Submersible propulsion device

Abstract

The utility model provides a submersible propulsion device. The diving propulsion device comprises at least one angle sensor assembly, and the at least one angle sensor assembly comprises a first sensing unit arranged on the thigh of the diver and a second sensing unit arranged on the shank of the diver on the same side. The at least one angle sensor assembly is configured to sense the included angle between the thigh and the shank of the corresponding side of the diver based on the relative position relation of the first sensing unit and the second sensing unit of the at least one angle sensor assembly. The at least one thruster comprises a thruster body and at least one battery module; and the controller is respectively connected with the at least one angle sensor assembly and the at least one thruster so as to control the at least one thruster based on an included angle signal sensed by the at least one angle sensor assembly. According to the embodiment, the diving propulsion device is flexible in arrangement, convenient to control and capable of liberating two hands.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater equipment, in particular, the present application relates to a wearable diving propulsion device. BACKGROUND

[0002] With the gradual popularization of scuba diving, various underwater propulsion devices are often seen in diving equipment, but these propulsion devices usually need to be controlled by divers with hands or through a wired controller to control the propulsion state, and cannot free up hands to operate other equipment, especially when underwater work is needed. The backpack fixed diving device also causes conflicts with other equipment such as gas cylinders. Many underwater propulsion devices only have simple propulsion functions and cannot perform reverse, turning and other operations. In addition, it is desirable that the diving propulsion device is more portable and comfortable to wear. CONTENT OF THE UTILITY MODEL

[0003] The present application aims to solve or at least alleviate one or more problems existing in the prior art.

[0004] According to an aspect, a diving propulsion device is provided, comprising:

[0005] at least one angle sensor assembly comprising a first sensing unit arranged on the thigh and a second sensing unit arranged on the calf of the same side of the diver, and the at least one angle sensor assembly is configured to sense the included angle between the thigh and the calf of the corresponding side of the diver based on the relative position relationship of the first sensing unit and the second sensing unit;

[0006] at least one propeller comprising a propeller body and at least one battery module; and

[0007] a controller connected with the at least one angle sensor assembly and at least one propeller respectively, to control the at least one propeller based on the included angle signal sensed by the at least one angle sensor assembly;

[0008] wherein the at least one propeller can be switched between a first state in which the propeller body is connected with the at least one battery module and a second state in which the propeller body is separated from the at least one battery module;

[0009] wherein in the embodiment of the diving propulsion device, when the at least one propeller is in the first state, the propeller body is connected with the at least one battery module through a waterproof joint.

[0010] Optionally, in the embodiment of the underwater propulsion device, the at least one angle sensor assembly is a high-performance three-dimensional motion posture measurement system based on MEMS technology, wherein the at least one angle sensor assembly each comprises a three-axis gyroscope, a three-axis accelerometer, a three-axis electronic compass, and a processor.

[0011] Optionally, in the embodiment of the underwater propulsion device, the underwater propulsion device further comprises a wearing suit, the controller and the at least one angle sensor assembly are attached to the wearing suit, so that when the wearing suit is worn by the diver, the first sensing unit and the second sensing unit of the at least one angle sensor assembly are positioned at the same side of the diver's thighs and calves, and the controller is positioned at the front side of the diver's waist or the front side of the diver's chest.

[0012] Optionally, in the embodiment of the underwater propulsion device, the at least one propeller comprises a single propeller attached to the oxygen cylinder on the back side of the diver in a first state, wherein the at least one angle sensor assembly comprises a single angle sensor assembly worn on the left side or the right side of the diver, and the controller controls the single propeller to output thrust forward or backward based on the included angle signal sensed by the single angle sensor assembly.

[0013] Optionally, in the embodiment of the underwater propulsion device, the at least one propeller comprises a left propeller and a right propeller respectively worn on the left side and the right side of the diver, wherein the at least one angle sensor assembly comprises a left angle sensor assembly and a right angle sensor assembly respectively worn on the left side and the right side of the diver, the controller controls the left propeller based on a first included angle signal sensed by the left angle sensor assembly, and the controller controls the right propeller based on a second included angle signal sensed by the right angle sensor assembly.

[0014] Optionally, in the embodiment of the underwater propulsion device, the left propeller and the right propeller can be installed in any of the following ways:

[0015] The left propeller and the right propeller are attached to the left and right sides of the oxygen cylinder on the back side of the diver in a first state,

[0016] The left propeller and the right propeller are attached to the left and right sides of the body of the diver in a first state, or

[0017] The left propeller and the right propeller are respectively in a second state, wherein the propeller body of the left propeller and the right propeller is attached to the left and right sides of the body of the diver, and at least one battery module of the left propeller and the right propeller is respectively attached to the left and right sides of the oxygen cylinder on the back side of the diver.

[0018] Optionally, in the embodiment of the submersible propulsion device, the controller is configured to control the corresponding side propeller to output forward thrust when the first or second included angle signal is in the first interval, to control the corresponding side propeller to stop when the first or second included angle signal is in the second interval, and to control the corresponding side propeller to output forward thrust when the first or second included angle signal is in the third interval.

[0019] Optionally, in the embodiment of the submersible propulsion device, when the first or second included angle signal is in the first or third interval, the controller is configured to cause the magnitude of the forward thrust and / or the backward thrust output by the corresponding side propeller to vary with the first or second included angle signal, wherein the controller is configured to cause the magnitude of the forward thrust or the backward thrust output by the corresponding side propeller to increase with an increase in the first or second included angle signal or to decrease with an increase in the first or second included angle signal.

[0020] Optionally, in the embodiment of the submersible propulsion device, the first sensing unit and / or the second sensing unit are themselves configured with a battery and wirelessly connected to the controller, wherein the controller is itself configured with a battery and wirelessly connected to the at least one propeller; or

[0021] The first sensing unit, the second sensing unit, the controller, and / or the controller and the at least one propeller are connected through a cable.

[0022] Optionally, when the at least one propeller is in the second state, the propeller body is connected to the at least one battery module through an adapter, wherein the adapter comprises a cable, a first end and a second end of the cable are respectively connected to the propeller body and the at least one battery module through waterproof joints;

[0023] The waterproof joint comprises a male waterproof joint and a female waterproof joint arranged on the end portions of the two, respectively.

[0024] Optionally, in the embodiment of the submersible propulsion device, the male waterproof joint comprises:

[0025] A male joint body, an end portion of the male joint body has a first base plane;

[0026] A ring-shaped boss protruding from the first base plane, at least one electrical connection terminal is arranged in the ring-shaped boss; and

[0027] A pair of arms arranged at opposite sides of the end portion of the male joint body close to the first base plane.

[0028] Optionally, in the embodiment of the submersible propulsion device, the annular boss is runway-shaped, and the pair of arms are arranged at opposite straight sections of the annular boss, wherein the arms have a hook portion with a width in a range of 80% to 100% of a width of the straight section.

[0029] Optionally, in the embodiment of the submersible propulsion device, the at least one electrical connection terminal includes a set of power terminals and a set of signal terminals arranged at opposite arc-shaped sections of the annular boss, respectively.

[0030] Optionally, in the embodiment of the submersible propulsion device, the male waterproof connector further includes a first sealing member arranged around an outer periphery of the annular boss, wherein the first sealing member is arranged at an intersection of the outer periphery of the annular boss and the first base plane.

[0031] Optionally, in the embodiment of the submersible propulsion device, a foolproof portion is arranged in the annular boss, and the foolproof portion is formed as a protrusion or a groove.

[0032] Optionally, in the embodiment of the submersible propulsion device, each of the arms includes:

[0033] a first segment pivotally connected to the male connector body; and

[0034] a second segment pivotally connected to the first segment.

[0035] Optionally, in the embodiment of the submersible propulsion device, the pair of arms are switchable between a locked state and a free state, in the locked state, the first segment and the second segment are substantially collinear, and the hook portion of the second segment is latched to a notch of a corresponding female waterproof connector, in the free state, the first segment and the second segment are rotatable along respective pivot axes, and in the free state, when the male waterproof connector is connected to the female waterproof connector, and the hook portion of the second segment of the pair of arms is connected to the notch of the corresponding female waterproof connector, the second segment of the pair of arms is pressed inwardly to rotate the second segment around the notch, thereby switching the arms from the free state to the locked state.

[0036] Optionally, in the embodiment of the submersible propulsion device, one side of the male connector body has a connecting boss extending to the first base plane, wherein the connecting boss has a T-shaped cross section.

[0037] Optionally, in the embodiment of the submersible propulsion device, the female waterproof connector is used to connect to the male waterproof connector, and the female waterproof connector includes:

[0038] a female connector body having an end portion with a second base plane;

[0039] a ring-shaped recess recessed in the second base plane, the ring-shaped recess having an electrical connection terminal disposed therein; and

[0040] a pair of notches disposed at opposite sides of the end portion of the connector body proximate to the second base plane, the pair of notches for receiving a pair of arms of the male waterproof connector.

[0041] Optionally, in embodiments of the diving propulsion device, the at least one propeller comprises:

[0042] a propeller body;

[0043] one or more intermediate battery modules; and

[0044] a terminal battery module or end cap;

[0045] the intermediate battery modules comprise opposite ends respectively configured as a male waterproof connector and a female waterproof connector.

[0046] According to another aspect, there is provided a diving suit, characterized in that the diving suit comprises respectively:

[0047] a diving suit body configured to be worn by a diver and covering at least the diver's legs and torso;

[0048] at least one angle sensor assembly comprising a first sensing unit arranged at a thigh and a second sensing unit arranged at a calf of the same side of the diver on the diving suit body, and configured to sense an included angle between the thigh and the calf of the corresponding side of the diver based on a relative positional relationship of the first and second sensing units; and

[0049] a controller attached to a position of the diving suit body corresponding to the waist or the front side of the chest of the diver, the controller being wirelessly connected or connected through a cable embedded in the diving suit body with the at least one angle sensor assembly.

[0050] Optionally, in embodiments of the diving suit, the controller further comprises a port for connecting with at least one propeller, the port being a wired port or a wireless connection port, wherein the at least one angle sensor assembly comprises a left side angle sensor assembly and a right side angle sensor assembly.

[0051] The diving propulsion device according to embodiments is flexible in arrangement and convenient in control, and can free both hands. BRIEF DESCRIPTION OF DRAWINGS

[0052] The disclosure of this application will become more readily understood with reference to the accompanying drawings. It will be readily understood by those skilled in the art that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this application. Furthermore, similar numbers in the drawings are used to denote similar components, wherein:

[0053] Figure 1 A top view of a diver wearing a diving propulsion device according to an embodiment is shown;

[0054] Figure 2 A side view of a diver wearing a diving propulsion device according to an embodiment is shown;

[0055] Figure 3 A frontal view of a diver wearing a diving propulsion device according to another embodiment is shown;

[0056] Figure 4 Showing wearing Figure 3 A side view of a diver using the underwater propulsion system;

[0057] Figure 5 Showing wearing Figure 3 Rear view of the diver in the underwater propulsion system;

[0058] Figure 6 A rear view of a diver wearing a diving propulsion device in an alternative manner is shown;

[0059] Figure 7 A rear view of a diver wearing a diving propulsion device in an alternative manner is shown;

[0060] Figure 8 A side view of the submersible propulsion device according to an embodiment is shown;

[0061] Figure 9 It shows Figure 8 A three-dimensional view of the submersible propulsion device;

[0062] Figure 10 and Figure 11 Perspective views of the thruster body of the submersible propulsion device according to an embodiment are shown from different angles;

[0063] Figure 12 and Figure 13 Perspective views of the battery module of the diving propulsion device according to an embodiment are shown from different angles;

[0064] Figure 14 An exploded view of the male waterproof joint of the submersible propulsion device according to an embodiment is shown;

[0065] Figure 15 An end view of the male waterproof connector of the submersible propulsion device according to an embodiment is shown;

[0066] Figure 16 Fig. 6 shows another perspective view of the battery module of the diving propulsion device according to an embodiment;

[0067] Figure 17 Fig. 7 shows a side view of the male waterproof joint and the female waterproof joint of the diving propulsion device according to an embodiment when connected;

[0068] Figure 18 Fig. 8 shows a back view of the diving suit according to an embodiment;

[0069] Figure 19 Fig. 9 shows a side view of the diving suit according to an embodiment; and

[0070] Figure 20 Fig. 10 shows a front view of the diving suit according to an embodiment. DETAILED DESCRIPTION

[0071] Reference Figure 1 and Figure 2 to introduce the wearable diving propulsion device according to embodiments of the present application. The wearable diving propulsion device comprises: a battery module, at least one propeller connected with the battery module, for example, the at least one propeller comprises a left propeller and a right propeller 100 in the illustrated embodiment; at least one angle sensor assembly, for example, the at least one angle sensor assembly comprises a left angle sensor assembly and a right angle sensor assembly in the illustrated embodiment, each angle sensor assembly comprises a first sensing unit 53, 51 arranged on the thigh 93, 91 and a second sensing unit 54, 52 arranged on the calf 94, 92 of the corresponding side of the diver, and is configured to sense the included angle a between the thigh 93, 91 and the calf 94, 92 of the corresponding side of the diver based on the relative position relationship of the first sensing unit 53, 51 and the second sensing unit 54, 52; and a controller 60 connected with the at least one angle sensor assembly and the at least one propeller respectively. Although in the embodiments detailed below, two propellers on the left and right sides and two angle sensor assemblies on the left and right sides are taken as examples, in alternative embodiments, only a single propeller and a single angle sensor assembly can be provided, at this time, the propeller can be worn on the back, and the angle sensor assembly is installed on the thigh and the calf on one side. The controller is configured to control the operating state of the at least one propeller based on the included angle between the thigh and the calf on one side or both sides of the diver.

[0072] As shown, in some embodiments, the battery module can be integrated with the controller and can be strapped to the diver's waist 9 by a waistband, and the battery module can be connected to the left thruster 100 by a first cable 67 and to the right thruster 100 by a second cable 68, respectively. The left and right thrusters 100 can then be secured to the diver's thighs by straps 61, 62, respectively. In some embodiments, the controller 60 can be integrated with the battery module, and also connected to the left and right thrusters by the first and second cables 67, 68, respectively. Alternatively, the controller can also be provided at other suitable locations, such as on the wrist, on the chest, etc.

[0073] In some embodiments, the first and / or second sensing units of the at least one angle sensor assembly can also be connected to the controller and the battery module by cables, for example, the first and / or second sensing units can be connected to the corresponding side thruster by cables, and further connected to the controller and the battery module through the thruster. In alternative embodiments, the first and / or second sensing units of the at least one angle sensor assembly can be configured with a battery by itself and wirelessly connected to the controller. Alternatively, the first sensing unit can be connected by a cable and the second sensing unit can be connected wirelessly.

[0074] In some embodiments, the first and / or second sensing units can be strapped to the diver's thighs and calves by straps 63, 64, 65, 66, respectively. In alternative embodiments, the first and / or second sensing units can also be attached to the diver's thighs and calves, or by other suitable means.

[0075] In some embodiments, the diving propulsion device further comprises a wear set through which the left thruster, the right thruster, the left angle sensor assembly, the right angle sensor assembly, the battery and the controller are worn on the diver. The wear set can be, for example, a one-piece type, such as a diving suit in the form of a dry suit, a wet suit, etc. Alternatively, the wear set can be in a split type as shown, for example, comprising a plurality of straps, etc. Various cables, angle sensor assemblies can be embedded inside the wear set, for example, for sealing, avoiding cable entanglement and / or facilitating wear, etc.

[0076] In some embodiments, the at least one angle sensor assembly can be a high-performance three-dimensional motion attitude measurement system based on MEMS technology. In some embodiments, the at least one angle sensor assembly each comprises a three-axis gyroscope, a three-axis accelerometer, a three-axis electronic compass and a processor. In some embodiments, the at least one angle sensor assembly can output real-time zero-drift three-dimensional attitude orientation data represented in quaternions, Euler angles by utilizing a three-dimensional algorithm based on quaternions and special data fusion technology, which type of sensor technology is commonly used in the field of human body posture capture.

[0077] The diver can first wear the left and right angle sensor assemblies, and calibrate the left and right angle sensor assemblies before diving, for example, by having the diver stand or lie down to set the zero position of the three-dimensional coordinates. When the system is in operation, the control software can obtain the three-dimensional coordinates of each posture sensor relative to the zero position, and through calculation, the angle data between each pair of posture sensors fixed on the thighs can be obtained.

[0078] In some embodiments, the controller is configured to control the operation state of the left and right thrusters 100 based on the angle between the thighs and the shanks on both sides of the diver. In some embodiments, the left and right thrusters 100 can respectively output a forward or backward force. In some embodiments, the controller is configured to control the thruster on the corresponding side to output a forward thrust when the angle a is greater than a first angle, to stop when the angle a is less than the first angle and greater than a second angle, and to output a backward thrust when the angle a is less than the second angle. The magnitude of the forward thrust output by the thruster on the corresponding side increases as the angle increases when the angle is greater than the first angle. When the left and right thrusters both output a backward thrust, the diver will move forward, when one of the left and right thrusters outputs a backward thrust and the other outputs a forward thrust, the diver will turn in place, when one of the left and right thrusters outputs a backward thrust and the other stops, the diver will be able to turn, when the left and right thrusters both output a backward thrust, the diver will move backward, and so on. Therefore, by the angle between the thighs and the shanks of the left and right feet, the diver can easily control the left and right thrusters independently, thereby performing various desired diving actions. In some embodiments, the first angle can be selected from 90 to 150 degrees, so that when a forward thrust is output, the diver's legs are in a substantially natural state. In some embodiments, the second angle can be selected from 75 to 105 degrees and the second angle is less than the first angle.

[0079] With continued reference to Figures 3 to 17Further embodiments will be introduced. In some embodiments, the diving propulsion device comprises: at least one angle sensor assembly comprising a first sensing unit arranged on the thigh and a second sensing unit arranged on the calf of the same side of the diver, and the at least one angle sensor assembly is configured to sense the included angle between the thigh and the calf of the corresponding side of the diver based on the relative positional relationship of the first sensing unit and the second sensing unit; at least one thruster 100 comprising a thruster body 1 and at least one battery module 2, 3, 4, the thruster body 1 and the battery module can be integrally formed or modularly designed as detailed below; and a controller 7 connected with the at least one angle sensor assembly and the at least one thruster respectively, to control the at least one thruster 100 based on the included angle signal sensed by the at least one angle sensor assembly.

[0080] In some embodiments, wireless connection can be adopted between the at least one angle sensor assembly, the at least one thruster and the controller 7. Alternatively, if any two of the at least one angle sensor assembly, the at least one thruster and the controller are connected by a cable, the cable can be embedded in the wearing suit 6 to facilitate wearing and hiding the cable. In some embodiments, the thruster is capable of switching between a first state in which the thruster body 1 is connected with the at least one battery module 2, 3, 4 Figure 5 and Figure 6 ) and a second state in which the thruster body 1 is separated from the at least one battery module 2, 3, 4 Figure 7 .

[0081] In some embodiments, the controller 7 and the at least one angle sensor assembly are attached to the wearing suit 6, so that when the wearing suit is worn by the diver, the first sensing unit and the second sensing unit of the at least one angle sensor assembly are positioned at the thigh and the calf of the diver, and the controller 7 is positioned at the front side of the waist or the front side of the chest of the diver, to facilitate the diver to operate the controller 7.

[0082] The diving propulsion device according to the embodiments can be flexibly configured, for example, as shown in Figure 5 , the at least one thruster 100 comprises a single thruster 100 attached to the oxygen cylinder 8 on the back side of the diver in the first state. The single thruster 100 can be attached to any side of the oxygen cylinder 8 by a strap and buckle or the like. Correspondingly, the at least one angle sensor assembly can only comprise a single set of angle sensor assemblies worn on the left side or the right side of the diver, and the controller 7 controls the single thruster to output thrust forward or backward based on the included angle signal sensed by the single set of angle sensor assemblies. In this mode, the diving propulsion device is directly attached to the oxygen cylinder, and the diver wearing the diving propulsion device can be adapted to carry out diving activities in narrow spaces such as cave diving.

[0083] In some embodiments, such as Figure 6 As shown, at least one thruster includes a left thruster 102 and a right thruster 101 worn on the left and right sides of the diver, respectively. At least one angle sensor assembly includes a left angle sensor assembly and a right angle sensor assembly worn on the left and right sides of the diver, respectively. The controller 7 controls the left thruster 102 based on a first included angle signal sensed by the left angle sensor assembly, and the controller controls the right thruster 101 based on a second included angle signal sensed by the right angle sensor assembly. This arrangement allows for independent control of the left thruster 102 and the right thruster 101, enabling various operating modes through combination. For example, when both thrusters 102 and 101 simultaneously output forward thrust, the diver moves forward; when both thrusters 102 and 101 simultaneously output backward thrust, the diver moves backward; when both thrusters 102 and 101 stop, the diver stops; when one thruster outputs forward thrust and the other backward thrust, the diver rotates clockwise or counterclockwise in place; when one thruster outputs forward thrust and the other is paused, the diver turns left or right. This control method frees the diver's hands, allowing for various underwater operations.

[0084] In some embodiments, the left and right thrusters can be as follows: Figure 6 The installation is as shown, i.e., the left thruster 102 and right thruster 101 are attached to the left and right sides of the oxygen cylinder on the diver's back in the first state. Alternatively, the left and right thrusters are attached to the left and right sides of the diver's torso in the first state, for example as... Figure 1 As shown, it is attached to the left and right sides of the thigh. In some embodiments, such as Figure 7 As shown, the left and right thrusters are in the second state, wherein the thruster bodies 1011 and 1021 of the left and right thrusters are attached to the left and right sides of the diver's torso, such as the thighs, and at least one battery module 1012 and 1022 of the left and right thrusters are attached to the left and right sides of the oxygen cylinder on the diver's back, respectively.

[0085] In some embodiments, the controller 7 is configured to control the corresponding side's thruster to output forward thrust when the first or second included angle signal is in the first interval, to control the corresponding side's thruster to stop when the first or second included angle signal is in the second interval, and to control the corresponding side's thruster to output forward thrust when the first or second included angle signal is in the third interval. In some embodiments, the first, second and third intervals can be continuous or separate. In some embodiments, when the first or second included angle signal is in the first and third intervals, the controller 7 can be configured such that the magnitude of the forward thrust and / or the backward thrust output by the corresponding side's thruster varies with the first or second included angle signal, wherein the controller is configured such that the magnitude of the forward thrust or the backward thrust output by the corresponding side's thruster increases with an increase in the first or second included angle signal or decreases with an increase in the first or second included angle signal.

[0086] In some embodiments, the first and / or second sensing units are configured with a battery themselves and are wirelessly connected with the controller 7, wherein the controller 7 is configured with a battery itself and is wirelessly connected with the at least one thruster 100; or the first, second sensing units and the controller and / or the controller and the at least one thruster are connected through a cable.

[0087] Reference is made to Figure 8 and Figure 9 wherein a diving thruster according to one embodiment is shown, for example for being worn on a diver or on an oxygen tank to provide propulsion underwater. In the present embodiment, the diving thruster adopts a modular design, which comprises a thruster body 1, intermediate battery modules 2, 3 and end battery modules or end caps 4. The modular design of the diving thruster enables flexibility and convenience in terms of the number of battery modules to be selected according to the duration of the diving target.

[0088] Reference is made to Figure 10 and Figure 11 wherein the thruster body 1 of the diving thruster is shown. The thruster body 1 mainly comprises a thruster portion 11 and a waterproof joint 13, which is a male waterproof joint in the embodiment shown and will be described in detail below. The thruster portion 11 has a generally cylindrical shape, which houses a motor 110 and an impeller 12 connected to the motor 110 inside. As Figure 11As shown, one end of the thruster portion 11 is open and the other end is connected to a waterproof joint 13, the side of the thruster portion 11 is in a grid shape and has a side opening 111. In some embodiments, one of the open end of the thruster portion 11 and the side opening 111 serves as a water inlet and the other serves as a water outlet, depending on the rotation direction of the motor 110. Although not shown, the thruster body 1 can also include a control device or a signal receiver, etc., whereby the thrust direction of the underwater thruster is determined based on a control signal, for example, the end battery module or the end cap 4 can have a connecting wire or a wireless module to receive a control signal, etc. It should be understood that the illustrated underwater thruster is only exemplary, and in alternative embodiments, the specific structure of the underwater thruster can be changed.

[0089] Reference will be continued to Figures 12 to 17 to introduce the intermediate battery module 2 according to the embodiments. The intermediate battery module 2 can have opposite first and second ends, wherein the first end is in the form of a male waterproof joint 23 and the second end is in the form of a female waterproof joint 24. The second end 24 of the intermediate battery module 2 can be connected with the male waterproof joint 13 of the thruster body. It should be understood that the first end of the intermediate waterproof module 2 can be connected to the second end of another intermediate battery module 3 or directly connected to the end battery module or end cap 4. It should be understood that the assembled underwater thruster can have 0, 1, 2 or any suitable number of intermediate battery modules. In addition, the waterproof joint 13 of the thruster body 1 can also be configured as a female waterproof joint, and the end battery module or end cap 4 of the end of the underwater thruster can have a waterproof joint opposite to the waterproof joint of the thruster body 1.

[0090] The shape of the male waterproof joint will be described in detail below taking the male waterproof joint 23 as an example. The male waterproof joint 23 according to the embodiments includes a male joint body, an end of the male joint body has a first base plane 231; an annular boss 232 protruding from the first base plane 231, at least one electrical connection terminal 234 is arranged in the annular boss 232; and a pair of arms 235 arranged at the opposite side of the end of the male joint body close to the first base plane 231.

[0091] In some embodiments, the annular boss 232 is in the shape of a racetrack, specifically, the annular boss 232 can have opposite straight sections 2321 and opposite arc-shaped sections 2322, and the annular boss 232 surrounds a portion 233 of the first base plane 231, and the pair of arms 235 are arranged at the opposite straight sections 2321 of the annular boss. In some embodiments, from the perspective of the first base plane 231, the annular boss 232 is in the shape of a circle, and the pair of arms 235 are arranged at the opposite ends of the circle. Figure 15As shown clearly, the arm has a hook portion 2325, the width e of the hook portion 2325 of the arm is equivalent to the width d of the straight section 2321 of the annular boss 232, for example, the width e of the hook portion 2325 of the arm accounts for 80% to 100% of the width d of the straight section 2321. The larger width of the hook portion 2325 of the arm can achieve a larger contact area and a more uniform axial pressure.

[0092] In some embodiments, the at least one electrical connection terminal 234 includes a group of power supply terminals 2341 and a group of signal terminals 2342 arranged at the opposite arc-shaped sections of the annular boss, the power supply terminals 2341 and the signal terminals 2342 are arranged separately at the corresponding arc-shaped sections 2322, for example, in the notches of the arc-shaped sections 2322 of the annular boss 232. Alternatively, only the power supply terminals 2341 can be included.

[0093] In some embodiments, a foolproof portion 236 is further arranged in the annular boss, for example, a protrusion or a groove. More specifically, as shown, a large and a small circular groove 2361, 2362 can be arranged at the opposite straight sections 2321 respectively, the foolproof portion 236 is used to prevent the incorrect installation of the waterproof joint. Figure 13

[0094] In some embodiments, the male waterproof joint 23 can further include a first seal 238 arranged around the outer circle of the annular boss. In some embodiments, the first seal 238 is arranged at the joint of the outer circle of the annular boss 232 and the first base plane 231, thereby achieving the sealing in both axial and radial directions. Alternatively, two seals can be arranged respectively on the side surface of the annular boss 232 and the first base plane 231 to achieve the axial and radial sealing. In some embodiments, the seal can also be arranged at the female waterproof joint. In some embodiments, one side of the male joint body has a connecting boss 237 extending to the first base plane 231. In some embodiments, the cross section of the connecting boss 237 is T-shaped.

[0095] In some embodiments, as shown, Figure 16 ​As shown, the female waterproof joint has corresponding features to the male waterproof joint for connection. More specifically, taking the female waterproof joint 24 as an example, it comprises: a female joint body, an end of the female joint body has a second base plane 241; an annular groove 242 recessed in the second base plane 241, the annular groove 242 is provided with electrical connection terminals 2441, 2442; and a pair of notches 245 provided at opposite sides of the end of the joint body close to the second base plane, the pair of notches 245 are used to receive a pair of arms 235 of the male waterproof joint. In some embodiments, when the male waterproof joint has corresponding features, the female waterproof joint can also comprise foolproof parts 2461, 2462, for example, two cylindrical foolproof protrusions of different sizes, a connecting boss 247 extending to the second base plane 241, a middle boss 243 in the middle of the annular groove 242. In some embodiments, there can be a plurality of air holes 249 on each side of the straight section of the annular groove 242.

[0096] In some embodiments, as shown, each arm 235 comprises: a first segment 2352 pivotally connected to the male joint body; a second segment 2355 pivotally connected to the first segment 2352, an end of the second segment 2355 is provided with a hook 2356. The first end of the first segment 2352 is pivotally connected to the ears 2351 at the two ends of the male joint body through a first pivot shaft 2353, the second end of the first segment 2352 is pivotally connected to the second segment 2355 through a second pivot shaft 2354, the first segment 2352 extends in a direction away from the joint from the first end to the second end, and the second segment 2355 extends from the connection end to the hook 2356 in a direction towards the joint. Figure 14

[0097] The pair of arms 235 can be switched between a locked state and a free state, as shown in solid lines in Figure 17 the locked state, the first segment 2352 and the second segment 2355 are substantially collinear, and the hook 2356 of the second segment buckles the notch of the corresponding female waterproof joint. In some embodiments, the outer sides of the pair of second segments 2355 are substantially parallel, and the second segment 2355 can have an opening 2350 to accommodate the first segment 2352. To improve strength, the first segment 2352 can comprise a plurality of parallel ribs. In the free state, the first segment 2352 and the second segment 2355 can rotate along the respective pivot shafts. As shown in Figure 17 when the male waterproof joint 13 is connected to the female waterproof joint 24 in the free state, the first base plane and the second base plane are in contact, the annular boss and the annular groove are in contact, and at least one terminal is in contact to transmit power and / or control signals. In addition, as shown in Figure 17 ​As shown by the dotted lines, when the hooks 2356 of the second segments 1355 of a pair of retaining arms are installed into the slots of the corresponding female waterproof connectors, a force F is applied inward to press the second segments 1355 of the retaining arms inward, causing the hooks 1356 to rotate around the slots 245. This switches the retaining arms from a free state to a locked state, axially locking the male waterproof connector 13 and the female waterproof connector 24 and providing sufficient axial force in the locked state to compress the seal 238, thereby providing sufficient underwater sealing. In some embodiments, the slots 245 may have an outer edge to prevent the hooks 1356 from disengaging from the slots 245 when the second segments 1355 rotate. Figure 2 As shown, after assembly, the male and female waterproof connectors engage with their connecting bosses to connect the submersible thruster to other components, such as oxygen cylinders. Furthermore, this application also provides a submersible thruster and battery module according to various embodiments.

[0098] Continue to refer to Figures 18 to 20 The illustration shows a diving suit according to various embodiments. The diving suit can be used in conjunction with a diving propulsion device according to various embodiments, thereby facilitating the wearer's diving. The diving suit includes: a diving suit body configured for wear by a diver and covering at least the diver's legs and torso; at least one angle sensor assembly including a first sensing unit 51, 53 disposed on the diving suit body at the thigh corresponding to the same side of the diver and a second sensing unit 52, 54 disposed on the lower leg, and the at least one angle sensor assembly configured to sense the angle between the diver's thigh and lower leg on the corresponding side based on the relative positional relationship of the respective first sensing unit 51, 53 and second sensing unit 52, 54; and a controller 7 attached to the diving suit body at a location corresponding to the front of the diver's waist or chest, the controller 7 being connected to the at least one angle sensor assembly wirelessly or via a cable embedded in the diving suit body. In some embodiments, the controller further includes a port for connection to at least one propulsion device, the port being a wired port or a wireless connection port. In some embodiments, the at least one angle sensor assembly includes a left angle sensor assembly and a right angle sensor assembly. Divers can first wear such as Figures 18 to 20 The diver first puts on the diving suit shown, then on the tank vest (BCD), and finally on the diving propulsion device and tank (the two can be assembled first or the diving propulsion device can be worn separately). After the setup is complete, the diver goes into the water to conduct diving activities.

[0099] The specific embodiments described above are merely meant to more clearly describe the principles of the present application, in which various components are clearly shown or described so that the principles of the present application are more easily understood. Those skilled in the art can easily make various modifications or changes to the present application without departing from the scope of the present application. Therefore, it should be understood that these modifications or changes should be included in the patent protection scope of the present application.

Claims

1. A diving propulsion device, comprising: at least one angle sensor assembly comprising a first sensing unit arranged on a thigh and a second sensing unit arranged on a calf of a same side of a diver, and configured to sense an included angle between the thigh and the calf of the corresponding side of the diver based on a relative positional relationship of the first and second sensing units; at least one thruster comprising a thruster body and at least one battery module; and a controller connected with the at least one angle sensor assembly and at least one thruster respectively, to control the at least one thruster based on an included angle signal sensed by the at least one angle sensor assembly; the at least one thruster is switchable between a first state in which the thruster body is connected with the at least one battery module, and a second state in which the thruster body is separated from the at least one battery module; wherein, when the at least one thruster is in the first state, the thruster body is connected with the at least one battery module through a waterproof joint.

2. The submersible propulsion device of claim 1, wherein, the at least one angle sensor assembly is a high-performance three-dimensional motion posture measurement system based on MEMS technology, wherein the at least one angle sensor assembly each comprises a three-axis gyroscope, a three-axis accelerometer, a three-axis electronic compass, and a processor.

3. The submersible propulsion device of claim 1, wherein, the diving propulsion device further comprises a wear suit, the controller and the at least one angle sensor assembly are attached to the wear suit, such that when the wear suit is worn by the diver, the first and second sensing units of the at least one angle sensor assembly are positioned at the same side thigh and calf of the diver, and the controller is positioned at the front side of the waist or the front side of the chest of the diver.

4. The submersible propulsion device of any one of claims 1-3, wherein, the at least one thruster comprises a single thruster attached to an oxygen cylinder on the back side of the diver in the first state, wherein the at least one angle sensor assembly comprises a single angle sensor assembly worn on the left side or the right side of the diver, and the controller controls the single thruster to output a forward or backward thrust based on an included angle signal sensed by the single angle sensor assembly.

5. The submersible propulsion device of any one of claims 1-3, wherein, the at least one thruster comprises a left thruster and a right thruster respectively worn on the left side and the right side of the diver, wherein the at least one angle sensor assembly comprises a left angle sensor assembly and a right angle sensor assembly respectively worn on the left side and the right side of the diver, the controller controls the left thruster based on a first included angle signal sensed by the left angle sensor assembly, and the controller controls the right thruster based on a second included angle signal sensed by the right angle sensor assembly.

6. The submersible propulsion device of claim 5, wherein, the left and right thrusters are mountable in any of the following ways: the left and right thrusters are attached to the left and right sides of an oxygen cylinder on the back side of the diver in the first state, the left and right thrusters are attached to the left and right sides of the body of the diver in the first state, or the left and right thrusters are attached to the left and right sides of the body of the diver in the first state. The left and right thrusters are in a second state respectively, wherein the thruster bodies of the left and right thrusters are attached to the left and right sides of the diver's body, and at least one battery module of the left and right thrusters is attached to the left and right sides of the oxygen cylinder on the back of the diver respectively.

7. The submersible propulsion device of claim 5, wherein, The controller is configured to control the corresponding side thruster to output forward thrust when the first or second included angle signal is in a first interval, to control the corresponding side thruster to stop when the first or second included angle signal is in a second interval, and to control the corresponding side thruster to output forward thrust when the first or second included angle signal is in a third interval.

8. The submersible propulsion device of claim 7, wherein, When the first or second included angle signal is in the first or third interval, the controller is configured to change the magnitude of the forward thrust and / or the backward thrust output by the corresponding side thruster as the first or second included angle signal changes, wherein the controller is configured to increase the magnitude of the forward thrust or the backward thrust output by the corresponding side thruster as the first or second included angle signal increases or to decrease the magnitude of the forward thrust or the backward thrust output by the corresponding side thruster as the first or second included angle signal increases.

9. The underwater propulsion device of claim 1, wherein, The first and / or second sensing unit is configured with a battery and wirelessly connected to the controller, wherein the controller is configured with a battery and wirelessly connected to the at least one thruster; or The first and / or second sensing unit is connected to the controller and / or the controller is connected to the at least one thruster through a cable.

10. The diving propulsion device of claim 1, wherein, When the at least one thruster is in a second state, the thruster body is connected to the at least one battery module through an adapter, wherein the adapter comprises a cable, the first and second ends of the cable are connected to the thruster body and the at least one battery module through waterproof connectors respectively; The waterproof connector comprises a male waterproof connector and a female waterproof connector arranged on the end of each other.

11. The underwater propulsion device of claim 10, wherein, The male waterproof connector comprises: A male connector body, the end of the male connector body has a first base plane; A ring-shaped boss protruding from the first base plane, at least one electrical connection terminal is arranged in the ring-shaped boss; and A pair of arms arranged at the opposite side of the end of the male connector body close to the first base plane.

12. The underwater propulsion device of claim 11, wherein, The ring-shaped boss is in the shape of a runway, the pair of arms are arranged at the opposite straight sections of the ring-shaped boss, wherein the arms have a hook portion, the width of the hook portion is in the range of 80% to 100% of the width of the straight section.

13. The underwater propulsion device of claim 11, wherein, The at least one electrical connection terminal comprises a group of power terminals and a group of signal terminals arranged at the opposite arc-shaped sections of the ring-shaped boss respectively.

14. The underwater propulsion device of claim 11, wherein, The male waterproof connector further comprises a first seal arranged around the outer circle of the ring-shaped boss, wherein the first seal is arranged at the intersection of the outer circle of the ring-shaped boss and the first base plane.

15. The submersible propulsion device of any one of claims 11-14, wherein, The annular boss is further provided with an anti-stupid part in the form of a protrusion or a groove.

16. The submersible propulsion device of any one of claims 11-14, wherein, Each of the arms comprises: a first segment pivotally connected to the male connector body; and a second segment pivotally connected to the first segment.

17. The underwater propulsion device of claim 16, wherein, The pair of arms can be switched between a locked state and a free state, in the locked state, the first segment and the second segment are substantially collinear, and the hook portion of the second segment is buckled to the notch of the corresponding female waterproof connector, in the free state, the first segment and the second segment can rotate along the respective rotation axes, in the free state, when the male waterproof connector is connected with the female waterproof connector, the hook portion of the second segment of the pair of arms is connected to the notch of the corresponding female waterproof connector, the second segment of the pair of arms is pressed inward, the second segment rotates around the notch, thereby the arms are switched from the free state to the locked state.

18. The submersible propulsion device of any one of claims 11-14, wherein, One side of the male connector body has a connecting boss extending to the first base plane, wherein the connecting boss is T-shaped in cross section.

19. The submersible propulsion device of any one of claims 11-14, wherein, The female waterproof connector is used to connect with the male waterproof connector, the female waterproof connector comprises: a female connector body, an end of the female connector body has a second base plane; an annular groove recessed in the second base plane, the annular groove is provided with an electrical connection terminal; and a pair of notches provided at opposite sides of the end of the connector body close to the second base plane, the pair of notches are used to receive a pair of arms of the male waterproof connector.

20. The underwater propulsion device of claim 1, wherein, The at least one thruster comprises: a thruster body; one or more intermediate battery modules; and a terminal battery module or an end cap; The intermediate battery modules are respectively provided as opposite ends of the male waterproof connector and the female waterproof connector. The at least one thruster comprises: a thruster body; one or more intermediate battery modules; and a terminal battery module or an end cap; The intermediate battery modules are respectively provided as opposite ends of the male waterproof connector and the female waterproof connector.

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