A steerable propulsion hand-held underwater exploration device

Abstract

The application discloses a handheld underwater detection device with adjustable direction propulsion and belongs to the technical field of underwater operation equipment. The existing handheld underwater detection device completely relies on manpower movement, and problems such as no power assistance, power and detection being unable to be coordinated exist. The application comprises a main body structure, a quick-release battery assembly, a sensing unit, an interactive display module and an underwater propulsion module. The main body structure comprises a main shell and a handheld ring connected with the main shell. The quick-release battery assembly is installed on the main body structure, provides power for the device and realizes quick release of the battery. The sensing unit comprises a detection imaging assembly and a multi-source fusion positioning navigation module. The interactive display module comprises a display screen and control buttons arranged on the top surface of the main body structure. The underwater propulsion module comprises an underwater steering engine fixed below the main body structure and an underwater propeller connected with the output end of the underwater steering engine, and the underwater steering engine is used for driving the underwater propeller to realize adjustable pitch angle. The application realizes adjustable direction autonomous propulsion of the handheld underwater detection device, integrates detection, navigation and power assistance into one, and is convenient for operation.

Description

Technical Field

[0001] This invention relates to the field of underwater operation equipment, and more particularly to a handheld underwater detection device with adjustable propulsion. Background Technology

[0002] When divers perform underwater exploration, inspection, and search and rescue operations, they typically need to use handheld devices to obtain information about the underwater environment and their own position and attitude. However, existing handheld underwater exploration equipment generally suffers from the following shortcomings in practical applications: 1. Without power assistance, the operating range and efficiency are limited. Existing handheld underwater detection equipment relies entirely on the diver's manual movement. While usable in calm or slow-flowing environments, it becomes extremely physically demanding in currents where divers must constantly fight the current to maintain the equipment's orientation. When operating against the current, propulsion depends entirely on manual fin kicking, resulting in slow movement, short effective working time, and severely limited detection range. Furthermore, when precise observations require hovering at a fixed point, divers struggle to maintain both body stability and equipment orientation simultaneously, leading to decreased image quality and insufficient operational precision.

[0003] Second, the existing power equipment is incompatible with handheld operation scenarios. Some divers use independent underwater propulsion devices to assist in movement, but these devices are usually handheld or straddle-style, large and heavy, requiring both hands to operate and making it impossible to simultaneously operate handheld detection equipment. If the detection equipment and propulsion devices are carried by different divers, it increases personnel configuration and coordination difficulties. On the other hand, while large underwater robots with propulsion systems can navigate and explore autonomously, their bulky structure and high cost make them unsuitable for close-range, precision operations by divers, and they cannot replace the portability and flexibility of handheld devices.

[0004] Third, battery replacement is inconvenient and makes it difficult to support long-duration continuous operation. Most existing handheld underwater detection equipment uses built-in batteries, which require removing bolts or opening sealed covers to replace them. This process is cumbersome and time-consuming, especially in deep water or slippery environments. Underwater operation time is already limited by dive duration. If battery replacement is too complicated and takes too much time, it will significantly shorten the effective working window and reduce mission completion efficiency.

[0005] In summary, existing handheld underwater detection equipment cannot simultaneously meet the requirements of "portable handheld operation, multi-functional integration, adjustable propulsion, and rapid battery swapping." It suffers from problems such as a significant conflict between portability and operational efficiency, limited functionality, and a lack of coordination between propulsion and detection, thus restricting the safety, efficiency, and scope of underwater operations. Therefore, it is necessary to develop a handheld underwater detection device with adjustable propulsion to solve the aforementioned technical problems. Summary of the Invention

[0006] The technical problem to be solved and the technical task proposed by this invention is to improve and refine existing technical solutions, and to provide a handheld underwater detection device with adjustable propulsion, aiming to achieve convenient handheld operation, multi-functional integration, adjustable power assistance, and rapid battery swapping. To this end, this invention adopts the following technical solution.

[0007] A handheld underwater detection device with adjustable propulsion, comprising: The main structure includes the main shell and the hand ring connected to it; A quick-release battery assembly is installed in the main structure to provide power to the device and enable tool-free quick-release of the battery; The sensing unit, installed on the main structure, includes at least a detection imaging component for underwater environment perception and target detection, and a multi-source fusion positioning and navigation module for acquiring position, attitude and orientation information; The interactive display module includes a display screen and control buttons disposed on the top surface of the main structure; The underwater propulsion module includes an underwater servo motor fixed below the main structure and an underwater thruster connected to the output end of the underwater servo motor; the underwater servo motor is used to drive the underwater thruster to achieve adjustable pitch angle.

[0008] This technical solution integrates underwater environmental perception, positioning and navigation, and power assistance functions into a single portable unit, replacing the need for multiple separate sets of equipment that must be carried simultaneously. This significantly reduces the overall weight and operational complexity for divers. Adjustable pitch angle is achieved by using underwater servos to drive the thrusters, solving the problem that existing handheld thrusters can only propel in a fixed direction and require adjustments based on the diver's body posture. It can adapt to various operational postures such as hovering, slow cruising, moving against the current, and turning to avoid obstacles, greatly improving the flexibility and stability of underwater operations. Power assistance significantly improves operational efficiency and range, effectively reducing the physical exertion of divers during long-distance travel and against-the-current operations, extending effective working time, and breaking through the limitations of traditional purely handheld equipment that can only operate in calm water and at close range, covering a wider underwater operational area. The quick-release battery module design ensures continuous operation capability, supports rapid battery replacement, and allows for power replenishment without disassembling the main unit, avoiding operational interruptions due to battery depletion and meeting the needs of long-duration underwater operations. The sensing unit and power system work in tandem, allowing divers to simultaneously conduct underwater environment detection and navigation during movement. They can adjust their direction and work position without interrupting detection operations, enabling continuous operation. Maintaining the portability and flexibility of a handheld device, its compact structure allows for one-handed operation, making it suitable for confined spaces and close-range precision work—scenarios inaccessible to large ROVs / AUVs—filling the technological gap between purely handheld devices and large underwater robots.

[0009] As a preferred technical means: the main structure is provided with a battery compartment for accommodating the quick-release battery assembly, the quick-release battery assembly includes a first quick-release component, a second quick-release component and a battery; the second quick-release component is fixedly connected to the battery to form a pluggable and replaceable battery module; the first quick-release component is located at the end of the battery compartment; the first quick-release component and the second quick-release component are provided with a cooperating locking mechanism to realize the axial positioning of the quick-release battery assembly.

[0010] This technical solution integrates the second quick-release component with the battery into a single pluggable battery module. During replacement, there's no need to separately handle the battery itself; simply plugging and unplugging the entire module completes the power replenishment. The operation is simple, effectively shortening battery replacement time and preventing operational interruptions due to battery depletion. The first quick-release component is located at the end of the battery compartment, providing ample and intuitive access. It eliminates the need to flip the equipment or disassemble other structures, allowing for convenient operation even when divers are wearing gloves. This adapts to special working environments with limited underwater visibility and difficult operation. The locking mechanism, achieved through the cooperation of the first and second quick-release components, achieves axial positioning of the battery module. This effectively resists external forces from underwater vibrations, water flow impacts, and equipment shaking, preventing axial movement of the battery module and fundamentally avoiding power interruptions caused by poor electrical contact, ensuring long-term stable operation of the equipment. The single locking mechanism simultaneously achieves both axial positioning and locking of the battery module, eliminating the need for additional independent positioning components. This simplifies the internal structure of the battery compartment, reduces the number of parts, lowers manufacturing costs, reduces potential failure points, and improves overall structural reliability. The quick-release mechanism is integrated into the end of the battery compartment and the end of the battery module, without increasing the overall size and weight of the device, maintaining the portability advantage of handheld devices, and will not negatively affect the diver's operational flexibility.

[0011] As a preferred technical means: the battery compartment runs through the main structure in the left-right direction, one end of the battery compartment is provided with a battery compartment protective cover, and the other end is provided with a positioning groove; the battery is cylindrical, one end of which is provided with the second quick-release component, and the other end of which is provided with a pinching part that matches the positioning groove; the battery compartment protective cover is fixedly connected to the main shell, and has an opening to allow operation of the first quick-release component, changing the cooperation state of the first quick-release component and the second quick-release component, thereby realizing the disassembly and assembly of the battery module.

[0012] The battery compartment runs through the main structure from left to right, making full use of the equipment's lateral space and avoiding the center of gravity shift caused by concentrating the battery compartment at the bottom or one side of the equipment. This helps maintain the balanced weight distribution and stability of the handheld device during underwater operations. Simultaneously, the through-type layout allows the battery to be directly inserted or removed from the side of the equipment without flipping the device or opening the bottom cover, making operation intuitive. One end of the battery compartment has a positioning groove, and the other end has a protective cover. Both ends of the battery engage with a second quick-release component and a gripping part, forming double-sided positioning. The engagement of the positioning groove and the gripping part provides clear guidance and limitation during battery insertion, ensuring that the battery module accurately reaches the predetermined working position each time it is installed. This avoids poor contact or sealing failure due to assembly deviations, improving the power supply reliability of the equipment in high-pressure underwater environments. The battery compartment protective cover is fixedly connected to the main shell, providing structural protection for the battery compartment end and preventing external mud, sand, and water flow from directly impacting the quick-release mechanism, thus extending the mechanism's service life. Simultaneously, an opening in the protective cover allows divers to directly operate the first quick-release component without removing the cover, balancing protection requirements with ease of battery swapping and avoiding the cumbersome process of removing the protective cover before swapping batteries, as required in existing equipment. The other end of the battery features a gripping part that matches the positioning groove, providing a point of leverage for divers to pull out or insert the battery. This adapts to underwater working conditions where divers wear gloves, reducing the difficulty of operation in slippery, low-visibility environments, minimizing the risk of battery slippage, and improving the safety and success rate of battery swapping operations.

[0013] As a preferred technical means: the second quick-release component is provided with an axially protruding positioning ring, the end of the positioning ring is provided with a plurality of circumferentially distributed lugs, the lugs and the end face of the second quick-release component form a sliding groove, and the end face of the second quick-release component is provided with a plurality of circumferentially distributed positioning holes; the first quick-release component includes a fixed plate and a moving plate, the fixed plate is provided with a limiting post, the moving plate is provided with an arc-shaped groove matching the limiting post, a slider matching the sliding groove, and a positioning post located on the end face matching the positioning hole, and an elastic element is provided between the fixed plate and the moving plate.

[0014] The slider on the moving plate engages with the groove formed by the lug and end face on the second quick-release component. During operation, the diver simply presses and rotates the moving plate, allowing the slider to slide into or out of the groove, switching between locking and unlocking states. This operation is convenient, with low difficulty and risk of misoperation. The limiting post on the fixed plate engages with the arc-shaped groove on the moving plate, limiting the rotation angle of the moving plate within a preset range. This ensures the slider accurately reaches the locking position of the groove, preventing over-rotation leading to locking failure or under-rotation leading to a false lock. While ensuring a clear and precise operating feel, this also improves the consistency and reliability of the locking action. The positioning pin on the end face of the moving plate mates with the positioning hole on the end face of the second quick-release component. When locked in place, the positioning pin engages with the positioning hole, providing clear tactile feedback to the operator to confirm that the locking is complete. Furthermore, in the locked state, it prevents the moving plate from unexpectedly rotating circumferentially due to vibration or external force, preventing the battery module from loosening under dynamic conditions such as underwater propeller operation or equipment impact, ensuring the continuous reliability of the power supply connection. An elastic element is provided between the fixed plate and the moving plate, continuously applying axial preload in the locked state, suppressing loosening caused by equipment vibration or temperature changes. Simultaneously, it forms a stable contact pressure between the mating end faces of the first and second quick-release components, ensuring the long-term reliability of the battery module's axial positioning.

[0015] As a preferred technical means: the multi-source fusion positioning and navigation module includes a compass for providing direction information, an ultra-short baseline beacon for providing positioning information, a Doppler velocimeter for measuring speed and direction, and an inertial measurement unit for measuring attitude and angular velocity; The compass is an external mechanical compass, located at the center of the rear of the display screen; the ultra-short baseline beacon is installed at the center of the front of the display screen; the Doppler velocimeter and the inertial measurement unit are both installed at the bottom of the main structure.

[0016] This technical solution integrates four types of sensors: a compass, an ultra-short baseline beacon, a Doppler velocimeter, and an inertial measurement unit (IMU). Each sensor provides navigation information in different dimensions, such as direction, positioning, velocity, and attitude. Through data complementarity and cross-correction, it effectively reduces the susceptibility of single sensors to environmental influences, such as underwater multipath effects, acoustic blockage, and magnetic interference. When the accuracy of one sensor decreases or even fails due to blockage or interference, the remaining sensors can still maintain basic navigation functions, ensuring the continuity and reliability of navigation in complex conditions such as deep water, turbidity, and rapid currents. The compass is located in the center behind the display screen, away from electromagnetic interference sources such as the bottom motor, which helps maintain the accuracy of direction measurement. The ultra-short baseline beacon is located in the center in front of the display screen, ensuring a wide field of view for acoustic signal transmission and reception, and reducing signal blockage by the device's own structure. The Doppler velocimeter and IMU are installed at the bottom of the main structure, facilitating the acquisition of a velocity measurement reference plane and a device attitude reference at the bottom. Each sensor is arranged in an optimal position according to its own operating characteristics to avoid mutual interference and maximize its performance. An external mechanical compass is used as the source of directional information. Its working principle does not rely on electronic sensors or power supply, allowing it to operate independently even in extreme situations such as a power outage or electronic compass malfunction. This provides divers with the most basic directional reference, offering a final layer of protection for navigation and enhancing the equipment's survivability and operational safety in emergency conditions. The Doppler velocimeter and inertial measurement unit are centrally mounted at the bottom of the main structure, close to the equipment's center of gravity. This facilitates the acquisition of more accurate overall motion parameters, reduces lever arm errors introduced by installation positions deviating from the center of gravity, and improves the accuracy of velocity, attitude, and angular velocity data fusion calculations, providing a more stable and reliable raw data foundation for navigation and positioning.

[0017] As a preferred technical means: the detection imaging component includes a multibeam imaging sonar, a camera, and at least one underwater light to provide illumination for imaging; The multibeam imaging sonar is located at the center of the front end of the main structure, and the camera and the underwater light are respectively arranged on both sides of the multibeam imaging sonar, forming an integrated coaxial collaborative detection layout.

[0018] The multibeam imaging sonar is positioned at the center of the front end, with the camera and underwater light positioned on either side, forming an integrated coaxial collaborative detection layout. This spatially aligns the acoustic scanning field of view of the sonar with the optical imaging field of view of the camera. During operation, the spatial location information of underwater targets acquired by the sonar can directly correspond to the optical images captured by the camera, reducing target matching errors caused by field-of-view deviations and significantly improving the accuracy of acoustic-optical data fusion and the reliability of target identification. The centrally positioned multibeam imaging sonar ensures its acoustic aperture is not obstructed by the structure of the camera and underwater light, guaranteeing a complete field of view for sound wave transmission and reception. The central layout also facilitates the symmetrical distribution of the sonar beams directly in front of the device, maximizing the horizontal scanning coverage and improving the efficiency of searching for large-area underwater targets and the coverage of detection blind spots. The sonar, camera, and underwater light are arranged side by side, sharing the front space of the main structure to form a detection front. This helps to reduce the overall size of the front of the equipment and the underwater travel resistance, while avoiding the problem of the protruding structure being easily damaged by bumps and knocks caused by each component being mounted externally. It also balances detection performance with the equipment's maneuverability in confined spaces.

[0019] As a preferred technical means: the display screen is tilted and disposed on the top surface of the main structure; The control buttons are symmetrically arranged on both sides of the display screen and adopt a waterproof and sealed design. They are used to control the device's start and stop, switch navigation modes, adjust brightness, control the angle of the underwater servo motor, and switch the start and stop and power level of the underwater thruster.

[0020] The display screen in this technical solution is tilted and positioned on the top surface of the main structure, so that the screen's normal direction faces the diver's face, at a natural line of sight when the diver holds the device. Divers can clearly read the screen information without having to deliberately lower their heads or adjust their wrist angle, reducing neck and wrist fatigue during prolonged operation. This also reduces the risk of data misreading due to viewing angle deviation, improving the accuracy and comfort of underwater information acquisition. The control buttons are symmetrically arranged on both sides of the display screen, allowing either the left or right hand to naturally reach the button area, reducing the probability of accidental touches and improving the convenience and efficiency of underwater operation. The control buttons also integrate detection and navigation functions such as device start / stop, navigation mode switching, and brightness adjustment, as well as propulsion control functions such as underwater servo angle adjustment, thruster start / stop, and power gear switching. Divers do not need to search for dedicated buttons in different locations on the device; they can complete all detection and propulsion operations with a single hand, eliminating the switching gap between detection and propulsion operations. Divers can maintain continuous observation of the detection screen while adjusting propulsion posture, achieving coordinated detection and propulsion. The control buttons feature a waterproof and sealed design, completely isolating the button movement gaps from the internal circuitry of the equipment. This prevents electrical malfunctions or button jamming caused by water seepage in deep-water, high-pressure environments, ensuring the operational reliability and service life of the equipment during underwater operations at different depths and for extended periods, and reducing the risk of mission interruption due to water ingress into the buttons.

[0021] As a preferred technical means, it also includes at least one extended function module, with a reserved waterproof power supply interface and data interface, serving as a port for connecting to external auxiliary equipment cables or as a dedicated power supply interface for the underwater propulsion module, and having multiple layers of waterproof sealing rings inside to ensure sealing under underwater high pressure environment.

[0022] The waterproof power supply and data interfaces reserved in the extended functional module of this technical solution can serve as access ports for external auxiliary equipment and as dedicated power supply interfaces for the underwater propulsion module. A single interface handles both power supply and data transmission, reducing the number of openings in the equipment housing and mitigating the risk of housing strength loss and potential leakage caused by multiple openings. This helps maintain the compressive integrity and sealing reliability of the main structure. The underwater propulsion module obtains power directly from the extended functional module, eliminating the need for a separate battery compartment or external battery pack for the thruster. The entire unit is powered by a single quick-release battery assembly, eliminating the need for additional batteries, wiring, and sealing structures required for independent power supply to the propulsion module. This simplifies the internal power management circuitry and avoids potential issues such as power imbalance and voltage inconsistency that can occur with dual power systems, ensuring the synchronization and stability of power supply to the propulsion and detection systems. The extended functional module internally features multiple layers of waterproof sealing rings, forming a progressively sealed protective structure. In deep-water, high-pressure environments, these multiple sealing rings effectively prevent water molecules from penetrating through the interface gaps, ensuring reliable waterproofing even under prolonged repeated insertion and removal and deep-sea operations. The reserved waterproof power supply and data interfaces can be directly connected to external auxiliary equipment cables, such as external lighting, auxiliary sensors or communication modules, to realize on-demand expansion of equipment functions. This enables the equipment to have flexible configuration capabilities for different tasks, and can adapt to diverse underwater operation scenarios without hardware modification, thereby improving the equipment's versatility and task coverage.

[0023] As a preferred technical means: the underwater servo is integrally embedded in the main structure, the underwater thruster is located below the underwater servo, the underwater thruster is driven by a waterproof brushless motor, and has forward and reverse rotation and multi-level power adjustment functions.

[0024] The underwater servo is embedded entirely within the main structure, rather than being externally mounted on the bottom of the device. This allows for a smooth transition between the servo's shape and the main structure's bottom surface, reducing the frontal surface area and drag during underwater movement. Compared to external mounting, the embedded design effectively reduces the continuous impact of water flow on the servo and its connecting structures, lessening the physical exertion on divers as they struggle against water resistance. It also reduces the risk of loosening or fatigue damage to the servo due to prolonged water flow. The underwater thruster is located below the underwater servo, placing the point of propulsion below the device's center of gravity. This helps maintain stability during propulsion, reducing torque caused by the thrust point deviating from the center of gravity. Divers can maintain stable pointing without applying additional wrist torque during hovering or cruising, improving ease and precision of control. The underwater thruster has forward and reverse rotation capabilities, providing both forward and reverse thrust. This allows the equipment to not only move forward but also reverse or assist in deceleration and hovering, enhancing maneuverability in confined spaces or complex terrain. The multi-level power adjustment function allows divers to select the appropriate thrust level based on factors such as water flow, working distance, and physical exertion, flexibly balancing cruising needs and endurance time. This avoids unnecessary energy consumption caused by a single power output and extends the effective operating time of a single power supply.

[0025] As a preferred technical means, it also includes a protective and maintenance structure, which includes a shock-absorbing pad installed on the bottom surface of the main structure and a maintenance cover connected to the bottom of the main structure via a hatch hinge, so as to inspect and replace the internal components and the wiring of the underwater servo motor.

[0026] The shock-absorbing pads are installed on the bottom surface of the main structure. When the equipment is placed, touches the bottom, or experiences an underwater collision, they are the first to contact the external object. Through the elastic deformation of the material itself, they absorb and dissipate the impact energy, reducing the impact load transmitted to the precision components inside the main structure. This effectively reduces the risk of damage to critical components sensitive to vibration, such as multibeam imaging sonar, inertial measurement units, and underwater servos, due to accidental impacts, and improves the equipment's impact resistance in scenarios such as underwater operations in complex terrain and deck transfers. The maintenance cover is connected to the bottom of the main structure via a hatch hinge. When opened, the maintenance cover rotates around the hinge axis without complete disassembly, avoiding the problem of parts scattering or being lost during the disassembly and assembly of traditional bolt-fixed maintenance covers. Divers or maintenance personnel do not need to carry special tools and can open and close the maintenance cover with one hand, greatly simplifying the operation process of equipment inspection, troubleshooting, and component replacement. It is particularly suitable for rapid maintenance needs in non-laboratory environments such as shipboard decks and diving operation sites. The maintenance cover is located at the bottom of the main structure. When opened, it directly exposes the internal components and the connection lines of the underwater servo, providing a direct passage for checking and replacing the servo's power supply cables and control signal lines. Both the shock-absorbing pad and the hinged maintenance cover are located on the bottom surface of the main structure, forming a complementary function in terms of space: the shock-absorbing pad covers most of the bottom surface to provide continuous protection, while the maintenance cover provides a localized, openable passage.

[0027] Beneficial effects: 1. Optimize the tool's shape and grip structure to solve the problems of large size, difficulty in carrying, and unstable grip, while also ensuring pressure resistance and waterproof performance; 2. A dedicated quick-release battery compartment and power supply adapter structure are designed to enable tool-free rapid battery swapping, while meeting the dual power supply requirements of the detection module and the propulsion module, ensuring long endurance and continuous operation under power. 3. Optimize the operation and display structure, adopt an ergonomic viewing angle design, eliminate blind spots on the screen, simplify the operation process, and avoid misreading of underwater data; 4. Improve detection performance by using multi-beam sonar paired with low-light camera components to achieve wide-range, high-precision target detection and imaging; 5. Integrating a multi-source fusion positioning and navigation module enables complementary correction of multi-sensor data, providing accurate azimuth, positioning, velocity and attitude information, and improving navigation redundancy in complex environments; 6. A new underwater servo motor-linked thruster structure was added to solve the problems of existing equipment lacking power assistance, high physical consumption of manual operation, inability to operate against the current, and small detection range. It achieves adjustable propulsion angle and flexible power adaptation, taking into account both portability and autonomous mobility. 7. Optimize the thruster control logic to enable convenient one-handed adjustment of the thruster angle via control buttons. The thrust and angle are adjustable to adapt to different operating postures such as hovering, cruising, countercurrent driving, and steering avoidance, without interfering with the core detection function. 8. Standardize the power supply path of the propulsion module. The propulsion unit is powered through the expansion module interface to ensure that the power supply line is sealed and waterproof, easy to install and remove, and stable. 9. Strengthen the protection and maintenance structure, improve equipment durability, and simplify the maintenance process. Attached Figure Description

[0028] Figure 1 This is a three-dimensional view structural diagram of the present invention.

[0029] Figure 2 This is another three-dimensional view of the present invention.

[0030] Figure 3 This is a top view of the present invention.

[0031] Figure 4 This is a side view of the present invention.

[0032] Figure 5 This is a front view of the present invention.

[0033] Figure 6 This is a bottom view of the present invention.

[0034] Figure 7 This is a schematic diagram of the propeller rotation of the present invention.

[0035] Figure 8 This is a schematic diagram of the propeller rotation of the present invention.

[0036] Figure 9 This is a schematic diagram of the servo motor position after the thruster has been removed in this invention.

[0037] Figure 10 This is a schematic diagram of the servo motor position after the thruster has been removed in this invention.

[0038] Figure 11 This is a three-dimensional view of the structure of the quick-release battery compartment after disassembly according to the present invention.

[0039] Figure 12 This is a schematic diagram of another three-dimensional view of the quick-release battery compartment after disassembly.

[0040] Figure 13 This is a schematic diagram of the disassembly structure of the first quick-release component of the present invention.

[0041] In the diagram: 1. Handheld ring; 2. Control buttons; 3. Display screen housing; 4. Main housing; 5. Compass; 6. Display screen; 7. Ultra-short baseline beacon; 8. First expansion function module; 9. Second expansion function module; 10. Quick-release battery assembly; 11. Underwater light; 12. Multibeam imaging sonar; 13. Camera; 14. Doppler velocimeter; 15. Inertial measurement unit; 16. Maintenance cover; 17. Door hinge; 18. Shock-absorbing pad; 19. Battery compartment housing; 20. First quick-release component; 21. Second quick-release component; 22. Battery; 23. Underwater servo; 24. Underwater thruster; 25. Fixed plate; 26. Moving plate; 27. Limiting post; 28. Arc groove; 29. ​​Slider; 30. Positioning post; 31. Grip part. Detailed Implementation

[0042] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings.

[0043] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" 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. Since the embodiments disclosed in this invention can be arranged in different directions, these terms indicating direction are only for illustration and should not be regarded as limitations. For example, "upper" and "lower" are not necessarily limited to directions opposite to or consistent with the direction of gravity.

[0044] like Figures 1 to 12 As shown, a handheld underwater detection device with adjustable propulsion includes a main structure, a quick-release battery assembly 10, a sensing unit, an interactive display module, an expansion function module, an underwater propulsion module, and a protective and maintenance structure.

[0045] The main structure includes the main housing 4 and the hand ring 1 connected to it. The main housing 4 is made of high-strength composite material, which is waterproof, pressure-resistant, and impact-resistant. It has multiple independent compartments inside for installing various functional modules and ensuring electrical isolation and mechanical stability. The hand ring 1 has an anti-slip surface treatment and conforms to the contour of the hand to ensure that the diver can hold it stably and prevent slippage in wet and slippery environments, reducing fatigue during long-term operation.

[0046] The quick-release battery assembly 10 is installed in the main structure to provide power to the device and enable quick battery removal. Specifically, the main structure has a battery compartment for accommodating the quick-release battery assembly 10, which extends through the main structure in a left-right direction. The quick-release battery assembly 10 includes a first quick-release component 20, a second quick-release component 21, and a battery 22. The second quick-release component 21 is fixedly connected to the battery 22 to form a pluggable and replaceable battery module. The first quick-release component 20 is located at the end of the battery compartment, and the first quick-release component 20 and the second quick-release component 21 are provided with a cooperating locking mechanism to achieve axial positioning of the quick-release battery assembly 10.

[0047] One end of the battery compartment has a protective cover, and the other end has a positioning groove. For example... Figure 11 , 12 As shown, the battery 22 is cylindrical, with a second quick-release component 21 at one end and a gripping part 31 that matches the positioning groove at the other end. The battery compartment protective cover is fixedly connected to the main housing 4, and has an opening to allow operation of the first quick-release component 20, changing the engagement state of the first quick-release component 20 and the second quick-release component 21 to achieve the assembly and disassembly of the battery module. For ease of operation, a power on / off switch is provided on the gripping part 31.

[0048] The specific structure of the quick-release component is as follows: The second quick-release component 21 is provided with an axially protruding positioning ring. The end of the positioning ring is provided with multiple circumferentially distributed lugs. A sliding groove is formed between the lugs and the end face of the second quick-release component. The end face of the second quick-release component is provided with multiple circumferentially distributed positioning holes. Figure 13 As shown, the first quick-release component 20 includes a fixed plate 25 and a movable plate 26. The fixed plate 25 is provided with a limiting post 27, and the movable plate 26 is provided with an arc-shaped groove 28 that matches the limiting post 27, a slider 29 that matches the sliding groove, and a positioning post 30 located on the end face that matches the positioning hole. An elastic element is provided between the fixed plate 25 and the movable plate 26. When replacing the battery, the diver presses and rotates the movable plate 26, the slider 29 disengages from the sliding groove, and the lug releases the axial limitation from the sliding groove, allowing the entire battery module to be pulled out axially along the battery compartment. After inserting the new battery module, the movable plate 26 is rotated in the opposite direction, the slider 29 slides into the sliding groove along the end face of the lug, and the positioning post 30 is engaged in the positioning hole under the action of the elastic element, achieving locking and providing tactile feedback of positioning.

[0049] The sensing unit is installed on the main structure and includes at least a detection imaging component for underwater environment perception and target detection, and a multi-source fusion positioning and navigation module for acquiring position, attitude and orientation information.

[0050] The multi-source fusion positioning and navigation module includes a compass 5 for providing direction information, an ultra-short baseline beacon 7 for providing positioning information, a Doppler velocimeter 14 for measuring velocity and direction, and an inertial measurement unit 15 for measuring attitude and angular velocity. The compass 5 is an external mechanical compass located at the center rear of the display screen 6, capable of independently providing basic direction information. The ultra-short baseline beacon 7 is mounted at the center front of the display screen 6, providing accurate underwater positioning information. The Doppler velocimeter 14 and the inertial measurement unit 15 are both mounted at the bottom of the main structure, measuring velocity, direction, and continuous attitude and angular velocity data, respectively. The sensors undergo complementary correction through a data fusion algorithm, effectively suppressing underwater multipath effects and obstruction interference; basic navigation functions can still be maintained even if a single sensor fails.

[0051] The detection and imaging assembly includes a multibeam imaging sonar 12, a camera 13, and at least one underwater light 11 to provide illumination for imaging. The multibeam imaging sonar 12 is positioned at the front center of the main structure, possessing wide-area scanning and rapid data processing capabilities, and can instantly generate high-brightness target images. The camera 13 is an underwater low-light camera. The camera 13 and the underwater light 11 are respectively positioned on both sides of the multibeam imaging sonar 12, with their fields of view spatially aligned, forming an integrated coaxial cooperative detection layout. During operation, the underwater light 11 provides uniform illumination, eliminating shadow blind spots that may be caused by a single-sided light source; the multibeam imaging sonar 12 simultaneously completes underwater target spatial scanning, acquiring high-resolution three-dimensional point cloud data; the underwater low-light camera captures clear visible light images in low-light or turbid waters, achieving high-precision fusion of acoustic and optical data and target identification.

[0052] The interactive display module includes a display screen 6 and control buttons 2 located on the top surface of the main structure. Both the control buttons 2 and the display screen 6 are integrated into the aluminum alloy display screen housing 3. The display screen 6 is tilted so that its normal direction faces the diver's face, conforming to an ergonomic viewing angle. The display screen 6 uses a color display with high brightness and high resolution to ensure clear readability of underwater information. The control buttons 2 are symmetrically arranged on both sides of the display screen 6 and feature a waterproof and sealed design. They are used to control the device's start / stop, switch navigation modes, adjust brightness, adjust the angle of the underwater servo 23, and start / stop and power level switching of the underwater thruster 24. The symmetrical layout on both sides allows for natural access when holding the device with either the left or right hand, accommodating the one-handed operation habit of wearing thick gloves underwater.

[0053] In this embodiment, the extended function modules include a first extended function module 8 and a second extended function module 9. These two modules are located on the side of the main structure and have a waterproof power supply interface and a data interface. This interface can serve as a port for connecting external auxiliary equipment cables or as a dedicated power supply interface for the underwater propulsion module. The interface has multiple layers of waterproof sealing rings to ensure reliable sealing under high-pressure underwater conditions. When not in use, the interface can be sealed with a dedicated dust plug to prevent dust and moisture from entering.

[0054] The underwater propulsion module includes an underwater servo motor 23 fixed below the main structure and an underwater thruster 24 connected to the output of the underwater servo motor 23. Both the underwater servo motor 23 and the underwater thruster 24 are made of lightweight, high-strength alloy material. The underwater servo motor 23 is embedded in the main structure; this embedded design allows for a smooth transition between the servo motor's shape and the bottom surface of the main housing 4, reducing underwater drag and maintaining overall balance. The underwater thruster 24 is located below the underwater servo motor 23 and is driven by a waterproof brushless motor, featuring forward and reverse rotation and multi-level power adjustment. The underwater servo motor 23 drives the underwater thruster 24 to achieve adjustable pitch angles, control the propulsion direction, and adapt to various operational postures such as hovering, slow cruising, upstream gliding, and steering avoidance. Figure 7 , Figure 8 As shown, the propulsion direction of the underwater servo motor 23 is adjusted.

[0055] The power supply line of the underwater thruster 24 is connected through the expansion function module and is powered by the quick-release battery pack 10. There is no need to install an additional independent battery, which ensures the overall weight balance of the machine. The power supply line is sealed and waterproof throughout, making it suitable for deep-water high-pressure operating environments.

[0056] The protective and maintenance structure includes shock-absorbing pads 18 installed on the bottom surface of the main structure and a maintenance cover 16 connected to the bottom of the main structure via a hatch hinge 17. The shock-absorbing pads 18 are made of highly elastic, high-damping material, absorbing impact energy when the equipment hits the bottom or is bumped, protecting internal precision components. The maintenance cover 16 can be quickly opened and closed along the hinge axis without tools, facilitating daily inspections, troubleshooting, and component replacement by divers or maintenance personnel of internal components and the wiring of the underwater servo motor 23.

[0057] The working process of this invention will be described below in conjunction with specific application scenarios.

[0058] During the preparation phase, the diver pushes the fully charged battery module along the axial direction of the battery compartment. The first quick-release component 20 and the second quick-release component 21 automatically lock together under the action of the elastic element and the locking mechanism. The status bar on the display screen 6 shows the battery level and self-test information. The diver holds the handheld ring 1 with one hand and starts the equipment by controlling the button 2. The equipment automatically completes a full self-test, including a comprehensive test of the multi-source fusion positioning and navigation module, the detection and imaging component, and the underwater propulsion module. After the self-test is passed, the main operation interface is entered, and the display screen 6 simultaneously displays core data such as bearing, position, speed, water depth, battery level, and propulsion status.

[0059] During exploration operations, the underwater light 11 is activated to provide illumination. The multibeam imaging sonar 12 and camera 13 work synchronously to collect underwater exploration data in real time and transmit it to the display screen 6. Divers can switch navigation modes, adjust sonar scanning accuracy and light brightness using the control buttons 2 on both sides of the display screen 6 as needed, while simultaneously observing the screen to obtain target information. The multibeam imaging sonar 12 completes large-area target search and 3D point cloud imaging, while the camera 13 captures visible light images in low-light or murky environments. The fields of view of the two are precisely aligned, achieving coordinated presentation of audio-visual data.

[0060] When movement, hovering, or adjustment of attitude is required, the diver controls the underwater servo motor 23 via the control buttons 2 on both sides of the display screen 6, adjusting the pitch angle of the underwater thruster 24 with a single button press, and simultaneously switching between thruster start / stop and power levels. When hovering at a fixed point for detailed observation, adjusting the angle of the underwater thruster 24 generates an upward thrust component to counteract negative buoyancy or downward pressure from the water flow, achieving stable hovering. During cruise inspections, the thrust direction is adjusted to align with the direction of travel, and an appropriate power level is selected to balance travel speed and endurance. When operating against the current, increasing the power level and fine-tuning the thrust angle counteracts the current, maintaining stable equipment orientation and detection attitude. In confined spaces or complex terrain, the forward and reverse functions allow for flexible switching between forward and backward movement, assisting in steering and obstacle avoidance. The entire control process can be completed with one hand, eliminating the need for the diver to adjust their grip and ensuring continuous observation of the detection image, achieving seamless coordination between propulsion control and detection operations.

[0061] When the display screen 6 shows a low battery warning, the diver can perform a quick underwater battery swap. Press and rotate the moving plate 26 of the first quick-release component 20 to disengage the slider 29 from the slide groove, and the positioning pin 30 exits the positioning hole, allowing the original battery module to be pulled out along the axial direction of the battery compartment. Take the spare battery module and push it into the battery compartment. The other end of the battery, the gripping part 31, engages with the positioning groove to achieve initial positioning. Rotate the moving plate 26 in the opposite direction, and the slider 29 slides into the slide groove and locks under the action of the elastic element. The positioning pin 30 engages with the positioning hole to provide positioning feedback, and the equipment immediately restores power without the need for shutdown and restart, ensuring continuous operation.

[0062] After the operation is completed, the diver can open the bottom maintenance cover 16 to check the connection status of the internal components and the underwater servo motor 23, clean the mud and water stains on the surface of the equipment, seal the interface of the expansion function module with a dust plug, and store it in a dry and ventilated environment.

[0063] The above are specific embodiments of the present invention, which demonstrate the substantial features and progress of the present invention. Based on the actual needs of use, equivalent modifications in shape, structure, etc., can be made to it according to the teachings of the present invention, and all such modifications are within the protection scope of the present technical solution.

Claims

1. A handheld underwater detection device with adjustable propulsion, characterized in that, include: The main structure includes the main shell and the hand ring connected to it; A quick-release battery assembly is installed in the main structure to provide power to the device and enable tool-free quick-release of the battery; The sensing unit, installed on the main structure, includes at least a detection imaging component for underwater environment perception and target detection, and a multi-source fusion positioning and navigation module for acquiring position, attitude and orientation information; The interactive display module includes a display screen and control buttons disposed on the top surface of the main structure; The underwater propulsion module includes an underwater servo motor fixed below the main structure and an underwater thruster connected to the output end of the underwater servo motor; the underwater servo motor is used to drive the underwater thruster to achieve adjustable pitch angle. The main structure is provided with a battery compartment for accommodating the quick-release battery assembly. The quick-release battery assembly includes a first quick-release component, a second quick-release component, and a battery. The second quick-release component is fixedly connected to the battery to form a pluggable and replaceable battery module. The first quick-release component is located at the end of the battery compartment. The first quick-release component and the second quick-release component are provided with a cooperating locking mechanism to achieve axial positioning of the quick-release battery assembly. The battery compartment extends through the main structure in a left-right direction. One end of the battery compartment is provided with a battery compartment protective cover, and the other end is provided with a positioning groove. The battery is cylindrical, with the second quick-release component at one end and a gripping part that matches the positioning groove at the other end. The battery compartment protective cover is fixedly connected to the main shell and has an opening to allow operation of the first quick-release component, changing the engagement state of the first quick-release component and the second quick-release component to realize the assembly and disassembly of the battery module. The underwater servo is embedded in the main structure, and the underwater thruster is located below the underwater servo. The underwater thruster is driven by a waterproof brushless motor and has forward and reverse rotation and multi-level power adjustment functions.

2. The handheld underwater detection device with adjustable propulsion according to claim 1, characterized in that, The second quick-release component has an axially protruding positioning ring, and the end of the positioning ring has multiple circumferentially distributed lugs. A sliding groove is formed between the lugs and the end face of the second quick-release component. Multiple circumferentially distributed positioning holes are opened on the end face of the second quick-release component. The first quick-release component includes a fixed plate and a moving plate. The fixed plate has a limiting post. The moving plate has an arc-shaped groove that matches the limiting post, a slider that matches the sliding groove, and a positioning post on the end face that matches the positioning hole. An elastic element is provided between the fixed plate and the moving plate.

3. The handheld underwater detection device with adjustable propulsion according to claim 1, characterized in that, The multi-source fusion positioning and navigation module includes a compass for providing direction information, an ultra-short baseline beacon for providing positioning information, a Doppler velocimeter for measuring velocity and direction, and an inertial measurement unit for measuring attitude and angular velocity. The compass is an external mechanical compass, located at the center of the rear of the display screen; the ultra-short baseline beacon is installed at the center of the front of the display screen; the Doppler velocimeter and the inertial measurement unit are both installed at the bottom of the main structure.

4. The handheld underwater detection device with adjustable propulsion according to claim 1, characterized in that, The detection imaging assembly includes a multibeam imaging sonar, a camera, and at least one underwater light to provide illumination for imaging; The multibeam imaging sonar is located at the center of the front end of the main structure, and the camera and the underwater light are respectively arranged on both sides of the multibeam imaging sonar, forming an integrated coaxial collaborative detection layout.

5. The handheld underwater detection device with adjustable propulsion according to claim 1, characterized in that, The display screen is tilted and mounted on the top surface of the main structure; The control buttons are symmetrically arranged on both sides of the display screen and adopt a waterproof and sealed design. They are used to control the device's start and stop, switch navigation modes, adjust brightness, control the angle of the underwater servo motor, and switch the start and stop and power level of the underwater thruster.

6. The handheld underwater detection device with adjustable propulsion according to claim 1, characterized in that, It also includes at least one expansion function module, with a reserved waterproof power supply interface and data interface, serving as a port for connecting to external auxiliary equipment cables or as a dedicated power supply interface for the underwater propulsion module. It has multiple layers of waterproof sealing rings inside to ensure sealing under high-pressure underwater environments.

7. The handheld underwater detection device with adjustable propulsion according to claim 1, characterized in that, It also includes a protective and maintenance structure, which includes a shock-absorbing pad installed on the bottom surface of the main structure and a maintenance cover connected to the bottom of the main structure via a hatch hinge, so as to inspect and replace the wiring of the internal components and the underwater servo motor.

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