Robot for underwater unmanned exploration

Abstract

The utility model provides a robot for underwater unmanned exploration, and relates to the technical field of underwater robots. The robot for underwater unmanned exploration comprises a cabin body and an elastic cabin body arranged on the cabin body in a sleeving mode, and the two ends, in the axial direction, of the elastic cabin body are connected with the two ends, in the axial direction, of the cabin body in a sealed mode correspondingly, so that an elastic cavity is defined between the elastic cabin body and the cabin body; and the volume of the elastic chamber is used for increasing or decreasing relative to the cabin body. When the robot for the underwater unmanned exploration works underwater, the size of the robot for the underwater unmanned exploration can be adaptively adjusted by changing the size of the elastic cavity, so that the adaptive change of the appearance of the robot for the underwater unmanned exploration is realized, and the use flexibility of the robot for the underwater unmanned exploration is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater robots, and more specifically, to a robot for underwater unmanned exploration. Background Art

[0002] Underwater unmanned robots are divided into remotely operated underwater vehicles (ROVs) and autonomous underwater vehicles (AUVs) according to different control methods; they are divided into portable, light, heavy, and giant types according to volume; and they are divided into bottom crawling type, mid-water layer floating type, and hybrid type according to movement methods. New materials such as titanium alloy and carbon fiber are used to replace traditional materials such as aluminum alloy to improve the pressure-bearing capacity of the shell; some new underwater acoustic communication technologies such as high-speed large bandwidth are used to improve the packet loss and delay problems of underwater communication, etc.

[0003] Currently, the shapes, weights, etc. of various forms of robots for underwater unmanned exploration often remain in a constant state and it is difficult to adapt to complex and changeable working environments and different working modes. For example, although portable and light underwater exploration robots are small in volume and light in weight and have good flexibility and adaptability in narrow spaces, they are extremely vulnerable to the influence of water flow, underwater obstacles, various fine particles, etc. underwater, lose balance, and it is difficult to maintain stability. This makes the use flexibility of robots for underwater unmanned exploration relatively poor. Summary of the Utility Model

[0004] The problem solved by the utility model is: how to improve the use flexibility of the robot for underwater unmanned exploration.

[0005] To solve the above problems, the utility model provides a robot for underwater unmanned exploration, which includes a cabin body and an elastic cabin body sleeved on the cabin body. The two ends of the elastic cabin body in the axial direction are respectively sealed and connected to the two ends of the cabin body in the axial direction to form an elastic chamber between the elastic cabin body and the cabin body, and the volume of the elastic chamber is used to become larger or smaller relative to the cabin body.

[0006] Optionally, a controller and a water pump communicatively connected to the controller are arranged on the cabin body, and the water pump is used to communicate with the elastic chamber and the external environment through a pipeline to realize the deformation of the elastic chamber.

[0007] Optionally, the robot for underwater unmanned exploration further includes two pressure sensors both communicatively connected to the controller. The probe of one pressure sensor is located in the elastic chamber, and the probe of the other pressure sensor is used to extend into the external environment.

[0008] Optionally, the cabin includes a cylindrical cabin, a head cabin and a tail cabin located at both axial ends of the cylindrical cabin. Both axial ends of the elastic cabin are hermetically connected to both axial ends of the cylindrical cabin respectively. The head cabin is hermetically connected to the cylindrical cabin through a head sealing isolation plate, and the tail cabin is hermetically connected to the cylindrical cabin through a tail sealing isolation plate.

[0009] Optionally, the underwater unmanned exploration robot further includes a liquid transporter. A pipeline is provided in the head cabin. One end of the pipeline is connected to the wall of the head cabin and communicates with the external environment, and the other end of the pipeline is connected to the head sealing isolation plate and communicates with the cylindrical cabin. The liquid transporter is located on the pipeline for transporting water in the external environment into the cylindrical cabin or discharging the water in the cylindrical cabin.

[0010] Optionally, the underwater unmanned exploration robot further includes a support frame located inside the cylindrical cabin. A plurality of the support frames are distributed along the axial direction of the cylindrical cabin and are vertically connected to the inner wall of the cylindrical cabin.

[0011] Optionally, the underwater unmanned exploration robot further includes a surrounding environment sensor. The surrounding environment sensor is installed on the head cabin and is communicatively connected to the controller. The surrounding environment sensor is used for transmitting the signal of the surrounding environment of the head cabin to the controller.

[0012] Optionally, the underwater unmanned exploration robot further includes a hollow conduit. The hollow conduit is located inside the cylindrical cabin. Both ends of the hollow conduit penetrate through the tail sealing isolation plate and the head sealing isolation plate respectively and communicate with the head cabin and the tail cabin respectively. The hollow conduit is used for passing signal lines.

[0013] Optionally, the underwater unmanned exploration robot further includes an energy storage device. The energy storage device is installed inside the tail cabin and is used for providing temporary energy.

[0014] Optionally, the underwater unmanned exploration robot further includes a balance rudder system and a countercurrent thruster system installed on the tail cabin. Both the balance rudder system and the countercurrent thruster system are communicatively connected to the controller.

[0015] Compared with the prior art, for the underwater unmanned exploration robot of the present utility model, both ends in the axial direction of the elastic cabin are hermetically connected to both ends in the axial direction of the cabin respectively, so as to enclose an elastic chamber between the elastic cabin and the cabin. The volume of the elastic chamber is used to become larger or smaller relative to the cabin. The volume change of the elastic chamber can be used to realize the volume change of the underwater unmanned exploration robot. In this way, when the underwater unmanned exploration robot conducts underwater work, the volume of the elastic chamber can be changed to adaptively adjust the volume of the underwater unmanned exploration robot, so as to realize the adaptive change of the shape of the underwater unmanned exploration robot and improve the use flexibility of the underwater unmanned exploration robot. Brief Description of the Drawings

[0016] Figure 1 It is a schematic structural diagram of the elastic cabin of the embodiment of the present utility model when it is not deformed;

[0017] Figure 2 It is a schematic structural diagram of the elastic cabin of the embodiment of the present utility model when it is deformed.

[0018] Description of the Reference Numerals:

[0019] 1 - Cabin; 11 - Head cabin; 12 - Cylindrical cabin; 13 - Tail cabin; 14 - Controller; 15 - Pressure sensor; 16 - Support frame; 17 - Liquid transporter; 18 - Head sealing isolation plate; 19 - Pipeline; 2 - Elastic cabin; 3 - Exploration sensor; 4 - Peripheral environment sensor; 5 - Driving rudder system; 6 - Tail sealing isolation plate; 7 - Balancing rudder system; 8 - Countercurrent thruster system; 9 - Hollow conduit; 10 - Energy storage device. Detailed Embodiment

[0020] In order to make the above objects, features and advantages of the present utility model more obvious and understandable, the following detailed description of the specific embodiments of the present utility model will be given with reference to the drawings.

[0021] In the drawings, the Z - axis represents the vertical position, and the positive direction of the Z - axis (that is, the arrow direction of the Z - axis) represents the upper side, and the negative direction of the Z - axis (that is, the direction opposite to the positive direction of the Z - axis) represents the lower side; the X - axis represents the horizontal position, and the positive direction of the X - axis (that is, the arrow direction of the X - axis) represents the right side, and the negative direction of the X - axis (that is, the direction opposite to the positive direction of the X - axis) represents the left side; the Y - axis represents the front - rear position, and the positive direction of the Y - axis (that is, the arrow direction of the Y - axis) represents the front side, and the negative direction of the Y - axis (that is, the direction opposite to the positive direction of the Y - axis) represents the rear side. At the same time, it should be noted that the above - mentioned representation meanings of the Z - axis, Y - axis and X - axis are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so it cannot be understood as a limitation to the present utility model.

[0022] It should be noted that the terms "first", "second", etc. in the description, claims and above-mentioned drawings of the present utility model are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances, so that the embodiments of the present utility model described here can be implemented in an order other than those illustrated or described here.

[0023] Combined with Figures 1 to 2 As shown, the present utility model provides a robot for underwater unmanned exploration, including a cabin body 1 and an elastic cabin body 2 sleeved on the cabin body 1. The two axial ends of the elastic cabin body 2 are respectively and hermetically connected to the two axial ends of the cabin body 1, so as to enclose an elastic chamber between the elastic cabin body 2 and the cabin body 1, and the volume of the elastic chamber is used to become larger or smaller relative to the cabin body 1.

[0024] Specifically, the axis of the cabin body 1 is the X axis, and the elastic cabin body 2 is sleeved on the outer surface of the cabin body 1. It can also be understood that the elastic cabin body 2 is sleeved on the outer wall of the cabin body 1 in the circumferential direction. The left and right ends of the elastic cabin body 2 are respectively and hermetically connected to the left and right ends of the cabin body 1. There is a gap between the middle part of the elastic cabin body 2 and the outer wall of the cabin body 1, and they enclose an elastic chamber with the outer wall of the cabin body 1. When the volume of the elastic chamber becomes larger, the overall volume of the robot for underwater unmanned exploration increases, so that the robot is not affected by water flow, particulate impact, etc. during exploration. When the volume of the elastic chamber becomes smaller, the weight and shape of the robot for underwater unmanned exploration are minimized, thereby reducing the resistance when the robot moves and improving the flexibility of the robot in narrow spaces such as rock crevices, caves, sunken ship cabins, and insect holes, so that the robot for underwater unmanned exploration can adaptively deform under any conditions.

[0025] Therefore, in this embodiment, the two axial ends of the elastic cabin body 2 are respectively and hermetically connected to the two axial ends of the cabin body 1 to enclose an elastic chamber between the elastic cabin body 2 and the cabin body 1. The volume of the elastic chamber can be made larger or smaller by the deformation of the cabin body 2. Through the volume change of the elastic chamber, the volume change of the robot for underwater unmanned exploration is realized. In this way, when the robot for underwater unmanned exploration is working underwater, the volume of the elastic chamber can be changed to adaptively adjust the volume of the robot for underwater unmanned exploration, so as to realize the adaptive change of the shape of the robot for underwater unmanned exploration and improve the use flexibility of the robot for underwater unmanned exploration.

[0026] Optionally, combined with Figure 1 As shown, a controller 14 and a water pump communicatively connected to the controller 14 are provided on the cabin body 1. The water pump is used to communicate with the elastic chamber and the external environment through a pipeline to realize the deformation of the elastic chamber.

[0027] Specifically, the water pump is equipped with a drive control circuit. The elastic cabin 2 can be a structure made of an elastic material, for example, an airbag. Different from the airbag, the inside of the elastic chamber is used to fill with liquid. When it is necessary to increase the volume of the elastic chamber, the controller 14 sends a control signal to the drive control circuit of the water pump. After receiving the control signal, the drive control circuit controls the operation of the water pump. The water pump transports the water in the external environment to the elastic chamber through a pipeline, so that the volume of the elastic chamber increases. Conversely, the volume of the elastic chamber decreases.

[0028] In this way, by arranging the controller 14 on the cabin 1 and the water pump communicatively connected to the controller 14, the water pump is used to communicate between the elastic chamber and the external environment through a pipeline to realize the deformation of the elastic chamber. In this way, the liquid in the external environment can be used to realize the deformation of the elastic chamber, thereby reducing the difficulty of the deformation of the elastic chamber and improving the deformation efficiency of the elastic chamber.

[0029] In some embodiments, the water pump can be replaced by a solenoid valve. The solenoid valve is communicatively connected to the controller 14 and is connected between the elastic chamber and the external environment through a pipeline.

[0030] Optionally, in combination Figure 1 As shown, the underwater unmanned exploration robot further includes two pressure sensors 15 both communicatively connected to the controller 14. The probe of one pressure sensor 15 is located inside the elastic chamber, and the probe of the other pressure sensor 15 is used to extend into the external environment.

[0031] Specifically, one pressure sensor 15 (not shown in the figure) is installed on the elastic cabin 2 and the probe of this pressure sensor 15 is located inside the elastic chamber to feedback the pressure inside the elastic chamber. The probe of the other pressure sensor 15 can be installed on the tail cabin 3 and the probe of this pressure sensor 15 extends into the external environment to feedback the pressure of the external environment. The controller 14 judges the magnitude of the numerical signals feedback by the two pressure sensors 15 and controls the operation of the water pump through the drive control circuit of the water pump to realize the increase or decrease of the elastic chamber. In this way, through the two pressure sensors 15 communicatively connected to the controller 14, the probe of one pressure sensor 15 is located inside the elastic chamber, and the probe of the other pressure sensor 15 extends into the external environment. The two pressure sensors 15 feedback the pressures of the cabin 1 and the external environment in real time to improve the deformation efficiency of the elastic cabin 2.

[0032] Optionally, in combination Figure 1As shown, the cabin body 1 includes a cylindrical cabin 12, and a head cabin 11 and a tail cabin 13 located at both axial ends of the cylindrical cabin 12. The two axial ends of the elastic cabin body 2 are respectively and hermetically connected to the two axial ends of the cylindrical cabin 12, and the head cabin 11 is hermetically connected to the cylindrical cabin 12 through a head sealing isolation plate 18, and the tail cabin 13 is hermetically connected to the cylindrical cabin 12 through a tail sealing isolation plate 6.

[0033] Specifically, the head cabin 11 and the tail cabin 13 are respectively located at the left and right ends of the cylindrical cabin 12. The left and right ends of the elastic cabin body 2 are respectively and hermetically connected to the left and right ends of the cylindrical cabin 12. The head cabin 11 is hermetically connected to the cylindrical cabin 12 through a head sealing isolation plate 18, and the tail cabin 13 is hermetically connected to the cylindrical cabin 12 through a tail sealing isolation plate 6.

[0034] In this way, through the two axial ends of the elastic cabin body 2 being respectively and hermetically connected to the two axial ends of the cylindrical cabin 12, and the head cabin 11 being hermetically connected to the cylindrical cabin 12 through a head sealing isolation plate 18, and the tail cabin 13 being hermetically connected to the cylindrical cabin 12 through a tail sealing isolation plate 6, the head sealing isolation plate 18 and the tail sealing isolation plate 6 make the head cabin 11 and the tail cabin 13 independent of the cylindrical cabin 12, and a relatively dry installation environment is formed inside the head cabin 11 and the tail cabin 13, so as to facilitate the installation of components such as the controller 14.

[0035] Optionally, as shown in Figure 1 the underwater unmanned exploration robot further includes a liquid conveyor 17. A pipeline 19 is provided in the head cabin 11. One end of the pipeline 19 is connected to the wall of the head cabin 11 and communicates with the external environment, and the other end of the pipeline 19 is connected to the head sealing isolation plate 18 and communicates with the cylindrical cabin 12. The liquid conveyor 17 is located on the pipeline 19 to be used for conveying water in the external environment into the cylindrical cabin 12 or discharging the water in the cylindrical cabin 12.

[0036] Specifically, the liquid conveyor 17 is installed in the head cabin 11. It can be the water pump described above. The controller 11 drives the liquid conveyor 17 to operate. The liquid conveyor 17 conveys the water in the external environment into the cylindrical cabin 12 through the pipeline 19, and the internal pressure of the cylindrical cabin 12 increases, or the liquid conveyor 17 discharges the water in the cylindrical cabin 12 through the pipeline 19, and the internal pressure of the cylindrical cabin 12 decreases.

[0037] In this way, by using one end of the pipeline 19 being connected to the wall of the head cabin 11 and communicating with the external environment, the other end of the pipeline 19 being connected to the head sealing isolation plate 18 and communicating with the cylindrical cabin 12, and the liquid conveyor 17 being located on the pipeline 19 to be used for conveying water in the external environment into the cylindrical cabin 12 or discharging the water in the cylindrical cabin 12, in this way, the adjustment of the internal pressure of the cylindrical cabin 12 can be realized, thereby improving the flexibility of the adjustment of the internal pressure of the cylindrical cabin 12.

[0038] In some embodiments, in combination with Figure 1 As shown, a pressure sensor 15 can also be installed on the tail sealing partition plate 6. The probe of the pressure sensor 15 is located inside the cylindrical cabin 12 and is communicatively connected to the controller 14. The controller 14 can also control the operation of the liquid conveyor 17 by comparing the values fed back by the pressure sensor 15 on the tail sealing partition plate 6 and the values fed back by the pressure sensor 15 whose probe is located in the external environment, so as to separately regulate the pressure inside the cylindrical cabin 12 when the elastic chamber is at its minimum volume, ensuring the stability of the cylindrical cabin 12.

[0039] Optionally, in combination with Figure 1 As shown, the underwater unmanned exploration robot further includes a support frame 16 located inside the cylindrical cabin 12. A plurality of support frames 16 are distributed along the axial direction of the cylindrical cabin 12 and are perpendicularly connected to the inner wall of the cylindrical cabin 12.

[0040] Specifically, a plurality of support frames 16 are distributed along the axial direction of the cylindrical cabin 12 and are perpendicularly connected to the inner wall of the cylindrical cabin 12. The plurality of support frames 16 support the inner wall of the cylindrical cabin 12.

[0041] In this way, a plurality of support frames 16 located inside the cylindrical cabin 12 are distributed along the axial direction of the cylindrical cabin 12 and are perpendicularly connected to the inner wall of the cylindrical cabin 12. When the elastic cabin body 2 shrinks to cover the surface of the cylindrical cabin 12, the rigid force on the surface of the cylindrical cabin 12 can support the elastic cabin body 2, thus ensuring the stability of the cylindrical cabin 12.

[0042] Optionally, in combination with Figure 1 As shown, the underwater unmanned exploration robot further includes an exploration sensor 4 communicatively connected to the controller 14. The exploration sensor 4 is installed in the head cabin 11, and a visual window 19 is provided on the head cabin 11. The visual window 19 is located at one end of the head cabin 11 away from the cylindrical cabin 12.

[0043] Specifically, the exploration sensor 4 is installed in the head cabin 11. A visual window 19 is provided on the cabin 11. The visual window 19 is located at one end of the head cabin 11 away from the cylindrical cabin 12, so that the exploration sensor 4 can directly explore the external environment through the visual window 19, improving the convenience of underwater unmanned exploration of the underwater unmanned exploration robot.

[0044] Optionally, in combination with Figure 2 As shown, the underwater unmanned exploration robot further includes a surrounding environment sensor 5. The surrounding environment sensor 5 is installed on the head cabin 11 and is communicatively connected to the controller 14. The surrounding environment sensor 5 is used to transmit the signals of the surrounding environment of the head cabin 11 to the controller 14.

[0045] Specifically, the surrounding environment sensor 5 is installed inside the head cabin 11 and is communicatively connected to the controller 14. The surrounding environment sensor 5 transmits surrounding environment signals such as fish schools and particulate matters to the controller 14. In this way, the safety and stability of the underwater operation of the robot for underwater unmanned exploration can be improved.

[0046] Optionally, as shown in Figure 1 the figure, the robot for underwater unmanned exploration further includes a drive rudder system 6. The drive multi-system is installed in the head cabin 11 and is communicatively connected to the controller 14.

[0047] Specifically, the drive rudder system 6 can adopt existing means to achieve the steering of the robot for underwater unmanned exploration. In this way, by installing the drive rudder system 6 communicatively connected to the controller 14 in the head cabin 11, remote control of the robot for underwater unmanned exploration can be achieved, and thus the diving or ascending of the robot for underwater unmanned exploration can be realized.

[0048] Optionally, as shown in Figure 1 the figure, the robot for underwater unmanned exploration further includes a tail sealing isolation plate 6, a balance rudder system 7 and a countercurrent thruster system 8 installed in the tail cabin 13. The tail cabin 13 is located at one end of the cylindrical cabin 12 away from the head cabin 11 and is hermetically connected to the cylindrical cabin 12 through the tail sealing isolation plate 6. Both the balance rudder system 7 and the countercurrent thruster system 8 are communicatively connected to the controller 14.

[0049] Specifically, the balance rudder system 7 and the countercurrent thruster system 8 can adopt existing means. For example, the balance rudder system 7 is used to achieve the movement balance of the robot for underwater unmanned exploration, and the countercurrent thruster system 8 is used to achieve the countercurrent movement of the robot for underwater unmanned exploration. The tail sealing isolation plate 6 is located at the right end of the cylindrical cabin 12 and is hermetically connected to the tail cabin 13 and the cylindrical cabin 12 respectively. Both the balance rudder system 7 and the countercurrent thruster system 8 in the tail cabin 13 are communicatively connected to the controller 14.

[0050] In this way, the balance rudder system 7 and the countercurrent thruster system 8 communicatively connected to the controller 14 are respectively installed in the tail cabin 13, and the tail cabin 13 is hermetically connected to the cylindrical cabin 12 through the tail sealing isolation plate 6. The tail sealing isolation plate 6 makes the tail cabin 13 and the cylindrical cabin 2 relatively independent, avoiding the water inside the cylindrical cabin 2 from affecting the use of the balance rudder system 7 and the countercurrent thruster system 8, so as to improve the use stability of the balance rudder system 7 and the countercurrent thruster system 8.

[0051] Optionally, as shown in Figure 1 the figure, the robot for underwater unmanned exploration further includes a hollow conduit 9. The hollow conduit 9 is located inside the cylindrical cabin 12. The two ends of the hollow conduit 9 respectively penetrate through the tail sealing isolation plate 6 and the head sealing isolation plate 18 and are respectively communicated with the head cabin 11 and the tail cabin 13, and the hollow conduit 9 is used for passing signal lines.

[0052] Specifically, the hollow conduit 9 can be made of a lightweight material such as plastic. The hollow conduit 9 is arranged along the axis of the cylindrical cabin 12, and the left and right ends of the hollow conduit 9 respectively penetrate through the tail sealing isolation plate 6 and the head sealing isolation plate 18 to communicate with the head cabin 11 and the tail cabin 13. Signal lines such as cables are all centrally installed in the hollow conduit 9. In this way, the hollow conduit 9 provides a relatively enclosed installation environment for the signal lines, avoiding the influence on signal transmission when the inside of the cylindrical cabin 12 is filled with water, thereby ensuring that the signal lines are relatively independent and not affected by the internal water pressure of the cylindrical cabin 12 and other situations, and improving the stability and safety of the body.

[0053] Optionally, as shown in Figure 1 the underwater unmanned exploration robot further includes an energy storage device 10, which is installed inside the tail cabin 13 and is used to provide temporary energy.

[0054] Specifically, the energy storage device 10 can be a backup power supply, which can provide temporary energy for all energy-consuming devices such as the driving rudder system 5, the balance rudder system 7, and the countercurrent thruster system 8 described above under harsh conditions. In this way, the adaptability of the underwater unmanned exploration robot under harsh conditions is improved.

[0055] Although the present disclosure is disclosed as above, the protection scope of the present disclosure is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and these changes and modifications will all fall within the protection scope of the present utility model.

Claims

1. A robot for underwater unmanned exploration, characterized in that, It includes a cabin body (1) and an elastic cabin body (2) sleeved on the cabin body (1). The two axial ends of the elastic cabin body (2) are respectively and hermetically connected to the two axial ends of the cabin body (1), so as to form an elastic chamber between the elastic cabin body (2) and the cabin body (1), and the volume of the elastic chamber is used to become larger or smaller relative to the cabin body (1).

2. The robot for underwater unmanned exploration according to claim 1, characterized in that, A controller (14) and a water pump communicatively connected to the controller (14) are provided on the cabin body (1). The water pump is used to communicate with the elastic chamber and the external environment through a pipeline, so as to realize the deformation of the elastic chamber.

3. The robot for underwater unmanned exploration according to claim 2, characterized in that, It also includes two pressure sensors (15) both communicatively connected to the controller (14). The probe of one pressure sensor (15) is located inside the elastic chamber, and the probe of the other pressure sensor (15) is used to extend into the external environment.

4. The robot for underwater unmanned exploration according to claim 2, characterized in that, The cabin body (1) includes a cylindrical cabin (12) and a head cabin (11) and a tail cabin (13) located at the two axial ends of the cylindrical cabin (12). The two axial ends of the elastic cabin body (2) are respectively and hermetically connected to the two axial ends of the cylindrical cabin (12), and the head cabin (11) is hermetically connected to the cylindrical cabin (12) through a head sealing isolation plate (18), and the tail cabin (13) is hermetically connected to the cylindrical cabin (12) through a tail sealing isolation plate (6).

5. The robot for underwater unmanned exploration according to claim 4, characterized in that, It also includes a liquid transporter (17). A pipeline (19) is provided in the head cabin (11). One end of the pipeline (19) is connected to the wall body of the head cabin (11) and communicates with the external environment, and the other end of the pipeline (19) is connected to the head sealing isolation plate (18) and communicates with the cylindrical cabin (12). The liquid transporter (17) is located on the pipeline (19) to be used for transporting water in the external environment into the cylindrical cabin (12) or discharging the water in the cylindrical cabin (12).

6. The underwater unmanned exploration robot according to claim 4, characterized in that, It also includes a support frame (16) located inside the cylindrical cabin (12). A plurality of the support frames (16) are distributed along the axial direction of the cylindrical cabin (12) and are perpendicularly connected to the inner wall of the cylindrical cabin (12).

7. The underwater unmanned exploration robot according to claim 4, characterized in that, It also includes a surrounding environment sensor (4). The surrounding environment sensor (4) is installed on the head cabin (11) and is communicatively connected to the controller (14). The surrounding environment sensor (4) is used to transmit the signal of the surrounding environment of the head cabin (11) to the controller (14).

8. The underwater unmanned exploration robot according to claim 4, characterized in that, It also includes a hollow conduit (9). The hollow conduit (9) is located inside the cylindrical cabin (12). The two ends of the hollow conduit (9) respectively penetrate through the tail sealing isolation plate (6) and the head sealing isolation plate (18) and are respectively communicated with the head cabin (11) and the tail cabin (13), and the hollow conduit (9) is used to pass signal wires.

9. The robot for underwater unmanned exploration according to claim 4, wherein, It also includes an energy storage device (10). The energy storage device (10) is installed inside the tail cabin (13) and is used to provide temporary energy.

10. The robot for underwater unmanned exploration according to claim 4, characterized in that, It further includes a balanced rudder system (7) and a countercurrent thruster system (8) installed in the stern cabin (13), and both the balanced rudder system (7) and the countercurrent thruster system (8) are communicatively connected to the controller (14).

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