Underwater robot capable of cooperatively working with unmanned aerial vehicle

Abstract

The utility model discloses an underwater robot capable of cooperatively working with an unmanned aerial vehicle, and belongs to the technical field of cooperative working of unmanned aerial vehicles and underwater robots. According to the technical scheme, the device comprises a main body structure, a waterproof bin, an upper-middle connector, a middle-lower connector, a driving motor, a two-dimensional code area and a shooting module. The underwater robot has the advantages that the underwater robot aims at achieving efficient cooperation of the unmanned aerial vehicle and the underwater robot, the underwater robot is controlled to float upwards, so that the robot stably floats on the water surface, the upper top plate is made to float out of the water surface, and the two-dimensional code area at the upper top plate is exposed; and finally, the unmanned aerial vehicle stably stays on the underwater robot. The unmanned aerial vehicle establishes and completes contact with the underwater robot by identifying the two-dimensional code of the underwater robot, and the underwater robot can also provide a stable landing platform for the unmanned aerial vehicle. And the cooperative capability of the unmanned aerial vehicle and the underwater robot is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of cooperative operation of unmanned aerial vehicles and underwater robots, and in particular to an underwater robot capable of cooperative operation with unmanned aerial vehicles. Background Art

[0002] As humans explore and utilize marine resources, underwater robot technology has developed rapidly. Underwater robots can perform various operations in complex underwater environments, such as seabed topography surveys, resource exploration, and environmental monitoring. However, traditional underwater robots can usually only operate in underwater environments and cannot directly interact with aerial environments.

[0003] The development of drone technology has greatly facilitated aerial operations, as they can perform a variety of tasks in the air, such as aerial photography, monitoring, and communication relay. However, drones are also limited by their flight environment and cannot operate deep underwater.

[0004] However, existing underwater robots can only perform single underwater operations, such as detection and photography, and have single functions and cannot meet complex task requirements. They cannot work effectively with other equipment, such as drones, and have poor coordination capabilities, which limits their scope of application. They are also easily affected by water flow during underwater operations, resulting in unstable posture and affecting operation accuracy. They have poor waterproof performance and are prone to water damage, which affects their service life.

[0005] Therefore, how to combine underwater robots with unmanned aerial vehicle technology to form a robot system that can operate both underwater and in the air is a problem faced by the present utility model. Utility Model Content

[0006] In order to solve the above technical problems, the utility model provides an underwater robot that can cooperate with a drone, which solves the problem that the existing underwater robots can only perform a single underwater operation and cannot be linked with drones, thus limiting their application scope. The utility model aims to achieve efficient collaboration between drones and underwater robots. The drone establishes contact with the underwater robot by identifying the QR code of the underwater robot, and the underwater robot also provides a stable landing platform for the drone.

[0007] The utility model is realized by the following measures: an underwater robot that can work in cooperation with a drone, including a main structure, a waterproof compartment, an upper middle connector, a middle and lower connector, a driving motor, a QR code area, and a shooting module;

[0008] The main structure includes an upper top plate, a middle plate, and a lower bottom plate;

[0009] The upper top plate, the middle plate and the lower bottom plate are arranged from top to bottom, a waterproof compartment is arranged between the upper top plate and the middle plate, the upper top plate and the middle plate are connected by a plurality of upper middle connectors, and the middle plate and the lower bottom plate are connected by a plurality of middle lower connectors.

[0010] The upper top plate, the middle plate and the lower bottom plate are all made of carbon fiber material, and the upper top plate, the middle plate and the lower bottom plate are all arranged in a streamlined flat plate structure.

[0011] The upper top plate, middle plate and lower bottom plate are made of carbon fiber, with a flat structure and streamlined features. They are connected by upper middle connectors and middle lower connectors to form the general structure of the underwater robot. When there is a horizontal flow, it can effectively reduce the disturbance of the water flow to the robot, and the opening design also reduces the disturbance of the vertical water flow to the robot, allowing the underwater robot to stay on the water surface steadily, improving the stability of the underwater robot. When the underwater robot is on the water surface, the upper top plate can float out of the water, allowing the drone to accurately land by identifying the QR code area.

[0012] The drive motor includes a vertical drive motor and a horizontal drive motor. The vertical drive motor mainly controls the underwater robot to float up and dive down, and the horizontal drive motor mainly controls the horizontal movement of the underwater robot. The two motors are combined to control the movement of the underwater robot, thereby improving the flexibility of the drone.

[0013] The waterproof compartment includes a waterproof compartment cover and a waterproof compartment box, and a control module, a remote control module, a signal module and a power supply are arranged inside the waterproof compartment;

[0014] The drive control module is responsible for controlling the operation of the motor and realizing various actions of the underwater robot; the communication control module is responsible for data transmission and command reception between the drone and the underwater robot; and the power supply provides power support for the entire system.

[0015] The waterproof compartment has holes on both sides, and the upper top plate, the middle plate, the lower bottom plate, and the middle and lower connectors all have holes; the upper top plate, the middle plate, and the lower bottom plate all have openings around them.

[0016] A triple waterproof system is also provided. The waterproof bin itself is waterproof as the first waterproof layer; a closed space is formed between the waterproof bin cover and the waterproof bin box through a connecting structure supplemented by a rubber gasket as the second waterproof layer; a nylon threading waterproof joint is provided at the hole of the waterproof bin and the waterproof joint is glued as the third waterproof layer. The triple waterproof layer provides a more stable working environment for the underwater robot.

[0017] The control module, remote control module and signal module are placed in the waterproof compartment. The triple waterproof system not only prevents water from entering the modules, but also greatly improves the balance of the underwater robot because the waterproof compartment is placed in the center.

[0018] The drive control module is responsible for controlling the operation of the motor and realizing various actions of the underwater robot; the communication control module is responsible for data transmission and command reception between the drone and the underwater robot; and the battery provides power support for the entire system.

[0019] The middle and lower connector is a connecting component between the middle plate and the lower base plate. Its structural design is ingenious, which not only ensures the stability of the connection, but also makes the wire layout of the motor neat and orderly, avoiding the problem of messy wires.

[0020] The upper top plate is provided with the shooting module. The upper top plate area is combined with the shooting module. When the underwater robot dives underwater, the shooting module can return the content shot by the camera and transmit it to the robot operator display, which can be used to detect underwater objects and underwater structures. When the robot floats to the surface, the shooting module also emerges from the water and can return the surface situation in real time.

[0021] The two-dimensional code area is set in the middle of the upper surface of the upper top plate, and the two-dimensional code area is set as the landing area of ​​the drone. When the underwater robot is on the water surface, the upper top plate can float out of the water, so that the drone can accurately land by identifying the two-dimensional code area. The setting of the two-dimensional code area not only improves the accuracy of the drone landing, but also enhances the interactivity between the drone and the underwater robot.

[0022] The middle plate is tightly connected to the waterproof compartment. There are six middle and lower connectors, each of which is provided with a driving motor on its outer wall, so that the underwater robot has sufficient power. These motors work together to enable the underwater robot to float up and down, provide the underwater robot with power to move forward and backward, and realize its flexible movement in the underwater environment.

[0023] The upper middle connector and the middle and lower connector are both arranged in a U-shaped structure, and both the upper middle connector and the middle and lower connector include a vertical plate and a horizontal plate arranged on the top side and the bottom side of the vertical plate, and the horizontal plate is fixedly connected to the upper top plate, the middle plate, and the lower bottom plate respectively.

[0024] The waterproof compartment adopts a special design, which not only ensures the waterproof performance, but also facilitates the connection of wires, motors and other components.

[0025] The upper top plate, the middle plate and the lower bottom plate together constitute the main structure of the underwater robot and are firmly connected by the upper middle connector and the middle and lower connector.

[0026] The bottom plate serves as the supporting structure of the entire device, maintaining the balance and stability of the underwater robot. Its sturdy and durable design enables the underwater robot to maintain a stable posture in complex underwater environments, and keeps the landing platform of the drone stable.

[0027] Compared with the prior art, the beneficial effects of the utility model are: the present invention provides an underwater robot that can cooperate with unmanned aerial vehicles, which has the advantages of reasonable structure, complete functions, and easy operation; its technical background is mainly based on the collaborative needs of underwater and aerial operations, and the development of underwater robots and unmanned aerial vehicle technologies; it can not only realize the efficient collaborative operation of unmanned aerial vehicles and underwater robots, but also provide a stable and reliable landing platform for unmanned aerial vehicles, has broad application prospects and market potential, and can also play an important role in many fields, such as ocean exploration, environmental monitoring, rescue operations, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation to the present invention.

[0029] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the utility model.

[0030] Figure 2 It is a top view of the structure of an embodiment of the utility model.

[0031] Figure 3 It is a top view of the layer board in the embodiment of the utility model.

[0032] Figure 4 This is a diagram showing the combination of an underwater robot and a drone according to an embodiment of the utility model.

[0033] Figure 5 This is a flow chart of a specific implementation method of an embodiment of the utility model.

[0034] Among them, the figure markings are: 1. upper top plate; 2. waterproof compartment; 3. middle plate; 4. lower bottom plate; 5. upper middle connector; 6. middle and lower connector; 701. vertical drive motor; 702. horizontal drive motor; 8. QR code area. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the utility model.

[0036] See also Figures 1 to 5 , an underwater robot that can work in cooperation with a drone provided by an embodiment of the utility model comprises a main structure, a waterproof compartment 2, an upper middle connector 5, a middle and lower connector 6, a driving motor, a QR code area 8, and a shooting module;

[0037] The main structure includes an upper top plate 1, a middle plate 3, and a lower bottom plate 4;

[0038] The upper top plate 1, the middle plate 3, and the lower bottom plate 4 are arranged from top to bottom, a waterproof compartment 2 is arranged between the upper top plate 1 and the middle plate 3, the upper top plate 1 and the middle plate 3 are connected by a plurality of upper-middle connectors 5, and the middle plate 3 and the lower bottom plate 4 are connected by a plurality of middle-lower connectors 6.

[0039] The upper top plate 1, the middle plate 3, and the lower bottom plate 4 are all made of carbon fiber material, and the upper top plate 1, the middle plate 3, and the lower bottom plate 4 are all set to a streamlined flat plate structure.

[0040] The driving motor includes a vertical driving motor 701 and a horizontal driving motor 702. The vertical driving motor mainly controls the underwater robot to float and dive, and the horizontal driving motor mainly controls the horizontal movement of the underwater robot. The two motors are combined to control the movement of the underwater robot, thereby improving the flexibility of the drone.

[0041] The waterproof compartment 2 includes a waterproof compartment cover and a waterproof compartment box, and a control module, a remote control module, a signal module and a power supply are arranged inside the waterproof compartment 2;

[0042] The waterproof compartment 2 has holes on both sides, and the upper top plate 1, the middle plate 3, the lower bottom plate 4, and the middle and lower connectors 6 all have holes; the upper top plate 1, the middle plate 3, and the lower bottom plate 4 all have openings around them.

[0043] The drive control module is responsible for controlling the operation of the motor and realizing various actions of the underwater robot; the communication control module is responsible for data transmission and command reception between the drone and the underwater robot; and the battery provides power support for the entire system.

[0044] The middle and lower connector 6 is a connecting component between the middle plate 3 and the lower base plate 4. Its structural design is ingenious, which not only ensures the stability of the connection, but also makes the layout of the motor wires neat and orderly, avoiding the problem of messy wires.

[0045] The upper top plate 1 is provided with a shooting module 9. The upper top plate area is combined with the shooting module. When the underwater robot dives underwater, the shooting module can return the content shot by the camera and transmit it to the robot operator display, which can be used to detect underwater objects and underwater structures. When the robot surfaces, the shooting module also emerges from the water and can return the surface situation in real time.

[0046] The two-dimensional code area 8 is arranged in the middle of the upper surface of the upper top plate 1 , and the two-dimensional code area 8 is arranged as a landing area for the drone.

[0047] The middle plate 3 is tightly connected to the waterproof compartment 2. Six middle and lower connectors 6 are provided, and a driving motor is provided on the outer wall of each middle and lower connector 6.

[0048] The upper middle connector 5 and the middle and lower connector 6 are both arranged in a U-shaped structure, and the upper middle connector 5 and the middle and lower connector 6 both include a vertical plate and a horizontal plate arranged on the top side and the bottom side of the vertical plate, and the horizontal plate is fixedly connected to the upper top plate 1, the middle plate 3, and the lower bottom plate 4 respectively.

[0049] The top plate 1, the middle plate 3 and the bottom plate 4 are thin, light and strong. The streamlined design and thin plate thickness can effectively reduce the disturbance of the horizontal flow to the underwater robot, making the underwater robot move more smoothly. When the robot moves horizontally, it can also effectively reduce the resistance of the water flow to the robot.

[0050] The top plate, the middle plate, and the bottom plate are all opened around to reduce the impact of vertical flow on the underwater robot. When the robot floats up and down, it can also effectively reduce the resistance of the water flow to the robot. The top plate and the middle plate are connected by the upper and middle connectors; the waterproof compartment is connected to the middle plate and fixed in the center of the middle plate. The remote control module, control module, signal module and power supply are placed inside the waterproof compartment. The signal module receives the control signal and transmits it to the control module. The control module drives the motor to rotate and the robot starts to move. The left and right sides of the waterproof compartment have holes to allow the motor wires to pass through. Then the wires pass through the holes on the middle plate and connect to the motor through the holes of the middle and lower connectors, realizing the connection between the motor, the control module and the power supply, thereby driving the motor and starting the underwater robot to move.

[0051] The remote control module, the control module, and the signal module can be obtained in the prior art and will not be described in detail here.

[0052] The specific operation process and working principle of the underwater robot for cooperative operation with the unmanned aerial vehicle of the utility model are as follows:

[0053] When the underwater robot is in the water, the operator transmits a signal to the underwater robot through the remote control system. When the underwater robot receives the signal, the control module drives the motor to rotate, so that the underwater robot starts to move. When the underwater robot is needed to provide a landing platform for the drone, the operator controls the underwater robot to float up, so that the robot floats steadily on the water surface, and the upper top plate floats out of the water, exposing the QR code area on the upper top plate. When the drone in the air scans the QR code on the upper top plate, it lands and finally stays steadily on the underwater robot.

[0054] Example 2

[0055] On the basis of Example 1, a triple waterproof system is also provided. The waterproof compartment 2 itself is waterproof as the first waterproof layer; a closed space is formed between the waterproof compartment cover and the waterproof compartment box through a connecting structure supplemented by a rubber gasket as the second waterproof layer; a nylon threading waterproof joint is provided at the hole of the waterproof compartment and the waterproof joint is glued as the third waterproof layer.

[0056] The control module, remote control module and signal module are placed in the waterproof compartment. The triple waterproof system not only prevents water from entering the modules, but also greatly improves the balance of the underwater robot because the waterproof compartment is placed in the center.

[0057] Example 3

[0058] On the basis of Example 1, the upper top plate 1, the middle plate 3, and the lower bottom plate 4 are made of carbon fiber material, with a flat structure and streamlined features. When there is a horizontal flow, it can effectively reduce the disturbance of the water flow to the robot, and the design with openings also reduces the disturbance of the vertical water flow to the robot, allowing the underwater robot to stay on the water surface stably, thereby improving the stability of the underwater robot. When the underwater robot is on the water surface, the upper top plate can float out of the water, allowing the drone to accurately land by identifying the QR code area.

[0059] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An underwater robot that can work in collaboration with a drone, characterized in that: It comprises a main structure, a waterproof chamber (2), an upper middle connector (5), a middle and lower connector (6), a driving motor, a two-dimensional code area (8), and a camera module (9); The main structure comprises an upper top plate (1), a middle plate (3) and a lower bottom plate (4); An upper top plate (1), a middle plate (3), and a lower bottom plate (4) are arranged from top to bottom, a waterproof compartment (2) is arranged between the upper top plate (1) and the middle plate (3), the upper top plate (1) and the middle plate (3) are connected via a plurality of upper middle connectors (5), and the middle plate (3) and the lower bottom plate (4) are connected via a plurality of middle lower connectors (6).

2. The underwater robot capable of working in cooperation with a drone according to claim 1, characterized in that: The upper top plate (1), the middle plate (3), and the lower bottom plate (4) are all made of carbon fiber material, and the upper top plate (1), the middle plate (3), and the lower bottom plate (4) are all configured as streamlined flat plate structures.

3. The underwater robot capable of working in cooperation with a drone according to claim 1, characterized in that: The driving motor comprises a vertical driving motor (701) and a horizontal driving motor (702).

4. The underwater robot capable of working in cooperation with a drone according to claim 1, characterized in that: The waterproof compartment (2) comprises a waterproof compartment cover and a waterproof compartment box, and a control module, a remote control module, a signal module and a power supply are arranged inside the waterproof compartment (2); The waterproof compartment (2) has holes on both sides, and the upper top plate (1), the middle plate (3), the lower bottom plate (4), and the middle and lower connectors (6) all have holes; the upper top plate (1), the middle plate (3), and the lower bottom plate (4) are all provided with openings around them.

5. The underwater robot capable of working in cooperation with a drone according to claim 4, characterized in that: A triple waterproof system is also provided, wherein the waterproof bin (2) itself is waterproof as the first waterproof layer; a closed space is formed between the waterproof bin cover and the waterproof bin box through a connection structure supplemented by a rubber gasket as the second waterproof layer; and a nylon threading waterproof joint is provided at the hole of the waterproof bin and the waterproof joint is filled with glue as the third waterproof layer.

6. The underwater robot capable of working in cooperation with a drone according to claim 1, characterized in that: The upper top plate (1) is provided with the shooting module (9).

7. The underwater robot capable of working in cooperation with a drone according to claim 1, characterized in that: The two-dimensional code area (8) is arranged in the middle of the upper surface of the upper top plate (1), and the two-dimensional code area (8) is set as a landing area for the drone.

8. The underwater robot capable of working in cooperation with a drone according to claim 1, characterized in that: The middle layer plate (3) is tightly connected to the waterproof bin (2).

9. The underwater robot capable of working in cooperation with a drone according to claim 1, characterized in that: Six middle and lower connectors (6) are provided, and a driving motor is provided on the outer wall of each middle and lower connector (6).

10. The underwater robot capable of working in cooperation with a drone according to claim 1, characterized in that: The upper middle connector (5) and the middle and lower connector (6) are both arranged in a U-shaped structure, and both the upper middle connector (5) and the middle and lower connector (6) comprise a vertical plate and a horizontal plate arranged on one side of the top and one side of the bottom of the vertical plate, and the horizontal plates are respectively fixedly connected to the upper top plate (1), the middle plate (3), and the lower bottom plate (4).

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