An underwater working device with positioning function and a positioning method thereof

Abstract

The application relates to the technical field of underwater robots, in particular to an underwater operation device with a positioning function and a positioning method thereof, which comprises an operation robot, a guiding and positioning mechanism and a locking and fixing mechanism. The operation robot comprises a robot body and a walking assembly which is detachably arranged at the bottom of the robot body. The guiding and positioning mechanism comprises two groups of guiding rods which are symmetrically and coaxially arranged at the two sides of the robot body and a guiding assembly which is fixedly arranged at the edge of an operation area. The locking and fixing mechanism comprises a fixing rod which is arranged at the advancing end of the robot body and a locking assembly which is fixedly arranged at the edge of the operation area. The axial direction of the fixing rod is arranged in perpendicular to the axial direction of the guiding rod. The first direction limiting is realized in the advancing process through the cooperation of the guiding rod and the guiding assembly, the second direction limiting and locking and fixing are realized through the cooperation of the fixing rod and the locking assembly, the guiding and positioning and the locking and fixing are naturally connected along the advancing direction, the defects that the positioning and the fixing are independent of each other in the prior art are overcome, and the positioning and fixing efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of underwater robot technology, specifically to an underwater operation device with positioning function and its positioning method. Background Technology

[0002] With the continuous growth in demand for marine resource development and underwater engineering maintenance, underwater robots have become important equipment for performing precision tasks such as underwater welding, drilling, and cutting. Underwater robots are typically equipped with propulsion systems, control systems, observation systems, and end-effector tools. Driven by thrusters, they approach the underwater work object and complete the predetermined work tasks through end-effector tools such as robotic arms.

[0003] Currently, the positioning and fixing technology of underwater work equipment has formed multiple technical paths, with corresponding technical solutions in both positioning guidance and physical fixing. However, the existing positioning and fixing solutions for underwater work equipment are generally complex in structure and cumbersome in operation. The switching between the fixed and mobile states is time-consuming and slow in response, making it difficult to achieve fast and convenient positioning and fixing in underwater operations, thus restricting the operational efficiency and flexibility of underwater work equipment. Summary of the Invention

[0004] To address the technical problems in the prior art, this invention provides an underwater operation device with positioning function and its positioning method, aiming to solve the problems of complex structure, cumbersome operation, slow response when switching between fixed and moving states, and difficulty in achieving fast and convenient positioning and fixing in the existing underwater operation device positioning and fixing schemes.

[0005] The technical solution of the present invention is as follows: An underwater operation device with positioning function is used for positioning operations in a work area, including an operation robot, a guiding and positioning mechanism, and a locking and fixing mechanism, wherein: The work robot includes a robot body and a walking component, with the walking component being detachably located at the bottom of the robot body; The guiding and positioning mechanism includes a guide rod and a guiding assembly; The guide rods consist of two sets, which are symmetrically arranged on both sides of the robot body and coaxially arranged. The guide component is fixedly arranged at the edge of the work area and cooperates with the guide rods to achieve the limitation of the robot body in the first direction with the work area during the movement. The locking and fixing mechanism includes a fixing rod and a locking assembly; The fixed rod is located at the traveling end of the robot body. The axis of the fixed rod is orthogonal to the axis of the guide rod. The locking component is fixed to the edge of the working area and cooperates with the fixed rod to achieve the limiting and locking of the robot body and the working area in the second direction after the robot body is guided and positioned in the first direction.

[0006] Optionally, the boot component includes a boot mount; The guide seat includes two seats, which are fixedly installed at the edge of the work area and are respectively arranged corresponding to two sets of guide rods; The top of the guide seat is provided with a guide groove that extends along the travel direction of the robot body, and the width of the guide groove is adapted to the outer diameter of the guide rod.

[0007] Optionally, the guide component may also include a guide bar; The guide bar is located at the entrance end of the guide groove and extends upward at an angle away from the guide groove.

[0008] Optionally, the fixing rod includes a rod body and a sealing electromagnet, wherein: The rod is located at the traveling end of the robot body; The sealed electromagnet is connected to the end of the rod away from the robot body and is electrically connected to the robot body.

[0009] Optionally, the locking assembly includes a stand plate and a magnetic plate, wherein: The uprights are fixed at the edge of the work area and are arranged corresponding to the poles; The magnetic plate is fixed on the top of the upright plate and is used to engage with the sealing electromagnet.

[0010] Optionally, the robot body includes a shell, a mounting frame, a travel module, and a task execution module, wherein: The mounting bracket is fixedly installed on the periphery of the housing for detachable connection with the walking components, guide rods, and fixing rods; The propulsion module is located inside the outer shell and is used to control the spatial maneuvering of the robot body; The operation execution module is located at the bottom of the shell and is electrically connected to the travel module. It is used to perform underwater operations after the robot body is positioned and fixed.

[0011] Optionally, the walking assembly includes walking tracks, track mounting brackets, and a drive unit, wherein: The traveling tracks consist of two sets, which are located on both sides of the track mounting bracket; The track mounting bracket is detachably located at the bottom of the mounting frame; The drive unit consists of two sets, which are respectively connected to the corresponding walking track drive. The drive unit can be electrically connected to the travel module.

[0012] Optionally, an underwater operation device with positioning function further includes a buoyancy adjustment mechanism, which includes a first mounting rod and a float, wherein: The first mounting rod consists of two sets, which are detachably mounted at both ends of the robot body in the direction of travel; The floats consist of multiple detachable blocks that are mounted on the first mounting rod and are used to adjust the overall buoyancy of the underwater work device according to the density of the working water area.

[0013] Optionally, the buoyancy adjustment mechanism also includes a second mounting rod and a counterweight, wherein: The second mounting rod is detachably mounted on the first mounting rod; The counterweight consists of multiple blocks, which are detachably mounted on the second mounting rod and are used to adjust the overall counterweight of the underwater work device according to the density of the working water area.

[0014] The present invention also provides a positioning method for an underwater working device with positioning function. Based on the above-mentioned underwater working device with positioning function, the positioning method includes: Based on the density of the working water area, configure the buoyancy adjustment mechanism with floats and / or counterweights to balance the robot to the target working posture; Drive the robot to move towards the work area, so that the guide rods on both sides of the robot body enter the guide grooves of the corresponding guide components at the edge of the work area; The robot continues to move towards the work area, and the guide rod slides along the guide groove to guide the robot body in the direction of travel until the robot body and the work area are limited in the first direction. The robot continues to move towards the work area, causing the fixed rod at the moving end of the robot body to approach the locking component until the fixed rod engages with the locking component, thus completing the limiting and locking of the robot body and the work area in the second direction.

[0015] Compared with the prior art, the underwater operation device and positioning method with positioning function provided by the present invention have the following beneficial effects: (1) By guiding the guide rods symmetrically and coaxially arranged on both sides of the robot and the guide components at the edge of the work area, mechanical limiting in the first direction is achieved during the robot's movement. At the same time, by cooperating with the locking components and the fixing rods located at the robot's moving end and arranged axially orthogonal to the guide rods, locking in the second direction is achieved after the limiting in the first direction is completed. This allows the guiding positioning and locking to be naturally connected and completed step by step along the direction of movement, overcoming the shortcomings of the prior art where positioning guidance and physical fixing are independent and can only be performed after the position is in place. This simplifies the positioning and fixing operation process and improves the efficiency and reliability of positioning and fixing.

[0016] (2) By opening a guide groove on the guide seat and setting an inclined upward guide bar at the entrance of the guide groove, a horn-shaped guide structure that gradually narrows from wide is formed, which increases the initial tolerance range of the guide rod entering the guide groove, effectively compensates for the positional deviation of the underwater robot caused by water flow disturbance or control deviation, reduces the difficulty of operation and alignment time, and improves the success rate of positioning and fixing.

[0017] (3) The walking components are detachably installed at the bottom of the robot body. The device can flexibly switch between two walking modes: water navigation and underwater crawling. At the same time, by adding or removing floats and counterweights in the buoyancy adjustment mechanism, the overall buoyancy and counterweight can be quickly adjusted according to the density of different working water areas, so that the device can adapt to various underwater working environments and task requirements, thus expanding the applicability and operational flexibility of the device. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the fixed state of an underwater operation device with positioning function according to the present invention; Figure 2 This is a schematic diagram of the robot body structure of an underwater operation device with positioning function according to the present invention; Figure 3 This is a schematic diagram of the buoyancy adjustment structure of an underwater operation device with positioning function according to the present invention; Figure 4 This is a schematic diagram of the walking component structure of an underwater operation device with positioning function according to the present invention; Figure 5 This is a schematic diagram of a guide positioning mechanism for an underwater operation device with positioning function according to the present invention; Figure 6 This is a schematic diagram of the movement state of an underwater operation device with positioning function according to the present invention; Figure 7 This is a schematic diagram of the guiding state of an underwater operation device with positioning function according to the present invention; Figure 8 This is a schematic diagram of the docking and fixed state of an underwater operation device with positioning function according to the present invention; Figure 9 This is a flowchart illustrating the steps of a positioning method for an underwater operation device with positioning function according to the present invention.

[0019] In the diagram: 1. Working area; 2. Working robot; 21. Robot body; 211. Shell; 212. Mounting frame; 213. Traveling module; 214. Work execution module; 22. Walking component; 221. Walking track; 222. Track mounting bracket; 223. Drive unit; 3. Guiding and positioning mechanism; 301. Guide groove; 31. Guide rod; 32. Guiding component; 321. Guide seat; 322. Guide strip; 4. Locking and fixing mechanism; 41. Fixing rod; 411. Rod body; 412. Sealing electromagnet; 42. Locking component; 421. Vertical plate; 422. Magnetic suction plate; 5. Buoyancy adjustment mechanism; 51. First mounting rod; 52. Float; 53. Second mounting rod; 54. Counterweight. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0021] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0022] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" 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 the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention.

[0023] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0024] Embodiments of the present invention are described in detail below. Examples of these embodiments 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.

[0025] The following disclosure provides numerous different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. Additionally, examples of various specific processes and materials are provided in this invention; however, those skilled in the art will recognize the applicability of other processes and / or the use of other materials.

[0026] Please see Figures 1-5 The present invention provides an underwater operation device with positioning function for positioning operations in operation area 1, including operation robot 2, guiding positioning mechanism 3 and locking and fixing mechanism 4.

[0027] like Figure 1 , Figure 5 As shown, the working robot 2 includes a robot body 21 and a walking component 22, the walking component 22 being detachably mounted on the bottom of the robot body 21; the guiding and positioning mechanism 3 includes a guide rod 31 and a guiding component 32; the guide rod 31 includes two sets, which are symmetrically arranged on both sides of the robot body 21 and coaxially arranged; the guiding component 32 is fixedly mounted on the edge of the working area 1 and cooperates with the guide rod 31 to achieve the limitation of the robot body 21 with the working area 1 in the first direction during the movement; the locking and fixing mechanism 4 includes a fixing rod 41 and a locking component 42; the fixing rod 41 is located at the moving end of the robot body 21, and the axial direction of the fixing rod 41 is orthogonal to the axial direction of the guide rod 31; the locking component 42 is fixed on the edge of the working area 1 and cooperates with the fixing rod 41 to achieve the limitation and locking of the robot body 21 with the working area 1 in the second direction after the guiding and positioning is completed in the first direction.

[0028] Specifically, during the movement of the robot 2, the guide rod 31 first contacts and engages with the guide component 32 to mechanically limit the robot body 21 in the first direction, achieving guidance and positioning; then the fixing rod 41 engages with the locking component 42 to complete the locking and fixing in the second direction; the guidance and positioning and locking and fixing are naturally connected and completed step by step along the direction of movement. The operator only needs to drive the robot body 21 to continue moving towards the work area 1 to complete the limiting and locking in the two directions in sequence, without the need for additional alignment or adjustment operations, which effectively simplifies the positioning and fixing process and improves work efficiency; at the same time, the walking component 22 is detachably set at the bottom of the robot body 21, which allows the robot 2 to select water navigation or underwater crawling mode according to the working environment, enhancing the applicability and flexibility of the device.

[0029] In some embodiments, such as Figure 5 As shown, the guide assembly 32 includes a guide seat 321; there are two guide seats 321, which are fixedly disposed on the edge of the work area 1 and are respectively arranged with two sets of guide rods 31; a guide groove 301 is provided on the top of the guide seat 321, the guide groove 301 extends along the travel direction of the robot body 21, and the width of the guide groove 301 is adapted to the outer diameter of the guide rod 31.

[0030] Specifically, the guide rod 31 can accurately enter the corresponding guide groove 301 and slide along the guide groove 301; the guide groove 301 extends along the traveling direction and its width is adapted to the outer diameter of the guide rod 31, so that after the guide rod 31 enters the guide groove 301, the displacement of the robot body 21 in the direction perpendicular to the traveling direction is effectively constrained, thereby achieving precise positioning in the first direction; the guide seat 321 is fixed to the edge of the working area 1 and is arranged one-to-one with the guide rods 31 on both sides of the robot body 21 to form a double-sided synchronous guide, so that the robot body 21 is subjected to balanced force on both sides during the travel, avoiding the deflection caused by single-sided guidance, and further improving the stability and accuracy of the guidance and positioning.

[0031] In some embodiments, such as Figure 5 As shown, the guide component 32 also includes a guide bar 322; the guide bar 322 is located at the entrance end of the guide groove 301 and extends upward at an angle away from the guide groove 301.

[0032] Specifically, the guide bar 322 forms a trumpet-shaped guiding structure that gradually narrows at the entrance end of the guide groove 301. When the robot 2 deviates in position due to water flow disturbance or control deviation, the guide rod 31 first contacts the upwardly extending guide bar 322 and is guided to slide along the inclined surface of the guide bar 322 to the entrance of the guide groove 301, and then enters the guide groove 301. The setting of the guide bar 322 significantly increases the initial tolerance range for the guide rod 31 to enter the guide groove 301, so that the robot 2 can still automatically correct its movement direction through the passive guidance of the guide bar 322 even within a large position deviation range, and smoothly enter the guide groove 301. This effectively reduces the requirements for the operator's control precision, shortens the alignment time, and improves the success rate of positioning and fixing.

[0033] In some embodiments, such as Figure 5 As shown, the fixed rod 41 includes a rod body 411 and a sealing electromagnet 412. The rod body 411 is located at the traveling end of the robot body 21. The sealing electromagnet 412 is connected to the end of the rod body 411 away from the robot body 21 and is electrically connected to the robot body 21.

[0034] Specifically, the sealing electromagnet 412 acts as a locking actuator during the positioning and fixing of the robot body 21. After the robot body 21 completes its limit position in the first direction, the fixing rod 41 continues to move towards the work area 1 with the robot body 21, and the sealing electromagnet 412 then approaches the locking assembly 42. The sealing electromagnet 412 is electrically connected to the robot body 21 and can be powered by the robot body 21 and energized when needed. The sealing electromagnet 412 adopts a sealed design, enabling it to work reliably in underwater environments and preventing seawater infiltration that could cause short circuits or corrosion. The rod 411 positions the sealing electromagnet 412 at the traveling end of the robot body 21, allowing the sealing electromagnet 412 to naturally reach the locking position after the guiding and positioning is completed, without the need for an additional motion mechanism, resulting in a simple structure and reliable operation.

[0035] In some embodiments, such as Figure 5 As shown, the locking assembly 42 includes a vertical plate 421 and a magnetic plate 422. The vertical plate 421 is fixedly disposed at the edge of the working area 1 and is arranged corresponding to the rod body 411. The magnetic plate 422 is fixedly disposed at the top of the vertical plate 421 and is used to engage with the sealing electromagnet 412.

[0036] Specifically, the magnetic chuck 422 and the sealing electromagnet 412 are positioned correspondingly. After the sealing electromagnet 412 is energized, an electromagnetic attraction force is generated between the two, firmly attracting the traveling end of the robot body 21 to the edge of the work area 1. The upright plate 421 provides stable mounting support for the magnetic chuck 422, ensuring that the magnetic chuck 422 will not deform or shift when subjected to the electromagnetic attraction force. The attraction between the magnetic chuck 422 and the sealing electromagnet 412, combined with mechanical locking, achieves double locking, enhancing the reliability of the fixation. At the same time, the electromagnetic attraction method is responsive; the sealing electromagnet 412 generates attraction force when energized and releases when de-energized, facilitating the rapid separation of the robot body 21 from the work area 1 after the operation is completed, thus improving work efficiency.

[0037] In some embodiments, such as Figure 2 As shown, the robot body 21 includes a shell 211, a mounting frame 212, a travel module 213, and a work execution module 214. The mounting frame 212 is fixedly disposed on the periphery of the shell 211 and is used to detachably connect with the walking component 22, the guide rod 31, and the fixing rod 41. The travel module 213 is disposed inside the shell 211 and is used to control the spatial movement of the robot body 21. The work execution module 214 is disposed at the bottom of the shell 211 and is electrically connected to the travel module 213, and is used to perform underwater operations after the robot body 21 is positioned and fixed.

[0038] Specifically, the robot body 21 provides core support and functional integration for the work robot 2. The mounting bracket 212 is fixedly installed on the periphery of the shell 211, providing standardized detachable installation interfaces for the walking component 22, guide rod 31 and fixing rod 41, so that each functional module can be flexibly configured and quickly replaced according to the operation requirements, realizing the open and modular design of the device; the traveling module 213 is located inside the shell 211 and is used to control the spatial maneuvering of the robot body 21 underwater; the operation execution module 214 is located at the bottom of the shell 211 and is used to perform precision operation tasks such as underwater welding, cutting, drilling and cleaning after the robot body 21 is positioned and fixed.

[0039] Understandably, the travel module 213 includes conventional buoyancy materials, thrusters, a control system, cameras, lighting, and sonar. The buoyancy materials provide basic buoyancy for the robot body 21. The thrusters drive the robot body 21 to achieve multi-degree-of-freedom maneuvers such as forward, backward, surfacing, diving, and turning in underwater space. The control system receives control commands and controls the thruster output to achieve precise motion control of the robot body. The cameras and lighting work together to collect real-time video images of the underwater work area and transmit them back to the control terminal, enabling operators to monitor the actual underwater working conditions. The sonar detects underwater environmental information around the robot body 21, including the location, distance, and obstacle distribution of the work area 1, providing navigation references beyond the operator's visual range.

[0040] In some embodiments, such as Figure 4 As shown, the walking assembly 22 includes walking tracks 221, track mounting brackets 222, and drive units 223. The walking tracks 221 include two sets, which are respectively disposed on both sides of the track mounting brackets 222. The track mounting brackets 222 are detachably disposed at the bottom of the mounting frame 212. The drive units 223 include two sets, which are respectively driven connected to the corresponding walking tracks 221. The drive units 223 can be electrically connected to the travel module 213.

[0041] Specifically, the walking component 22 provides the working robot 2 with underwater crawling capability; the walking tracks 221 are respectively set on both sides of the track mounting bracket 222, so that the working robot 2 still has good passability and stability on soft or irregular underwater terrain; the track mounting bracket 222 is detachably set at the bottom of the mounting frame 212, so that the walking component 22 can be installed or removed according to the needs of the actual operation scenario; it can be installed when the working robot 2 needs to crawl underwater, and can be removed when it only needs to navigate in water to reduce weight and reduce resistance; the drive unit 223 is correspondingly connected to the walking track 221 and electrically connected to the travel module 213, which controls the drive to realize the forward and reverse rotation and speed adjustment of the walking track 221, thereby controlling the underwater travel direction and speed of the working robot 2; wherein, the drive unit 223 can use a waterproof motor, including a DC brushless motor or a servo motor, which, together with the reducer, outputs driving torque to the drive wheel of the walking track 221, driving the walking track 221 to rotate.

[0042] In some embodiments, such as Figure 3 As shown, an underwater operation device with positioning function also includes a buoyancy adjustment mechanism 5. The buoyancy adjustment mechanism 5 includes a first mounting rod 51 and floats 52. The first mounting rod 51 includes two sets, which are detachably mounted at both ends of the robot body 21 in the direction of travel. The floats 52 include multiple sets, which are detachably mounted on the first mounting rod 51 and are used to adjust the overall buoyancy of the underwater operation device according to the density of the operating water area.

[0043] Specifically, the buoyancy adjustment mechanism 5 can adjust the overall buoyancy of the robot 2 according to the density differences of different working water areas; the first mounting rods 51 are respectively installed at both ends of the robot body 21 in the direction of travel, providing a dispersed installation position for the floats 52, making the buoyancy distribution more balanced; the floats 52 are detachably connected by passing through the first mounting rods 51, and the operator can select and install the appropriate number and specifications of floats 52 according to the density of seawater or freshwater in the current working water area, so that the robot 2 can achieve a zero buoyancy or near-zero buoyancy suspension state underwater, thereby reducing the energy consumption of the thruster and improving the handling performance; at the same time, the dispersed arrangement of multiple floats 52 is simple and easy to install, and can be quickly replaced without the need for special tools, which is conducive to improving on-site operation efficiency.

[0044] In some embodiments, such as Figure 3 As shown, the buoyancy adjustment mechanism 5 also includes a second mounting rod 53 and a counterweight 54. The second mounting rod 53 is detachably mounted on the first mounting rod 51. The counterweight 54 includes multiple counterweights, which are detachably mounted on the second mounting rod 53 and are used to adjust the overall counterweight of the underwater operation device according to the density of the operating water area.

[0045] Specifically, the counterweight 54 and the float 52 work together to achieve buoyancy and gravity balance of the robot 2. The second mounting rod 53 is detachably mounted on the first mounting rod 51, providing a mounting base for the counterweight 54. The operator can select and install the appropriate number and specifications of counterweights 54 according to the density of the current working water area and the load of the work execution module 214 mounted on the robot body 21. Based on the buoyancy compensation provided by the float 52, the gravity balance can be further fine-tuned to ensure that the robot 2 can maintain the target working posture under various load conditions. The separate setting and independent adjustment of the float 52 and the counterweight 54 make the buoyancy adjustment and the counterweight adjustment uncoupled. The operator can configure buoyancy and gravity independently, simplifying the balance operation and improving the adjustment accuracy and efficiency.

[0046] Please see Figure 9 The present invention also provides a positioning method for an underwater working device with positioning function. Based on the above-mentioned underwater working device with positioning function, the positioning method includes: Based on the density of the working water area, configure the buoyancy adjustment mechanism with floats and / or counterweights to balance the robot to the target working posture; Drive the robot to move towards the work area, so that the guide rods on both sides of the robot body enter the guide grooves of the corresponding guide components at the edge of the work area; The robot continues to move towards the work area, and the guide rod slides along the guide groove to guide the robot body in the direction of travel until the robot body and the work area are limited in the first direction. The robot continues to move towards the work area, causing the fixed rod at the moving end of the robot body to approach the locking component until the fixed rod engages with the locking component, thus completing the limiting and locking of the robot body and the work area in the second direction.

[0047] It is understandable that, such as Figures 6-8 As shown, firstly, floats and counterweights are configured according to the density of the current working water area and the device's own load to balance the robot to the target working posture, ensuring that the robot maintains a stable suspended state in the water, providing the posture prerequisite for subsequent movement and positioning. Then, the robot is driven to the working area, and the guide rods on both sides cooperate with the guiding components to automatically correct the posture deviation through the passive constraint of the mechanical structure during the robot's movement, completing the first directional limit. After the guidance and positioning are completed, the robot continues to move forward, and the fixing rod cooperates with the locking components to complete the second directional locking and fixation. During the entire positioning and fixing process, the operator only needs to continuously drive the robot forward. The remaining guiding, limiting, and locking actions are all automatically and sequentially completed by the mechanical structure and electromagnetic adsorption, without the need for midway stopping or manual intervention and adjustment. The positioning and fixing process is continuous and efficient, achieving the rapid positioning and fixing effect of "positioning while moving and locking as soon as it is in place".

[0048] 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 operation device with positioning function, used for positioning operations in an operation area (1), characterized in that, It includes a work robot (2), a guiding and positioning mechanism (3), and a locking and fixing mechanism (4), wherein: The work robot (2) includes a robot body (21) and a walking component (22), the walking component (22) being detachably located at the bottom of the robot body (21); The guiding and positioning mechanism (3) includes a guide rod (31) and a guide assembly (32); The guide rod (31) includes two sets, which are symmetrically arranged on both sides of the robot body (21) and coaxially arranged. The guide component (32) is fixedly arranged on the edge of the work area (1) and cooperates with the guide rod (31) to complete the limitation of the robot body (21) in the first direction with the work area (1) during the movement. The locking and fixing mechanism (4) includes a fixing rod (41) and a locking assembly (42); The fixed rod (41) is located at the traveling end of the robot body (21). The axial direction of the fixed rod (41) is orthogonal to the axial direction of the guide rod (31). The locking assembly (42) is fixed to the edge of the working area (1) and cooperates with the fixed rod (41) to achieve the limiting and locking of the robot body (21) and the working area (1) in the second direction after the robot body (21) is guided and positioned in the first direction.

2. The underwater operation device with positioning function according to claim 1, characterized in that, The guide component (32) includes a guide seat (321); The guide seat (321) includes two, and the two guide seats (321) are fixedly installed at the edge of the working area (1) and are respectively arranged in correspondence with two sets of guide rods (31); The top of the guide seat (321) is provided with a guide groove (301), which extends along the travel direction of the robot body (21). The width of the guide groove (301) is adapted to the outer diameter of the guide rod (31).

3. The underwater operation device with positioning function according to claim 2, characterized in that, The guide component (32) also includes a guide bar (322); The guide bar (322) is located at the entrance end of the guide groove (301) and extends upward at an angle away from the guide groove (301).

4. The underwater operation device with positioning function according to claim 1, characterized in that, The fixed rod (41) includes a rod body (411) and a sealing electromagnet (412), wherein: The rod (411) is located at the traveling end of the robot body (21); The sealed electromagnet (412) is connected to the end of the rod (411) away from the robot body (21) and is electrically connected to the robot body (21).

5. An underwater operation device with positioning function according to claim 4, characterized in that, The locking assembly (42) includes a vertical plate (421) and a magnetic plate (422), wherein: The upright plate (421) is fixedly installed at the edge of the working area (1) and is arranged correspondingly to the pole (411); The magnetic plate (422) is fixed on the top of the upright plate (421) and is used to engage with the sealing electromagnet (412).

6. An underwater operation device with positioning function according to claim 1, characterized in that, The robot body (21) includes a shell (211), a mounting frame (212), a travel module (213), and a work execution module (214), wherein: The mounting bracket (212) is fixedly installed on the periphery of the housing (211) for detachable connection with the walking assembly (22), guide rod (31) and fixing rod (41); The travel module (213) is located inside the outer shell (211) and is used to control the spatial maneuver of the robot body (21); The operation execution module (214) is located at the bottom of the outer shell (211) and is electrically connected to the travel module (213) for performing underwater operations after the robot body (21) is positioned and fixed.

7. An underwater operation device with positioning function according to claim 6, characterized in that, The walking assembly (22) includes a walking track (221), a track mounting bracket (222), and a drive unit (223), wherein: The walking track (221) includes two sets, which are respectively located on both sides of the track mounting bracket (222); The track mounting bracket (222) is detachably mounted at the bottom of the mounting bracket (212); The drive unit (223) includes two sets, which are respectively driven and connected to the corresponding walking track (221). The drive unit (223) can be electrically connected to the travel module (213).

8. An underwater operation device with positioning function according to claim 1, characterized in that, It also includes a buoyancy adjustment mechanism (5), which includes a first mounting rod (51) and a float (52), wherein: The first mounting rod (51) includes two sets, which are detachably mounted at both ends of the robot body (21) in the direction of travel; The floats (52) include multiple ones, which are detachably mounted on the first mounting rod (51) to adjust the overall buoyancy of the underwater work device according to the density of the working water area.

9. An underwater operation device with positioning function according to claim 8, characterized in that, The buoyancy adjustment mechanism (5) further includes a second mounting rod (53) and a counterweight (54), wherein: The second mounting rod (53) is detachably mounted on the first mounting rod (51); The counterweight (54) includes multiple units, which are detachably mounted on the second mounting rod (53) for adjusting the overall counterweight of the underwater work device according to the density of the working water area.

10. A positioning method for an underwater operating device with positioning function, characterized in that, An underwater operation device with positioning function according to any one of claims 1-9, wherein the positioning method includes: Based on the density of the working water area, configure the buoyancy adjustment mechanism with floats and / or counterweights to balance the robot to the target working posture; Drive the robot to move towards the work area, so that the guide rods on both sides of the robot body enter the guide grooves of the corresponding guide components at the edge of the work area; The robot continues to move towards the work area, and the guide rod slides along the guide groove to guide the robot body in the direction of travel until the robot body and the work area are limited in the first direction. The robot continues to move towards the work area, causing the fixed rod at the moving end of the robot body to approach the locking component until the fixed rod engages with the locking component, thus completing the limiting and locking of the robot body and the work area in the second direction.

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