Diving robot

Abstract

The utility model belongs to the technical field of diving equipment, and particularly relates to a diving robot, which comprises a driving module capable of realizing underwater omnibearing accurate movement, a control unit for comprehensively coordinating the operation of each component, a mechanical arm capable of executing various complex tasks, a camera module for capturing underwater images and the like. Besides, the robot body of the diving robot is in wired communication with the floating device through a cable to ensure stability, and is in wireless communication with external equipment, so that the limitation of wired connection on the activity range can be broken through, the problems of signal attenuation and interference of underwater wireless communication can be solved, stable and reliable communication is ensured, and the service life of the diving robot is prolonged. The underwater robot can freely shuttle and operate in a large range on the whole, can be widely applied to various underwater operation scenes such as marine resource exploration and underwater rescue, and effectively expands the underwater operation capacity.

Description

Technical Field

[0001] This utility model belongs to the field of diving equipment technology, and specifically relates to a diving robot. Background Technology

[0002] Today, the development and exploration of marine resources are attracting global attention, and underwater scientific research, engineering construction, and emergency rescue activities are becoming increasingly frequent. In these operational scenarios, submersible robots play a crucial role.

[0003] Traditional communication methods for underwater robots have shortcomings. Wired connections limit the robot's underwater range due to cable length, hindering its flexible operation in vast underwater areas and restricting operational efficiency and application expansion. While fully wireless communication suffers from signal attenuation and various interferences, resulting in poor communication stability, frequent signal interruptions and data loss, and an inability to guarantee operational continuity and accuracy.

[0004] Therefore, it is essential to develop a submersible robot that balances both range of motion and communication stability. Utility Model Content

[0005] The present invention aims to provide a diving robot that can overcome the limitations of wired connections on the range of motion and solve the problems of underwater wireless communication signal attenuation and interference, ensuring stable and reliable communication and meeting the needs of complex underwater operations.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A diving robot includes a robot body, a floating device, and a wireless communication unit disposed on the floating device and electrically connected to the robot body via a cable, the wireless communication unit being used for wireless communication with external devices.

[0008] Furthermore, the robot body includes a shell, a drive module that drives the shell to move underwater, and a control unit disposed on the shell and electrically connected to both the drive module and the wireless communication unit. The control unit is used to control the operation of the drive module, and the control unit is electrically connected to the wireless communication unit via a cable.

[0009] Furthermore, the robot body also includes a robotic arm disposed on the housing and electrically connected to the control unit, and the control unit is also used to control the movement of the robotic arm.

[0010] Furthermore, the robot body also includes a camera module disposed on the housing and electrically connected to the control unit.

[0011] Furthermore, the housing includes a shell body that runs through the front and back, and a front closure and a rear closure respectively fixed to the front and rear ends of the shell body. The cable seal passes through the shell body. The control unit is assembled inside the shell body. The drive module and the robotic arm are both located on the outside of the shell body. The camera module is located at the front end of the shell body and is covered by the front closure, which is a transparent component.

[0012] Furthermore, the drive module includes a front propulsion module and a rear propulsion module; the front propulsion module includes a first propeller electrically connected to the control unit, and there are two first propellers, which are respectively located on the left and right sides of the front of the shell and can rotate around an axis extending in the left and right direction for angle adjustment; the rear propulsion module includes a second propeller electrically connected to the control unit, and the two second propellers are respectively located on the left and right sides of the rear of the shell.

[0013] Furthermore, the forward propulsion module also includes two servos electrically connected to the control unit. The two servos are respectively fixed to the left and right sides of the front of the housing. The output shafts of the two servos face the left and right sides respectively, and the two first thrusters are respectively disposed on the output shafts of the two servos.

[0014] Furthermore, the forward propulsion module also includes a first fixed bracket fixed to the front of the housing, two servo motors fixed to the left and right sides of the first fixed bracket respectively, and the robotic arm fixed to the lower side of the first fixed bracket.

[0015] Furthermore, the rear propulsion module also includes a second fixed bracket fixed to the rear of the shell, and the two first propellers are respectively fixed to the left and right sides of the second fixed bracket.

[0016] Furthermore, the floating device includes a float box, a cover detachably connected to the float box, and a float box sealing ring for sealing the gap between the float box and the cover. The wireless communication unit is located inside the float box, and the cable seal passes through the float box.

[0017] Compared with the prior art, the submersible robot disclosed in this utility model has at least the following beneficial effects: the robot body and the floating device of the submersible robot are connected by wired communication via cable to ensure stability, while wireless communication is used with external equipment. This not only breaks through the limitation of the range of movement caused by wired connection, but also solves the problems of signal attenuation and interference in underwater wireless communication, ensuring stable and reliable communication. As a whole, the submersible robot can move freely and operate in a large range, and can be widely used in various underwater operation scenarios such as marine resource exploration and underwater rescue, effectively expanding underwater operation capabilities. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0019] Figure 1 This is a schematic diagram of the structure of an embodiment of the diving robot of this utility model. Figure 1 ;

[0020] Figure 2 This is a schematic diagram of the structure of an embodiment of the diving robot of this utility model. Figure 2 .

[0021] The meanings of the labels in the attached diagram are as follows:

[0022] Robot body 1, shell 11, shell body 111, front closure 112, rear closure 113, drive module 12, front propulsion module 121, first thruster 1211, servo motor 1212, first fixed bracket 1213, rear propulsion module 122, second thruster 1221, second fixed bracket 1222, robotic arm 13, floating device 2, float box 21, box cover 22, cable 4. Detailed Implementation

[0023] The present invention will be further described below with reference to the accompanying drawings.

[0024] Reference Figures 1-2 As shown, the diving robot in this embodiment includes a robot body 1, a floating device 2, and a wireless communication unit mounted on the floating device 2 and electrically connected to the robot body 1 via a cable 4. The wireless communication unit is used for wireless communication with external devices. These external devices include, but are not limited to, personal computers, laptops, tablets, mobile phones, servers, and remote controls.

[0025] In practical use, the robot body 1 is placed underwater, while the floating device 2 floats on the surface. The robot body 1 communicates with the wireless communication unit via cable 4, ensuring stable communication unaffected by water. Similarly, the wireless communication unit maintains stable communication with external devices as there is no water interference. When the robot body 1 moves underwater, it can move the floating device 2 by pulling it along the cable 4. This eliminates cable limitations between the submersible robot and the remote operator, allowing the robot to move freely within a wider range.

[0026] Wireless communication options include Wi-Fi, Bluetooth, 4G, 5G, and even more advanced future communication modes, flexibly adapting to the actual needs of the operational scenario and the characteristics of the underwater environment. If the operational area is close to the shore, with minimal signal interference and low data transmission bandwidth requirements, Bluetooth technology can be considered. When the operational range expands to a wider nearshore area, Wi-Fi communication can be considered. For operations in open ocean areas, 4G and 5G communication technologies can be considered. Considering the increasingly diverse and complex underwater operational scenarios of the future, communication technologies will inevitably continue to innovate. This diving robot can be equipped with expansion interfaces to accommodate new communication modes.

[0027] In this embodiment, the robot body 1 specifically includes a shell 11, a drive module 12 for driving the shell 11 to move underwater, a control unit disposed on the shell 11 and electrically connected to both the drive module and the wireless communication unit, a robotic arm 13 disposed on the shell 11 and electrically connected to the control unit, and a camera module disposed on the shell 11 and electrically connected to the control unit. The control unit is used to control the movement of the drive module 12 and the robotic arm 13, and the control unit is electrically connected to the wireless communication unit via a cable 4.

[0028] In this embodiment, the housing 11 includes a through-body 111 and a front closure 112 and a rear closure 113 respectively fixed to the front and rear ends of the housing 111. This structure provides space for internal components while effectively resisting underwater pressure and protecting internal circuits and equipment. In this embodiment, both closures are made of acrylic material and are fixed to the housing 111 by screws and corresponding sealing rings. Besides the fixing method in this embodiment, other fixing methods can also be considered in other embodiments.

[0029] In this embodiment, a first through hole is provided at the upper end of the housing 111, and the lower end of the cable 4 passes through the first through hole. A rubber sealing sleeve is fitted between the cable 4 and the first through hole for sealing, and underwater sealant is also applied to the corresponding joint position, so that the housing 111 and the cable 4 are sealed. The sealing method is not limited to the method provided in this embodiment, and other sealing methods can also be considered in other embodiments.

[0030] In this embodiment, the control unit is installed inside the housing 111 and is used to comprehensively coordinate the operation of all components. The control unit is electrically connected to the drive module 12, the robotic arm 13, and the camera module. On the one hand, it controls the movement of the drive module 12 so that the robot can move precisely underwater; on the other hand, it manipulates the robotic arm 13 to complete complex actions such as grasping and placing to meet the needs of underwater operations; at the same time, it receives and processes image information collected by the camera module in real time, providing intuitive visual feedback to remote operators; the control unit also integrates components such as a locator and a power supply. The locator is set up to provide feedback on the robot's location to the operator; the power supply is used to provide power to the entire robot.

[0031] In this embodiment, the camera module is located at the front end of the housing 11 and is enclosed by a front closure 112, which is a transparent component to allow the camera module to capture images underwater. Notably, the front closure 112 has a hemispherical structure, providing the camera module with a wider field of view. The robot body 1 captures underwater images through the camera module, which are then processed by the control unit and transmitted back to an external device via a wireless communication unit. This allows operators to remotely observe the underwater conditions and control the robot body 1 to perform corresponding tasks.

[0032] In this embodiment, the drive module 12 includes a front propulsion module 121 and a rear propulsion module 122. The front propulsion module 121 includes two first propellers 1211 electrically connected to the control unit. The two first propellers 1211 are respectively located on the left and right sides of the front of the shell 111 and can rotate around an axis extending in the left and right direction for angle adjustment. The rear propulsion module 122 includes two second propellers 1221 electrically connected to the control unit. The two second propellers 1221 are respectively located on the left and right sides of the rear of the shell 111. The two first propellers 1211 of the front propulsion module 121 can rotate and adjust their angles independently. Together with the two second propellers 1221 of the rear propulsion module 122, the submersible robot can achieve precise omnidirectional movement underwater. For example, by controlling the rotation speed and angle of different propellers, various complex movements such as surfacing, sinking, forward, backward, rotating, and hovering of the robot can be achieved to meet the needs of different underwater operation scenarios.

[0033] In this embodiment, the forward propulsion module 121 further includes two servo motors 1212 electrically connected to the control unit. The two servo motors 1212 are fixed to the left and right sides of the front of the housing 111, respectively, with their output shafts facing left and right. Two first thrusters 1213 are respectively mounted on the output shafts of the two servo motors 1212. The control unit can rotate the first thrusters 1213 by controlling the rotation of the output shafts of the servo motors 1212, thereby changing the propulsion angle and controlling the robot body 1 to move flexibly.

[0034] In this embodiment, the front propulsion module 121 further includes a first fixed bracket 1213 fixed to the front of the housing 111, two servo motors 1212 fixed to the left and right sides of the first fixed bracket 1213 respectively, and a robotic arm 13 fixed to the lower side of the first fixed bracket 1211. The rear propulsion module 122 further includes a second fixed bracket 1222 fixed to the rear of the housing 111, and two first thrusters 1213 fixed to the left and right sides of the second fixed bracket 1222 respectively. This arrangement allows the front propulsion module 121, the rear propulsion module 122, and the robotic arm 13 to be stably assembled on the housing 111, while facilitating disassembly and maintenance of the three components.

[0035] In this embodiment, the robotic arm 13, under the control of the control unit, performs operations such as extending, bending, and grasping objects, thus enabling it to perform tasks such as sample collection and equipment maintenance, significantly expanding the robot's underwater operational capabilities. In marine resource exploration, it can be used to collect seabed samples; in underwater rescue, it can assist in moving obstacles or delivering rescue tools. It is worth noting that the robotic arm 13 used in this embodiment is a six-degree-of-freedom robotic arm, which allows for flexible movement to operate in complex three-dimensional space. Other types of robotic arms can also be considered in other embodiments.

[0036] In this embodiment, the floating device 2 includes a float box 21, a cover 22 detachably connected to the float box 21, and a float box sealing ring for sealing the gap between the float box 21 and the cover 22. The wireless communication unit is located inside the float box 21. The float box 21, the cover 22, and the float box sealing ring cooperate to form a sealed structure to protect the wireless communication unit. When the floating device 2 is on the water, it can float on the water surface by its own buoyancy.

[0037] In this embodiment, a second through hole is provided at the lower end of the float 21, and the upper end of the cable 4 passes through the first through hole. A rubber sealing sleeve is fitted between the cable 4 and the second through hole for sealing, and underwater sealant is also applied to the corresponding joint position, thus achieving a seal between the float 21 and the cable 4. The sealing method is not limited to the method provided in this embodiment, and other sealing methods may be considered in other embodiments.

[0038] In summary, this utility model discloses a submersible robot, which includes a drive module enabling precise omnidirectional underwater movement, a control unit coordinating the operation of various components, a robotic arm capable of performing various complex tasks, and a camera module for capturing underwater images. Furthermore, the robot body and buoyancy device are connected via wired cable for stable communication, while communication with external devices is wireless. This overcomes the limitations of wired connections on the range of motion and solves the problems of signal attenuation and interference in underwater wireless communication, ensuring stable and reliable communication. Overall, the submersible robot can move freely within a wide range and can be widely applied to various underwater operational scenarios such as marine resource exploration and underwater rescue, effectively expanding underwater operational capabilities.

[0039] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. A submersible robot, characterized by: The robot body, the floating device, the wireless communication unit arranged on the floating device and electrically connected with the robot body through a cable, the wireless communication unit is used for wireless communication with an external device; The robot body includes a shell, a driving module for driving the shell to move underwater, and a control unit arranged on the shell and electrically connected with the driving module and the wireless communication unit, the control unit is used for controlling the driving module to act, and the control unit is electrically connected with the wireless communication unit through a cable; The floating device includes a floating box, a box cover detachably connected with the floating box, and a floating box sealing ring for sealing the gap between the floating box and the box cover, the wireless communication unit is arranged in the floating box, and the cable is sealed through the floating box.

2. The submersible robot of claim 1, wherein: The robot body further includes a mechanical arm arranged on the shell and electrically connected with the control unit, and the control unit is further used for controlling the mechanical arm to act.

3. The submersible robot of claim 2, wherein: The robot body further includes a camera module arranged on the shell and electrically connected with the control unit.

4. The submersible robot of claim 3, wherein: The shell includes a shell body penetrating front and back, and a front closure and a rear closure respectively fixed to the front and rear ends of the shell body, the cable is sealed through the shell body, the control unit is assembled on the inner side of the shell body, the driving module and the mechanical arm are arranged on the outer side of the shell body, and the camera module is arranged on the front end of the shell body and covered by the front closure, and the front closure is a transparent part.

5. The submersible robot of claim 4, wherein: The driving module includes a front propulsion module and a rear propulsion module; the front propulsion module includes a first propeller electrically connected with the control unit, the first propeller has two, two first propellers are respectively arranged on the left and right sides of the front part of the shell body and can rotate around the axis extending in the left and right directions to adjust the angle; the rear propulsion module includes a second propeller electrically connected with the control unit, two second propellers are respectively arranged on the left and right sides of the rear part of the shell body.

6. The submersible robot of claim 5, wherein: The front propulsion module further includes a steering engine electrically connected with the control unit, the steering engine has two, two steering engines are respectively fixed to the left and right sides of the front part of the shell body, the output shafts of two steering engines respectively face the left and right sides, and two first propellers are respectively arranged on the output shafts of two steering engines.

7. The submersible robot of claim 6, wherein: The front propulsion module further includes a first fixed support fixed to the front part of the shell body, two steering engines are respectively fixed to the left and right sides of the first fixed support, and the mechanical arm is fixed to the lower side of the first fixed support.

8. The submersible robot of claim 6, wherein: The rear propulsion module further includes a second fixed support fixed to the rear part of the shell body, and two first propellers are respectively fixed to the left and right sides of the second fixed support.

Images