs a dual-duct propulsion underwater rescue and detection robot, comprising a main body, a left-side duct propulsion assembly, a right-side duct propulsion assembly, a multi-functional detection assembly, a front-end panoramic detection array, a tail auxiliary functional area, a sealed battery compartment, a central duct flow guiding structure, and a main control circuit module. The main body is a streamlined sealed shell; the left-side and right-side duct propulsion assemblies are symmetrically mounted on both sides of the middle of the main body, providing vertical lift and horizontal thrust for the robot; the multi-functional detection assembly is mounted at the top center of the main body for connecting mooring cables or attaching a robotic arm; the front-end panoramic detection array is located at the front of the main body for underwater environmental perception and target identification; the tail auxiliary functional area is located at the rear of the main body for assisting in attachment and fluid flow guidance.

[0005] The main body of the fuselage includes a fuselage shell and waterproof and breathable heat dissipation holes; the fuselage shell is made of lightweight, high-strength, and corrosion-resistant materials, and has a streamlined appearance, which can effectively reduce underwater navigation resistance; the waterproof and breathable heat dissipation holes are located on the side of the fuselage shell and are used for heat dissipation of internal electronic components and pressure difference balance between the inside and outside.

[0006] The left-side duct propulsion assembly includes a left-side duct housing, a left-side propeller blade, and a left-side propeller guide port. The left-side duct housing is a cylindrical structure and is fixedly installed on the left side of the main body. The left-side propeller blade is located inside the left-side duct housing and generates thrust by rotating a drive motor. The left-side propeller guide port is located on the inner wall of the duct housing and is used to optimize the water flow direction and propulsion efficiency.

[0007] The right-side duct propulsion assembly includes a right-side duct shell, a right-side duct blade, and a right-side duct guide port. The structure of the right-side duct propulsion assembly is symmetrical and identical to that of the left-side duct propulsion assembly. The robot's rotation, yaw, and lateral translation are achieved by differential control of the thrust on the left and right sides.

[0008] The multi-functional detection component includes a multi-functional interface base, a docking sleeve base, an aerial plug locking structure, and an end effector. The multi-functional interface base is fixed to the top of the fuselage. The docking sleeve base is used to insert external cables or detection equipment. The aerial plug locking structure is used for underwater sealing and locking of the docking interface. The end effector is used to mount a detection probe or a small rescue tool.

[0009] The front-end panoramic detection array includes a front-end external panel frame and a high-definition detection component; the front-end external panel frame is fixed to the front of the fuselage and has an annular arc structure; the high-definition detection component includes an underwater camera and an LED light, which are installed in the frame window for real-time acquisition of underwater images and lighting.

[0010] The tail auxiliary functional area includes a tail auxiliary interface base and a tail guide cavity; the tail auxiliary interface base is used to mount a retrieval rope or auxiliary equipment; the tail guide cavity is a streamlined cavity structure used to optimize the water flow pattern at the tail of the robot.

[0011] The culvert center guide structure includes a guide and protective grid and an integrally molded grip. The guide and protective grid is located at the center opening of the culvert and has a mesh structure to prevent weeds and debris from getting tangled in the blades. The integrally molded grip is a raised handle on the outer shell of the machine body, which is convenient for manual handling and placement.

[0012] The sealed battery compartment is installed inside the main body of the fuselage and uses a waterproof and sealed structure to house the battery module, providing power to the entire machine. The main control circuit module is installed inside the main body of the fuselage and is electrically connected to the left ducted propulsion assembly, the right ducted propulsion assembly, the front panoramic detection array, and the multi-functional detection assembly to realize propulsion control, image processing, and communication management.

[0013] This invention discloses a dual-duct propulsion underwater rescue and exploration robot. Through a symmetrical dual-duct propulsion layout, the robot achieves high-precision hovering and flexible turning underwater. The coordinated design of the top multi-functional detection component and the front panoramic detection array integrates underwater detection and mooring operations. The streamlined fuselage and tail-mounted flow-guiding structure effectively reduce underwater drag. The robot is characterized by anti-entanglement, high maneuverability, and multi-functionality, and can be widely used in underwater rescue, shipwreck detection, pipeline inspection, and other fields. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall isometric three-dimensional structure of a dual-duct propulsion underwater rescue and exploration robot according to the present invention.

[0015] Figure 2 This is an isometric view from another perspective of a dual-duct propulsion underwater rescue and exploration robot according to the present invention.

[0016] Figure 3 This is a side view of a dual-duct propulsion underwater rescue and exploration robot according to the present invention.

[0017] 1-Fuselage body, 101-Fuselage shell, 102-Waterproof and breathable heat dissipation hole, 2-Left ducted propulsion assembly, 201-Left side thruster duct shell, 202-Left side thruster blade, 203-Left side thruster guide port, 3-Right ducted propulsion assembly, 301-Right side thruster duct shell, 302-Right side thruster blade, 303-Right side thruster guide port, 4-Multi-functional detection assembly, 401-Multi-functional interface base, 402-Dating sleeve base, 403-Aircraft plug locking structure, 404-End effector, 5-Front-end panoramic detection array, 501-Front-end external panel frame, 502-High-definition detection assembly, 6-Tail auxiliary functional area, 601-Tail auxiliary interface base, 602-Tail guide cavity, 7-Sealed battery compartment, 8-Duct center guide structure, 801-Guide protective grille, 802-One-piece molded grip, 9-Main control circuit module.

[0018] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0019] In the description of this invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the 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, and therefore should not be construed as a limitation of the invention. Furthermore, in the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0020] Please see Figures 1 to 3 The present invention provides a dual-duct propulsion underwater rescue and detection robot, including a main body 1, a left duct propulsion component 2, a right duct propulsion component 3, a multi-functional detection component 4, a front panoramic detection array 5, a tail auxiliary functional area 6, a sealed battery compartment 7, a duct center guide structure 8, and a main control circuit module 9.

[0021] The main body 1 serves as the basic support platform, possessing excellent hydrodynamic characteristics and structural strength. The left ducted propulsion assembly 2 and the right ducted propulsion assembly 3 are symmetrically installed on both sides of the middle of the main body 1, providing vertical lift and horizontal thrust for the robot. The multi-functional detection assembly 4 is installed at the top center of the main body 1, used to connect mooring cables or attach robotic arms. The front panoramic detection array 5 is located at the front of the fuselage, used for underwater environmental perception and target identification. The tail auxiliary functional area 6 is located at the rear of the fuselage, used for assisting in attachment and fluid guidance.

[0022] The main body 1 includes a fuselage shell 101 and waterproof and breathable heat dissipation holes 102. The fuselage shell 101 is made of lightweight, high-strength, and corrosion-resistant materials and has a streamlined appearance, which can effectively reduce underwater navigation resistance. The waterproof and breathable heat dissipation holes 102 are located on the side of the fuselage shell and are used for heat dissipation of internal electronic components and pressure difference balance between the inside and outside.

[0023] The left-side duct propulsion assembly 2 includes a left-side duct housing 201, a left-side duct blade 202, and a left-side duct guide port 203. The left-side duct housing 201 is a cylindrical structure and is fixedly installed on the left side of the main body 1. The left-side duct blade 202 is located inside the left-side duct housing and generates thrust by rotating a drive motor. The left-side duct guide port 203 is located on the inner wall of the duct housing and is used to optimize the water flow direction and propulsion efficiency.

[0024] The right-side duct propulsion assembly 3 includes a right-side duct shell 301, a right-side duct blade 302, and a right-side duct guide port 303. The structure of the right-side duct propulsion assembly 3 is symmetrical and identical to that of the left-side duct propulsion assembly 2. The robot's rotation, yaw, and lateral translation are achieved by differential control of the thrust on the left and right sides.

[0025] The multi-functional detection component 4 includes a multi-functional interface base 401, a docking sleeve base 402, an aerial plug locking structure 403, and an end effector 404. The multi-functional interface base 401 is fixed to the top of the fuselage body 1. The docking sleeve base 402 is used to insert external cables or detection equipment. The aerial plug locking structure 403 is used for underwater sealing and locking of the docking interface. The end effector 404 is used to mount detection probes or small rescue tools.

[0026] The front-end panoramic detection array 5 includes a front-end external panel frame 501 and a high-definition detection component 502. The front-end external panel frame 501 is fixed to the front of the fuselage and has an annular arc structure. The high-definition detection component 502 includes an underwater camera and an LED light, which are installed in the frame window and used to collect underwater images and lighting in real time.

[0027] The tail auxiliary functional area 6 includes a tail auxiliary interface base 601 and a tail guide cavity 602; the tail auxiliary interface base 601 is used to mount a retrieval rope or auxiliary equipment; the tail guide cavity 602 is a streamlined cavity structure used to optimize the water flow pattern at the tail of the robot.

[0028] The culvert center guide structure 8 includes a guide and protection grille 801 and an integrally formed grip part 802. The guide and protection grille 801 is set at the center opening of the culvert and has a mesh structure to prevent water plants and debris from getting tangled in the blades. The integrally formed grip part 802 is a raised handle on the outer shell of the machine body, which is convenient for manual handling and placement.

[0029] The sealed battery compartment 7 is installed inside the main body of the fuselage and uses a waterproof and sealed structure to house the battery module, providing power to the whole machine; the main control circuit module 9 is installed inside the main body of the fuselage and is electrically connected to the left ducted propulsion component 2, the right ducted propulsion component 3, the front panoramic detection array 5 and the multi-functional detection component 4 to realize propulsion control, image processing and communication management.

[0030] In this embodiment, the dual-duct propulsion underwater rescue and detection robot is mainly used for underwater search and rescue and exploration operations, and its working process is as follows:

[0031] Once the robot is deployed in the water, the operator sends a start command to the main control circuit module 9 via the waterborne control console. The main control circuit module 9 then connects the power supply to the sealed battery compartment 7, activating the drive motors in the left ducted propulsion assembly 2 and the right ducted propulsion assembly 3. By adjusting the rotational speed of the left and right ducted propellers, the robot can stably suspend itself in the water or move along a set course.

[0032] During navigation, the high-definition detection component 502 of the front-end panoramic detection array 5 continuously acquires underwater image signals from ahead and performs real-time analysis through the image processing unit on the main control circuit module 9. If suspected trapped personnel, shipwreck debris, or target objects are detected in the image, the main control circuit module 9 automatically adjusts the thrust of the left and right ducts to hover the robot above the target, and releases or operates the detection tool through the end effector 404 of the multi-functional detection component 4.

[0033] When the robot needs to perform delicate operations in confined spaces (such as inside pipes or shipwrecks), differential speed control of the thrust of the left and right ducts (e.g., left-side thrust > right-side thrust) can be used to enable the robot to rotate in place or move laterally. At the same time, the flow-guiding and protective grid 801 of the duct center guide structure 8 can effectively prevent aquatic plants from getting tangled in the propeller blades, ensuring the continuous and stable operation of the propulsion system.

[0034] If the robot needs to be retrieved or its battery replaced during deep-water operations, the operator can connect the tether cable to the tail auxiliary interface base 601 and lift the robot to the surface using the one-piece grip 802. The tail guide cavity 602 can significantly reduce water resistance and improve the stability of vertical movement during the robot's ascent or descent.

[0035] In summary, the dual-duct propulsion underwater rescue and detection robot of the present invention achieves an organic unity of high underwater maneuverability, anti-entanglement, and multi-functional detection through a compact integrated body design, a symmetrical dual-duct propulsion layout, and the coordinated operation of multi-functional detection components. It has significant technological advancements and industrial application value.

[0036] The above description discloses only one preferred embodiment of the present invention, and should not be construed as limiting the scope of the present invention. Those skilled in the art will understand that all or part of the processes of the above embodiments can be implemented, and equivalent changes made in accordance with the claims of the present invention are still within the scope of the invention.

Claims

1. A dual-duct propulsion underwater rescue and detection robot, characterized in that, The robot comprises a main fuselage, a left-side ducted propulsion assembly, a right-side ducted propulsion assembly, a multi-functional detection assembly, a front-end panoramic detection array, a rear auxiliary functional area, a sealed battery compartment, a central duct flow guide structure, and a main control circuit module. The main fuselage is a streamlined sealed shell. The left-side and right-side ducted propulsion assemblies are symmetrically mounted on both sides of the middle of the main fuselage, providing vertical lift and horizontal thrust for the robot. The multi-functional detection assembly is mounted at the top center of the main fuselage for connecting mooring cables or attaching robotic arms. The front-end panoramic detection array is located at the front of the fuselage for underwater environmental perception and target identification. The rear auxiliary functional area is located at the rear of the fuselage for assisting in attachment and fluid flow guidance.

2. The dual-duct propulsion underwater rescue and detection robot as described in claim 1, characterized in that, The main body of the fuselage includes a fuselage shell and waterproof, breathable, and heat dissipation holes; the fuselage shell is made of lightweight, high-strength, and corrosion-resistant materials, and has a streamlined appearance, which can effectively reduce underwater navigation resistance; the waterproof, breathable, and heat dissipation holes are located on the side of the fuselage shell and are used for heat dissipation of internal electronic components and pressure balance between the inside and outside.

3. The dual-duct propulsion underwater rescue and detection robot as described in claim 1, characterized in that, The left-side duct propulsion assembly includes a left-side duct housing, a left-side propeller blade, and a left-side propeller guide port. The left-side duct housing is a cylindrical structure and is fixedly installed on the left side of the main body. The left-side propeller blade is located inside the left-side duct housing and generates thrust by rotating a drive motor. The left-side propeller guide port is located on the inner wall of the duct housing and is used to optimize the water flow direction and propulsion efficiency.

4. The dual-duct propulsion underwater rescue and exploration robot as described in claim 1, characterized in that, The right-side duct propulsion assembly includes a right-side duct shell, a right-side duct blade, and a right-side duct guide port. The structure of the right-side duct propulsion assembly is symmetrical and identical to that of the left-side duct propulsion assembly. The robot's rotation, yaw, and lateral translation are achieved by differential control of the thrust on the left and right sides.

5. The dual-duct propulsion underwater rescue and detection robot as described in claim 1, characterized in that, The multi-functional detection assembly includes a multi-functional interface base, a docking sleeve base, an aerial plug locking structure, and an end effector; the multi-functional interface base is fixed to the top of the fuselage; the docking sleeve base is used to insert external cables or detection equipment; the aerial plug locking structure is used for underwater sealing and locking of the docking interface; and the end effector is used to mount a detection probe or a small rescue tool.

6. The dual-duct propulsion underwater rescue and detection robot as described in claim 1, characterized in that, The front-end panoramic detection array includes a front-end external panel frame and a high-definition detection component; the front-end external panel frame is fixed to the front of the fuselage and has an annular arc surface structure; the high-definition detection component includes an underwater camera and an LED light, which are installed in the frame window for real-time acquisition of underwater images and lighting.

7. The dual-duct propulsion underwater rescue and exploration robot as described in claim 1, characterized in that, The tail auxiliary functional area includes a tail auxiliary interface base and a tail flow guiding cavity; the tail auxiliary interface base is used to mount a retrieval rope or auxiliary equipment; the tail flow guiding cavity is a streamlined cavity structure used to optimize the water flow pattern at the tail of the robot.

8. The dual-duct propulsion underwater rescue and detection robot as described in claim 1, characterized in that, The culvert center guide structure includes a guide and protective grid and an integrated grip; the guide and protective grid is set at the center opening of the culvert and has a mesh structure to prevent water plants and debris from getting tangled in the blades; the integrated grip is a raised handle on the fuselage shell for easy manual handling and placement.

9. The dual-duct propulsion underwater rescue and detection robot as described in claim 1, characterized in that, The sealed battery compartment is installed inside the main body of the fuselage and uses a waterproof and sealed structure to house the battery module, providing power to the entire machine. The main control circuit module is installed inside the main body of the fuselage and is electrically connected to the left ducted propulsion assembly, the right ducted propulsion assembly, the front panoramic detection array, and the multi-functional detection assembly to realize propulsion control, image processing, and communication management.

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