A highly integrated underwater robot

Abstract

This application relates to the technical field of underwater robots, and in particular to a highly integrated underwater robot, comprising a main body, mounting frame, upper buoy, lower buoy, thruster, mounting compartment, battery compartment, battery, rotary switch, control compartment, snap-fit ​​terminal, wiring terminal, first mounting plate, second mounting plate, clearance hole, third mounting plate, attitude sensor, electronic compass, power line carrier board, power board, heat conduction sheet, wiring port, camera, mounting end, power interface, and control compartment shell; by layering multiple mounting cavities within the mounting compartment, and utilizing the modular layout structure of the multi-component layered cavities within the control compartment, the corresponding cavity space can be matched according to the size specifications, functional attributes, and installation requirements of different components and devices, achieving a neat and partitioned arrangement of components and corresponding devices, making full use of the limited space inside the mounting compartment, and significantly improving the space utilization rate and overall integration of the robot.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a highly integrated underwater robot. Background Technology

[0002] With the rapid development of fields such as ecological water monitoring, wild fish resource surveys, underwater fish observation, aquaculture detection, and underwater ecological research, the demand for fish observation and detection operations in complex aquatic environments such as shallow lakes, streams, aquaculture ponds, and nearshore shoals is becoming increasingly urgent. Traditional manual underwater observation and underwater camera detection methods have drawbacks such as high operational risks, limited observation range, inaccurate data collection, and inability to operate continuously for extended periods. Therefore, underwater detection robots are gradually becoming the core equipment for fish observation and fish resource detection.

[0003] However, existing underwater robots are relatively large, easily disturbing wild fish during operations, causing them to flee and resulting in problems such as blank observation images, distorted detection data, and population statistics bias. Furthermore, their large size makes it difficult for them to enter areas with dense aquatic plants, reef crevices, and narrow shallow waters—primarily fish habitats—making it impossible to achieve close-range, undisturbed fish observation and precise detection. This significantly limits the operational range and detection accuracy of underwater fish watching and fish resource detection, severely impacting the effectiveness of these operations. Summary of the Invention

[0004] To facilitate underwater fish observation and fish detection operations, this application provides a highly integrated underwater robot.

[0005] This application provides a highly integrated underwater robot using the following technical solution: A highly integrated underwater robot includes: The main body includes a mounting frame, with an upper floating block at the top and a lower floating block at the bottom, and a plurality of pushers evenly arranged along the circumference of the mounting frame; The mounting compartment is set inside the mounting frame. Its top end is connected to the upper floating block, and its bottom end is connected to the lower floating block. The mounting compartment includes a battery compartment and a control compartment connected end to end. Both the battery compartment and the control compartment are mounted on the mounting frame. The battery compartment is used to supply power to the control compartment. The control compartment has multiple cavities arranged in layers for installation.

[0006] By adopting the above technical solution, multiple installation cavities are arranged in layers within the installation compartment. Utilizing the modular layout of these multi-layered cavities within the control compartment, corresponding cavity spaces can be matched according to the size, functional attributes, and installation requirements of different components and devices. This achieves a neat and partitioned arrangement of components and corresponding devices, making full use of the limited space within the installation compartment and significantly improving space utilization and overall integration. Simultaneously, the installation compartment consists of a battery compartment and a control compartment connected end-to-end. The battery compartment independently supplies power, while the control compartment independently integrates control components and corresponding devices, achieving partitioned isolation between the power supply and control structures and further optimizing the overall layout within the mounting frame.

[0007] Optionally, a first mounting plate, a second mounting plate, and a third mounting plate are arranged sequentially from top to bottom inside the control cabin, and the first mounting plate, the second mounting plate, and the third mounting plate are all fixedly connected to the inner wall of the control cabin.

[0008] By adopting the above technical solution, a first mounting plate, a second mounting plate, and a third mounting plate are fixedly connected to the inner wall of the control cabin. These multiple mounting plates work together to create multi-layered partitioned spaces within the control cabin, dividing the single internal cavity into multiple independent installation areas and further refining the cavity layout. Simultaneously, the first, second, and third mounting plates are all firmly fixed to the inner wall of the control cabin, ensuring strong structural stability and providing reliable installation support for various components, preventing loosening or displacement during equipment operation. Furthermore, the independent spaces created by the multiple mounting plates effectively isolate vibrations and electromagnetic interference generated by components operating in different areas, ensuring independent and stable operation of each component. The layered structure also makes the internal wiring and component layout clearer and more organized, greatly facilitating the inspection, repair, and replacement of components within the control cabin, further enhancing the equipment's practicality and ease of maintenance.

[0009] Optionally, an electronic compass and an attitude sensor are provided at the top of the first mounting plate, and the electronic compass and the first mounting plate are connected by copper pillars, and the attitude sensor and the first mounting plate are connected by copper pillars.

[0010] By adopting the above technical solution, the attitude sensor and electronic compass are mounted on the first mounting plate. The attitude sensor can collect pitch, roll and other attitude data of the robot underwater in real time, and the electronic compass can accurately detect the robot's navigation azimuth angle data, realizing all-round real-time monitoring of the equipment's attitude and orientation. This provides accurate data support for the robot's autonomous underwater navigation, attitude control and fixed-point operation, effectively improving the intelligence and accuracy of the equipment's underwater operation.

[0011] Optionally, the second mounting plate is used to mount the power line carrier chip 326.

[0012] By adopting the above technical solution, the structure of the second mounting plate with independent partition installation can effectively isolate the power fluctuations and electromagnetic signals generated when the power line carrier chip 326 is working, avoiding electromagnetic interference to the high-precision detection work of the attitude sensor and electronic compass. At the same time, the power line carrier chip 326 has the ability to transmit power and data synchronously, and can achieve stable transmission of control data and sensor data by relying on the equipment power supply line, without the need to lay a large number of additional communication lines, which greatly simplifies the wiring structure inside the control cabin.

[0013] Optionally, a power board is mounted on the third mounting plate.

[0014] By adopting the above technical solution, the power board is independently arranged on the third mounting plate, which effectively avoids the interference of current fluctuations, electromagnetic radiation and heat accumulation generated during the operation of the power board on the attitude sensor, electronic compass and power line carrier chip 326.

[0015] Optionally, it also includes a control cabin housing, wherein the snap-fit ​​end of the mounting cabin is located inside the control cabin housing, the wiring end of the mounting cabin extends out of the control cabin housing, and a plurality of wiring ports are evenly provided on the side wall of the wiring end of the mounting cabin.

[0016] By adopting the above technical solution, an independent control cabin shell is set up to provide overall protection for the installation cabin. By storing the snap-fit ​​end of the installation cabin inside the control cabin shell and extending the wiring end through the control cabin shell, several wiring ports on the side wall of the wiring terminal are exposed, effectively freeing up the limited cavity space inside the control cabin shell, providing convenience for wiring, and avoiding the wiring occupying the internal installation space when the wiring ports are set inside, so as to make the robot's space utilization rate and integration level higher.

[0017] Optionally, a heat-conducting plate is also provided at the top of the first mounting plate, and the heat-conducting plate is attached to the control cabin shell.

[0018] By adopting the above technical solution, a heat-conducting plate is added to the top of the first mounting plate and the heat-conducting plate is tightly attached to the inner wall of the control cabin shell. The heat generated by the devices and components mounted on the first mounting plate can be conducted to the outer control cabin shell. The heat dissipation can be achieved by utilizing the contact area between the shell and the external water environment, which effectively reduces the local temperature inside the control cabin and solves the problems of poor heat dissipation and serious heat accumulation inside the sealed cabin.

[0019] Optionally, a heat-conducting plate is also provided at the bottom of the third mounting plate, and the heat-conducting plate is attached to the control cabin shell.

[0020] By adopting the above technical solution, a heat-conducting plate is also configured at the bottom of the third mounting plate. This heat-conducting plate is tightly attached to the inner wall of the control compartment shell, forming a symmetrical, full-coverage heat dissipation system with the heat-conducting structure at the top of the first mounting plate. The power board mounted on the third mounting plate is a high-power heat-generating component of the entire machine, which easily generates a large amount of heat during long-term operation. A single upper heat dissipation structure cannot meet the overall heat dissipation requirements, which can easily cause heat accumulation in the lower cavity and high-temperature overload of the power module. By adding a heat-conducting plate at the bottom of the third mounting plate, the concentrated heat generated by the power board can be absorbed quickly and specifically, and directly conducted to the control compartment shell. With the help of the external water environment, rapid heat exchange is achieved, effectively solving the problem of delayed heat dissipation and heat accumulation in the lower area of ​​the control compartment.

[0021] Optionally, a battery may be detachably installed inside the battery compartment, and a rotary switch may be provided on the battery.

[0022] By adopting the above technical solution, the battery compartment features detachable battery mounting. Leveraging the structural advantages of the separate front-to-back layout of the battery compartment and control compartment, the entire power supply components are independently and centrally arranged, achieving physical partitioning of the power supply unit with the control, sensing, and communication units, ensuring no interference between them. Simultaneously, operators can quickly control the battery power supply circuit directly via a rotary switch, without disassembling the casing or using additional tools, greatly simplifying the operation process for powering on, off, and troubleshooting. In scenarios such as equipment debugging, handling, and fault diagnosis, power can be quickly cut off, effectively avoiding safety hazards such as accidental circuit startup, short circuits caused by live disassembly, and component burnout. This significantly improves equipment safety and ease of operation, adapting to various working conditions such as underwater operations, equipment debugging, and routine maintenance.

[0023] Optionally, a camera is provided at one end of the mounting compartment, and the mounting end of the camera is located inside the cavity of the mounting compartment. An avoidance hole is provided on the second mounting plate to allow the mounting end of the camera to pass.

[0024] By adopting the above technical solution, the advantages of layered and zoned layout of each functional module inside the control cabin are fully preserved. A camera is installed at the end of the installation cabin and the camera's mounting end is housed inside the installation cabin cavity. By opening avoidance holes on the second mounting plate, the camera's mounting end is precisely avoided. This effectively solves the problem of structural interference and assembly failure between the layered mounting plate structure and the front-end camera component, further optimizing the rationality of the overall structural layout and functional integration.

[0025] In summary, this application includes at least one of the following beneficial technical effects: 1. By layering multiple installation cavities within the installation cabin and utilizing the modular layout structure of the multi-component layered cavities inside the control cabin, the corresponding cavity space can be matched according to the size specifications, functional attributes, and installation requirements of different components and devices. This achieves a regular and partitioned arrangement of components and corresponding devices, making full use of the limited space inside the installation cabin and significantly improving the space utilization rate and overall integration of the machine.

[0026] 2. By incorporating the snap-fit ​​end of the mounting compartment inside the control compartment housing and extending the wiring end through the control compartment housing, the wiring ports on the side wall of the wiring terminal are exposed, effectively freeing up the limited cavity space inside the control compartment housing. This facilitates wiring and avoids the wiring occupying internal installation space when the wiring ports are located inside, resulting in higher space utilization and integration of the robot. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of a highly integrated underwater robot according to an embodiment of this application.

[0028] Figure 2 This is a schematic diagram of the installation compartment and battery compartment of a highly integrated underwater robot according to an embodiment of this application.

[0029] Figure 3 This is a structural schematic diagram of the installation compartment in an embodiment of this application.

[0030] Figure 4 This is a schematic diagram of the cavity distribution of the mounting compartment in an embodiment of this application.

[0031] Figure 5 This is a schematic diagram of the control cabin shell in an embodiment of this application.

[0032] Explanation of reference numerals in the attached figures: 1. Main body; 11. Mounting frame; 12. Upper buoy; 13. Lower buoy; 2. Thruster; 3. Mounting compartment; 31. Battery compartment; 311. Battery; 312. Rotary switch; 32. Control compartment; 320. Snap-fit ​​end; 3200. Wiring terminal; 321. First mounting plate; 322. Second mounting plate; 3221. Clearance hole; 323. Third mounting plate; 324. Attitude sensor; 325. Electronic compass; 326. Power line carrier chip; 327. Power board; 328. Heat-conducting plate; 329. Wiring port; 33. Camera; 331. Mounting end; 34. Power interface; 35. Control compartment shell. Detailed Implementation

[0033] The following is in conjunction with the appendix Figure 1-5 This application will be described in further detail.

[0034] This application discloses a highly integrated underwater robot.

[0035] Reference Figure 1-5 A highly integrated underwater robot includes: a main body 1, including a mounting frame 11, with an upper floating block 12 at the top and a lower floating block 13 at the bottom, and a plurality of thrusters 2 evenly arranged around the circumference of the mounting frame 11; and a mounting compartment 3, disposed inside the mounting frame 11, with its top end connected to the upper floating block 12 and its bottom end connected to the lower floating block 13. The mounting compartment 3 includes a battery compartment 31 and a control compartment 32 connected end to end. Both the battery compartment 31 and the control compartment 32 are mounted on the mounting frame 11. The battery compartment 31 is used to supply power to the control compartment 32, and the control compartment 32 has multiple mounting cavities arranged in layers inside. The installation compartment 3 is divided into multiple installation cavities. Utilizing the modular layout of the multi-layered cavities within the control compartment 32, the corresponding cavity space can be matched according to the size, functional attributes, and installation requirements of different components and devices. This achieves a neat and partitioned arrangement of components and corresponding devices, making full use of the limited space within the installation compartment 3 and significantly improving the space utilization and overall integration of the device. Simultaneously, the installation compartment 3 consists of a battery compartment 31 and a control compartment 32 connected end-to-end. The battery compartment 31 independently supplies power, while the control compartment 32 independently integrates control components and corresponding devices, achieving partitioned isolation between the power supply and control structures and further optimizing the overall layout within the mounting frame 11.

[0036] In an optional embodiment, a first mounting plate 321, a second mounting plate 322, and a third mounting plate 323 are sequentially arranged from top to bottom inside the control cabin 32. All three mounting plates are fixedly connected to the inner wall of the control cabin 32. The fixed connection of these mounting plates to the inner wall of the control cabin 32 creates multiple layers of partitioned space within the control cabin 32, dividing the single internal cavity into multiple independent installation areas and further refining the cavity layout. Simultaneously, the first mounting plate 321, the second mounting plate 322, and the third mounting plate 323 are firmly fixed to the inner wall of the control cabin 32, providing strong structural stability and reliable mounting support for various components, preventing loosening or displacement of components during equipment operation. Furthermore, the independent spaces formed by the multiple mounting plates can effectively isolate the vibration and electromagnetic interference generated by the operation of components in different areas, ensuring that each component works independently and stably. At the same time, the layered structure also makes the wiring and components inside the cabin clearer and more organized, which greatly facilitates the staff to inspect, repair and replace the components inside the control cabin 32, further improving the practicality and ease of operation and maintenance of the equipment.

[0037] In an optional embodiment, an electronic compass 325 and an attitude sensor 324 are disposed at the top of the first mounting plate 321. The electronic compass 325 and the first mounting plate 321 are connected by copper pillars, and the attitude sensor 324 and the first mounting plate 321 are also connected by copper pillars. The attitude sensor 324 and the electronic compass 325 are mounted on the first mounting plate 321 in conjunction. The attitude sensor 324 can collect pitch, roll, and other attitude data of the robot underwater in real time, while the electronic compass 325 can accurately detect the robot's navigation azimuth angle data, realizing all-round real-time monitoring of the equipment's attitude and orientation. This provides accurate data support for the robot's autonomous underwater navigation, attitude control, and fixed-point operation, effectively improving the intelligence and accuracy of the equipment's underwater operations.

[0038] In an optional embodiment, the second mounting plate 322 is used to mount the power line carrier chip 326. The independent partitioned mounting structure of the second mounting plate 322 can effectively isolate the power fluctuations and electromagnetic signals generated by the power line carrier chip 326 during operation, avoiding electromagnetic interference to the high-precision detection work of the attitude sensor 324 and the electronic compass 325. At the same time, the power line carrier chip 326 has the ability to transmit power and data synchronously, and can achieve stable transmission of control data and sensor data by relying on the equipment power supply line, without the need to lay a large number of additional communication lines, which greatly simplifies the internal wiring structure of the control cabin 32.

[0039] In an optional embodiment, a power board 327 is mounted on the third mounting plate 323. By independently arranging the power board 327 on the third mounting plate 323, interference from current fluctuations, electromagnetic radiation, and heat accumulation generated during the operation of the power board 327 can be effectively avoided from affecting the attitude sensor 324, the electronic compass 325, and the power line carrier chip 326.

[0040] In an optional embodiment, the system further includes a control cabin housing 35. The snap-fit ​​end 320 of the mounting compartment 3 is disposed inside the control cabin housing 35, and the wiring end 3200 of the mounting compartment 3 extends out of the control cabin housing 35. A plurality of wiring ports 329 are evenly arranged on the side wall of the wiring end 3200 of the mounting compartment 3. By setting up an independent control cabin housing 35 to provide overall protection for the mounting compartment 3, and by housing the snap-fit ​​end 320 of the mounting compartment 3 inside the control cabin housing 35 and extending the wiring end 3200 through the control cabin housing 35, the plurality of wiring ports 329 on the side wall of the wiring end 3200 are exposed. This effectively frees up the limited cavity space inside the control cabin housing 35, facilitates wiring, and avoids the wiring occupying internal installation space when the wiring ports 329 are placed inside, resulting in higher space utilization and integration of the robot.

[0041] In an optional embodiment, a heat-conducting plate 328 is further provided at the top of the first mounting plate 321, and the heat-conducting plate 328 is attached to the control cabin shell 35. The addition of the heat-conducting plate 328 at the top of the first mounting plate 321 and the close attachment of the heat-conducting plate 328 to the inner wall of the control cabin shell 35 allows for the installation of electronic components and devices with high heat generation on the first mounting plate 321. The heat generated by the devices and components installed on the first mounting plate 321 can then be conducted to the outer control cabin shell 35, utilizing the contact area between the shell and the external water environment to achieve rapid heat dissipation, effectively reducing the local temperature inside the control cabin 32 and solving the problems of poor heat dissipation and severe heat accumulation inside the sealed cabin.

[0042] In an optional embodiment, a heat-conducting plate 328 is also provided at the bottom of the third mounting plate 323, and the heat-conducting plate 328 is attached to the control compartment shell 35. A heat-conducting plate 328 is also provided at the bottom of the third mounting plate 323, which is in close contact with the inner wall of the control compartment shell 35, forming a symmetrical, full-coverage heat dissipation system with the heat-conducting structure at the top of the first mounting plate 321. The power board 327 mounted on the third mounting plate 323 is a high-power heat-generating component of the entire machine, and it easily generates a large amount of heat during long-term operation. A single upper heat dissipation structure cannot meet the overall heat dissipation requirements, which can easily cause heat accumulation in the lower cavity and high-temperature overload of the power module. However, the heat-conducting plate 328 added to the bottom of the third mounting plate 323 can specifically and quickly absorb the concentrated heat generated by the power board 327 and directly conduct it to the control compartment shell 35, achieving rapid heat exchange with the help of the external water environment, effectively solving the problem of delayed heat dissipation and heat accumulation in the lower area of ​​the control compartment 32.

[0043] In an optional embodiment, a battery 311 is detachably installed inside the battery compartment 31, and a rotary switch 312 is provided on the battery 311. The detachable battery 311 inside the battery compartment 31 leverages the structural advantage of the separate front-to-back layout of the battery compartment 31 and the control compartment 32, allowing for independent and centralized deployment of the entire power supply components. This achieves physical partitioning of the power supply unit with the control, sensing, and communication units, ensuring they do not interfere with each other. Power can be supplied to the control compartment 32 via the power interface 34. Simultaneously, operators can directly and quickly control the on / off state of the battery 311 power supply circuit via the rotary switch 312, without disassembling the casing or using additional tools, greatly simplifying the operation process for powering on, off, and troubleshooting. In scenarios such as equipment debugging, handling, and fault diagnosis, power can be quickly cut off, effectively avoiding safety hazards such as accidental circuit startup, short circuits caused by live disassembly, and component burnout. This significantly improves equipment safety and ease of operation, adapting to various working conditions such as underwater operations, equipment debugging, and daily maintenance.

[0044] In one optional embodiment, a camera 33 is provided at one end of the mounting compartment 3, and the mounting end 331 of the camera 33 is disposed within the cavity of the mounting compartment 3. A clearance hole 3221 is provided on the second mounting plate 322 to allow clearance for the mounting end 331 of the camera 33. By fully preserving the advantages of the layered and partitioned layout of the functional modules inside the control compartment 32, and by providing a camera 33 at the end of the mounting compartment 3 and housing the mounting end 331 of the camera 33 within the cavity of the mounting compartment 3, and by providing a clearance hole 3221 on the second mounting plate 322 to precisely allow clearance for the mounting end 331 of the camera 33, the problem of structural interference and assembly failure between the layered mounting plate structure and the front-end camera assembly is effectively solved, further optimizing the rationality of the overall structural layout and functional integration.

[0045] The implementation principle of a highly integrated underwater robot according to this application embodiment is as follows: Multiple installation cavities are arranged in layers within the installation cabin 3. Utilizing the modular layout structure of the multi-layered cavities within the control cabin 32, the corresponding cavity space can be matched according to the size, functional attributes, heat generation, and installation requirements of different components and devices. This achieves a neat and orderly arrangement of components and corresponding devices, making full use of the limited space within the installation cabin 3 and significantly improving the space utilization rate and overall integration. Simultaneously, the installation cabin 3 consists of a battery cabin 31 and a control cabin 32 connected end-to-end. The battery cabin 31 independently supplies power, while the control cabin 32 independently integrates control components and corresponding devices, achieving partitioned isolation between the power supply structure and the control structure, further optimizing the overall layout within the mounting frame 11.

[0046] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A highly integrated underwater robot, characterized in that, include: The main body (1) includes a mounting frame (11), with an upper floating block (12) at the top of the mounting frame (11) and a lower floating block (13) at the bottom of the mounting frame (11), and a number of pushers (2) are evenly arranged along the circumference of the mounting frame (11). The mounting compartment (3) is set inside the mounting frame (11). Its top end is connected to the upper floating block (12), and its bottom end is connected to the lower floating block (13). The mounting compartment (3) includes a battery compartment (31) and a control compartment (32) connected end to end. Both the battery compartment (31) and the control compartment (32) are mounted on the mounting frame (11). The battery compartment (31) is used to supply power to the control compartment (32). The control compartment (32) has multiple cavities for installation arranged in layers inside.

2. The highly integrated underwater robot according to claim 1, characterized in that: The control cabin (32) is provided with a first mounting plate (321), a second mounting plate (322) and a third mounting plate (323) arranged from top to bottom. The first mounting plate (321), the second mounting plate (322) and the third mounting plate (323) are all fixedly connected to the inner wall of the control cabin (32).

3. The highly integrated underwater robot according to claim 2, characterized in that: An electronic compass (325) and an attitude sensor (324) are provided at the top of the first mounting plate (321). The electronic compass (325) and the first mounting plate (321) are connected by copper pillars, and the attitude sensor (324) and the first mounting plate (321) are connected by copper pillars.

4. The highly integrated underwater robot according to claim 3, characterized in that: The second mounting plate (322) is used to mount the power line carrier chip 326.

5. A highly integrated underwater robot according to claim 4, characterized in that: A power board (327) is mounted on the third mounting plate (323).

6. A highly integrated underwater robot according to claim 5, characterized in that: It also includes a control cabin housing (35), the snap-fit ​​end (320) of the mounting cabin (3) is located inside the control cabin housing (35), the wiring end (3200) of the mounting cabin (3) extends out of the control cabin housing (35), and a number of wiring ports (329) are evenly arranged on the side wall of the wiring end (3200) of the mounting cabin (3).

7. A highly integrated underwater robot according to claim 6, characterized in that: The top of the first mounting plate (321) is also provided with a heat-conducting plate (328), which is attached to the control cabin shell (35).

8. A highly integrated underwater robot according to claim 7, characterized in that: The bottom end of the third mounting plate (323) is also provided with a heat-conducting plate (328), which is attached to the control cabin shell (35).

9. A highly integrated underwater robot according to claim 8, characterized in that: A battery (311) is detachably installed inside the battery compartment (31), and a rotary switch (312) is provided on the battery (311).

10. A highly integrated underwater robot according to claim 9, characterized in that: A camera (33) is provided at one end of the mounting compartment (3). The mounting end (331) of the camera (33) is located in the cavity of the mounting compartment (3). An avoidance hole (3221) is provided on the second mounting plate (322). The avoidance hole (3221) is used to avoid the mounting end (331) of the camera (33).

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