Underwater relay device and underwater operation system

Abstract

The utility model discloses an underwater relay device and an underwater operation system. The underwater relay device comprises a relay frame, the relay frame comprises a wire coil bin and an underwater robot bin which are distributed in a stacked mode, a wire coil mechanism is installed in the wire coil bin, the underwater robot bin is used for containing an underwater robot, and a cable of the wire coil mechanism is connected with the underwater robot; the plurality of propellers are distributed around the relay frame; the plurality of underwater velocimeters are distributed around and at the bottom of the relay frame and are used for acquiring environment information around and at the bottom of the relay frame; and the controller is mounted on the relay frame, is in communication connection with the plurality of propellers and the plurality of underwater velocimeters, and is used for controlling the plurality of propellers according to the environment information acquired by the plurality of velocimeters so as to regulate and control the running state of the relay frame. According to the underwater relay device provided by the invention, the attitude and the course can be flexibly adjusted in a complex underwater environment, various underwater tasks can be stably and efficiently completed, and the flexibility and the safety of underwater operation are improved.

Description

Technical Field

[0001] This application relates to the field of underwater vehicle technology, and in particular to an underwater relay device and an underwater operation system. Background Technology

[0002] When existing underwater robots enter deep-sea operations, they are typically deployed into the water via cables from shore-based equipment such as ships or cranes. Alternatively, to achieve longer operational distances and a more stable operating environment, they are primarily deployed using an attached TMS (Tether Management System). Specifically, during the shore-based preparation phase, the underwater robot is placed within the TMS; during the deployment phase, the entire TMS containing the underwater robot is submerged; and during the release phase, based on the TMS's own weight and cable tension, the underwater robot is released once the TMS has sunk to a certain depth.

[0003] Existing TMS devices only serve as relay equipment for underwater robots, extending their operational range. However, they lack effective means to cope with sudden changes in underwater current speed or severe sea conditions, thus failing to provide effective support for the underwater robot. Utility Model Content

[0004] This application provides an underwater relay device and an underwater operation system to address the current problem of insufficient ability of TMS devices to cope with severe underwater conditions.

[0005] To solve the above-mentioned technical problems, this application adopts the following technical solution: providing an underwater relay device. This underwater relay device includes: a relay frame comprising a cable reel compartment and an underwater robot compartment arranged in a stacked manner; a cable reel mechanism is installed within the cable reel compartment; the underwater robot compartment is used to house an underwater robot; and cables from the cable reel mechanism are connected to the underwater robot; multiple thrusters are installed around the relay frame; multiple underwater speedometers are installed around the relay frame and at its bottom to acquire environmental information around and at the bottom of the relay frame; and a controller is installed on the relay frame and communicatively connected to the multiple thrusters and the multiple underwater speedometers to control the multiple thrusters and regulate the operating state of the relay frame.

[0006] In some embodiments, the relay frame is a hollow frame, which includes a top frame, a middle frame, a bottom frame, a plurality of first connecting arms and a plurality of second connecting arms. The plurality of first connecting arms are connected between the top frame and the middle frame, and the top frame and the middle frame define the cable reel compartment. The plurality of second connecting arms are connected between the bottom frame and the middle frame, and the bottom frame and the middle frame define the underwater robot compartment.

[0007] In some embodiments, the first connecting arm and the top frame are transitioned by a first inclined plane, and the second connecting arm and the bottom frame are transitioned by a second inclined plane.

[0008] In some embodiments, a third window is formed between two adjacent first connecting arms and the middle frame and the top frame, and a fourth window is formed between two adjacent second connecting arms and the middle frame and the bottom frame.

[0009] In some embodiments, the relay frame further includes a plurality of adjusting members, each of which is mounted on a corresponding second connecting arm for adjusting the extension length of the second connecting arm to increase the area of ​​the fourth window when the underwater robot enters or exits the underwater robot bay through the fourth window; or

[0010] The bottom frame is provided with an entrance and an exit and a controlled door installed at the entrance and exit. The controlled door is communicatively connected to the controller. The controller is used to control the controlled door to open so that the underwater robot can enter and exit the underwater robot compartment, and to control the controlled door to close after the underwater robot enters the underwater robot compartment.

[0011] In some embodiments, the central frame integrates a controller compartment, and the controller is installed in the controller compartment;

[0012] The underwater speed measuring device includes multiple first underwater speed measuring devices and at least one second underwater speed measuring device. The multiple first underwater speed measuring devices are distributed around the controller compartment, and the at least one second underwater speed measuring device is disposed on the bottom surface of the bottom frame.

[0013] In some embodiments, the first underwater speed measuring instrument includes at least a plurality of first acoustic transponders and a camera device, wherein the plurality of first acoustic transponders are used to acquire speed and / or distance information, and the camera device is used to acquire image information; the second underwater speed measuring instrument includes a plurality of second acoustic transponders.

[0014] In some embodiments, the first underwater speedometer further includes at least one illumination device and at least two laser emitters; the illumination device is used to provide supplemental lighting, and the laser emitters are used to provide reference size markings.

[0015] In some embodiments, a plurality of wheels are also mounted on the bottom wall frame.

[0016] To solve the aforementioned technical problems, another technical solution adopted in this application is to provide an underwater operation system. The underwater operation system includes shore-based equipment, an underwater robot, and an underwater relay device as described above. The shore-based equipment is connected to the underwater relay device via cables, and the underwater robot is placed in the underwater robot compartment of the underwater relay device and connected to the cables of the cable reel mechanism.

[0017] The beneficial effects of this application are as follows: Unlike existing technologies, this application discloses an underwater relay device and an underwater operation system. Through its controller coordinating the operation of multiple underwater speedometers and multiple thrusters, it can adjust its own operating status based on real-time underwater environmental conditions to effectively execute task commands issued by shore-based equipment. The multiple underwater speedometers enable efficient environmental perception and precise positioning, while the coordinated control of multiple thrusters allows for flexible adjustment of attitude and course in complex underwater environments, ensuring stable and efficient completion of various underwater tasks. This improves the flexibility and safety of underwater operations and enables it to cope with various severe sea conditions, making it more suitable for detection and operation tasks in complex waters. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:

[0019] Figure 1 This is a schematic diagram of the implementation method of the underwater operation system provided in this application;

[0020] Figure 2 yes Figure 1 A schematic diagram of the underwater relay device;

[0021] Figure 3 yes Figure 2 A schematic diagram of the front structure of the first underwater speed measuring instrument in China;

[0022] Figure 4 yes Figure 2 A three-dimensional structural diagram of the second underwater velocity measuring instrument. Detailed Implementation

[0023] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0024] The terms "first," "second," and "third" used in the embodiments of this application are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least three, unless otherwise explicitly specified. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0025] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0026] Please refer to the following: Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of an embodiment of the underwater operation system 10a provided in this application. Figure 2 yes Figure 1 A schematic diagram of the underwater relay device 103 is shown in this application. This application provides an underwater operation system 10, which includes a shore-based device 101, an underwater robot 102, and an underwater relay device 103. The shore-based device 101 is connected to the underwater relay device 103 via cables. The underwater robot 102 is placed in the underwater robot compartment 14 of the underwater relay device 103 and connected to the cable reel mechanism 11.

[0027] The shore-based device 101 can be a ship or a crane, etc., and is connected to the underwater relay device 103 via cables to realize data transmission, command issuance, and power supply between the shore-based device 101 and the underwater relay device 103. The underwater relay device 103 is equipped with high-performance sensors and communication modules to ensure stable signal transmission and to communicate with the shore-based device 101. For example, the shore-based device 101 instructs the underwater relay device 103 to move to a designated location and hover. After receiving the instruction, the underwater relay device 103 accurately locates the designated location and dynamically hovers based on underwater environmental information. Then, the shore-based device 101 can continue to instruct the underwater robot 102 to leave the underwater relay device 103 to perform specific tasks, such as underwater exploration or sampling.

[0028] The underwater robot 102 is equipped with an advanced navigation system to accurately execute tasks and transmit data back in real time. The underwater robot 102 can autonomously adjust its navigation path according to instructions, update navigation information through pre-deployed transponders, navigate autonomously, flexibly cope with complex underwater environments, and ensure the successful completion of tasks.

[0029] By coordinating the underwater relay device 103 with the onshore equipment 101, the working range of the underwater robot 102 can be greatly extended. Furthermore, thanks to the large size and weight of the underwater relay device 103, it can provide stronger resistance to water flow when facing strong currents or severe sea conditions, ensuring the stability and safety of the underwater robot 102 during underwater operations.

[0030] For example, when the waves are higher than 2 meters, the underwater robot 102 can be deployed into the water through the underwater relay device 103, which can stably pass through the splash zone and ensure the successful deployment of the underwater robot 102.

[0031] For example, in complex marine environments and terrains, when the underwater relay device 103 encounters water flow, it can automatically resist the current and hover using the power output from its upper thruster. After reaching the target position, the underwater relay device 103 can automatically adjust its attitude to resist the influence of the water flow and achieve precise hovering, or it can move with the underwater robot 102 to provide the underwater robot 102 with a larger operating range.

[0032] The underwater relay device 103 includes a relay frame 10, multiple thrusters 20, multiple underwater speedometers, and a controller (not shown). The relay frame 10 includes a cable reel compartment 12 and an underwater robot compartment 14 arranged in a stacked manner. A cable reel mechanism 11 is installed in the cable reel compartment 12, and the underwater robot compartment 14 is used to accommodate an underwater robot 102. The cables of the cable reel mechanism 11 are connected to the underwater robot 102. Multiple thrusters 20 are installed around the relay frame 10. Multiple underwater speedometers are installed around and at the bottom of the relay frame 10 to acquire environmental information around and at the bottom of the relay frame 10. The controller is installed on the relay frame 10 and is communicatively connected to the multiple thrusters 20 and the multiple underwater speedometers to control the multiple thrusters 20 based on the environmental information acquired by the multiple underwater speedometers, thereby regulating the operating status of the relay frame 10.

[0033] The relay frame 10 has a hollow frame structure, which reduces its weight and enhances its hydrodynamic performance, ensuring stable operation of the underwater relay device 103 in complex underwater environments. Multiple thrusters 20 are symmetrically distributed and installed on the relay frame 10 to provide power support, enabling the underwater relay device 103 to operate in water, resist currents, and hover. An installed underwater velocity sensor can monitor environmental information around and under the relay frame 10 from multiple angles and directions. This environmental information can include image information, distance information, speed information, and size information, providing comprehensive data support to the controller and ensuring accurate positioning and efficient operation of the underwater relay device 103. The controller can combine user control commands to control each thruster 20 in real time to regulate the operating state of the relay frame 10, such as resisting currents, hovering, or underwater movement.

[0034] In this application, the relay frame 10 is divided into a cable reel compartment 12 and an underwater robot compartment 14, which are stacked in an upper and lower manner. The cable reel mechanism 11 is set in the cable reel compartment 12. The cable of the cable reel mechanism 11 is connected to the underwater robot 102. The cable reel mechanism 11 can retract and extend the cable to pull the underwater robot 102 and can provide the underwater robot 102 with a longer working stroke.

[0035] The underwater robot compartment 14 houses the underwater robot 102, which can enter and exit the compartment. A cable reel mechanism 11 releases the cable, allowing the underwater robot 102 to exit the compartment and perform tasks. After completing the task, the cable reel mechanism 11 retrieves the cable, and the underwater robot 102 returns to the compartment. While the underwater robot 102 is performing tasks, the underwater relay device 103 can hover or automatically follow it, ensuring the robot remains within its effective operating range. Simultaneously, the underwater robot 102 can transmit data in real-time with the underwater relay device 103 or shore-based equipment, improving task execution efficiency. The collaborative operation between the underwater relay device 103 and the underwater robot 102 better adapts to the changing underwater environment, enhancing the underwater robot 102's operating range and task completion rate.

[0036] In this embodiment, the relay frame 10 is a hollow frame, which includes a top frame 13, a middle frame 15, a bottom frame 17, a plurality of first connecting arms 16 and a plurality of second connecting arms 18; the plurality of first connecting arms 19 are connected between the top frame 13 and the middle frame 15, the top frame 13 and the middle frame 17 define a cable reel compartment 12, the plurality of second connecting arms 18 are connected between the bottom frame 17 and the middle frame 15, the bottom frame 17 and the middle frame 15 define an underwater robot compartment 14; wherein, the first connecting arm 16 and the top frame 13 are transitioned by a first inclined plane 160, and the second connecting arm 18 and the bottom frame 17 are transitioned by a second inclined plane 180.

[0037] The cable of the shore-based equipment 101 is connected to the top frame 13, and the cable reel mechanism 11 can be fixed to the middle frame 15. Its cable can pass through the middle frame 15 and be connected to the underwater robot 102. Multiple first connecting arms 16 are connected between the top frame 13 and the middle frame 15 and form multiple hollow windows to facilitate the smooth flow of water, reduce resistance, and enhance its hydrodynamic performance.

[0038] The underwater robot 102 is located within the underwater robot compartment 14 and can be locked to the bottom frame 17 to ensure its stability within the underwater robot compartment 14. It can be unlocked when needed to exit the underwater robot compartment 14. Multiple second connecting arms 18 are connected between the bottom frame 17 and the middle frame 15, and also form multiple perforated windows to enhance the hydrodynamic performance of the underwater robot compartment 14.

[0039] Traditional TMS devices mostly adopt a rectangular frame structure design. When they are in high-velocity waters, the corners of the rectangular frame are subjected to greater stress and external pressure, which can easily cause deformation and reduce structural stability.

[0040] In this embodiment, the first connecting arm 16 and the top frame 13 are transitioned by a first inclined plane 160, and the second connecting arm 18 and the bottom frame 17 are transitioned by a second inclined plane 180. The first inclined plane 160 and the second inclined plane 180 replace the angular structure on the original rectangular frame, so that the relay frame 10 constitutes a polyhedral frame structure. The geometric characteristics of the polyhedral frame structure are used to distribute the external pressure, effectively reduce stress concentration, resist the water pressure, and thus significantly improve the stability and durability of the overall structure.

[0041] In this embodiment, the relay frame 10 is generally a rectangular frame structure, but its original edges are replaced by a first inclined plane 160 and a second inclined plane 180 to form a fourteen-sided frame structure, which can effectively disperse the impact of water flow, reduce stress concentration points, and enhance its adaptability in complex waters. It is especially suitable for harsh or dynamic underwater environments.

[0042] Furthermore, the first connecting arm 16 has a first window 162, and a portion of the thrusters 20 are installed on the inner side of each first inclined plane 160 with their thrust direction facing the first window 162; the second connecting arm 18 has a second window 182, and the remaining thrusters 20 are installed on the inner side of each second inclined plane 180 with their thrust direction facing the second window 182.

[0043] In this embodiment, there are 8 thrusters 20. Four thrusters 20 are symmetrically installed on the inner side of each corresponding first inclined plane 160 and provide thrust by draining water outward through the first window 162, forming a balanced thrust distribution. The remaining four thrusters 20 are symmetrically installed on the inner side of each second inclined plane 180 and drain water outward through the second window 182, forming a balanced thrust distribution.

[0044] The thrusters 20 located on each of the first inclined planes 160 and the thrusters 20 located on each of the second inclined planes 180 are also symmetrically arranged to ensure that the underwater relay device 103 can provide stable and balanced thrust in different directions, thereby effectively improving the maneuverability and maneuverability of the underwater relay device 103 and enabling it to maintain a highly efficient and stable operating state in various complex water environments.

[0045] The controller precisely regulates the operation of the underwater relay device 103 by controlling the start-up, shutdown, and thrust of each thruster 20, ensuring stable operation in different aquatic environments and improving overall operational efficiency and safety.

[0046] In other words, the first connecting arm 16 and the second connecting arm 18 in this embodiment also serve to support multiple thrusters 20. Furthermore, the design of each inclined plane not only optimizes the hydrodynamic characteristics of the relay frame 10 but also reduces water flow resistance and improves propulsion efficiency. Through the coordinated operation of each thruster 20, the dynamic balance and movement capabilities of the underwater relay device 103 are further enhanced, making it more flexible in dealing with various severe water flow conditions and enabling it to maintain stable operation.

[0047] In this embodiment, a third window 164 is formed between two adjacent first connecting arms 16 and the middle frame 15 and the top frame 13. The third window 164 is trapezoidal in shape, with its small end close to the first inclined plane 160 and its large end close to the middle frame 15, so that the reel mechanism 11 can be installed in the reel compartment 12. A fourth window 184 is formed between two adjacent second connecting arms 18 and the middle frame 15 and the bottom frame 17. The fourth window 184 is inverted trapezoidal in shape, with its small end close to the second inclined plane 180 and its large end close to the middle frame 15. The small end of the fourth window 184 can be used to restrict the underwater robot 102 in the underwater robot compartment 14 to prevent the underwater robot 102 from accidentally sliding out of the compartment. At the same time, the window space on the large end side can facilitate the underwater robot 102 to enter and exit. It should be noted that the upright trapezoid shape is an isosceles trapezoid; the inverted trapezoid shape is an inverted shape relative to the upright trapezoid shape, and is also an isosceles trapezoid. In some embodiments, the shapes of adjacent third windows may also be different.

[0048] Furthermore, the relay frame 10 also includes multiple adjustment components (not shown), each of which is mounted on a corresponding second connecting arm 18 to adjust the extension length of the second connecting arm 18, thereby increasing the area of ​​the fourth window 184 when the underwater robot 102 enters or exits the underwater robot compartment 14 through the fourth window 184.

[0049] The adjusting component can be a pneumatic cylinder or a hydraulic cylinder, etc., which can adjust the length of the second connecting arm 18 by telescoping to increase the area of ​​the fourth window 184 before the underwater robot 102 enters and exits, so as to facilitate the entry and exit of the underwater robot 102.

[0050] The second connecting arm 18 may include two sub-arms, one of which is fixedly connected to the middle frame 15 and the other is connected to the bottom frame 17. An adjusting member connects the two sub-arms and the adjusting member realizes the extension and retraction between the sub-arms to flexibly adjust the window size and ensure that the underwater robot 102 can enter and exit smoothly.

[0051] Alternatively, the bottom frame 17 is provided with an entrance and an entrance, and a controlled door installed at the entrance and exit. The controlled door is connected to a controller, which controls the opening of the controlled door to allow the underwater robot 102 to enter and exit the underwater robot compartment 14, and controls the closed door after the underwater robot 102 enters the underwater robot compartment 14.

[0052] Furthermore, the central frame 15 integrates a controller compartment 152, in which the controller is installed.

[0053] Please see Figure 3 and Figure 4 , Figure 3 yes Figure 2 A schematic diagram of the front structure of the first underwater speed measuring instrument 31. Figure 4 yes Figure 2 A three-dimensional structural diagram of the second underwater speed measuring instrument 32 is shown. The underwater speed measuring instrument includes multiple first underwater speed measuring instruments 31 and at least one second underwater speed measuring instrument 32. The multiple first underwater speed measuring instruments 31 are distributed around the controller compartment 152, and at least one second underwater speed measuring instrument 32 is located on the bottom surface of the bottom frame 17.

[0054] The structure and function of the first underwater speed measuring instrument 31 and the second underwater speed measuring instrument 32 may be the same or different, but both can acquire underwater environmental information to monitor the speed and direction of movement of the underwater relay device 103.

[0055] Each of the first underwater speed measuring instruments 31 can be directly installed around the controller compartment 152 and communicate directly with the controller inside the compartment 152. This effectively shortens the communication path between the first underwater speed measuring instruments 31 and the controller, improving data transmission efficiency and accuracy, and ensuring the stable operation of the underwater robot 102 in complex environments. The second underwater speed measuring instrument 32, through its installation position on the bottom frame 17, further optimizes the monitoring range of the underwater environment and enhances the overall perception capability of the underwater relay device 103. In addition, the integrated communication system in the controller ensures that data can be transmitted back to the shore equipment in real time via cables, providing decision support for the shore command center.

[0056] In this embodiment, the first underwater speed measuring device 31 includes a plurality of first acoustic transponders 311, a camera device 312, at least one illumination device 313, and at least two laser emitters 314. The plurality of first acoustic transponders are used to acquire distance information, the camera device is used to acquire image information, the illumination device is used to provide illumination supplementation, and the laser emitters are used to provide reference size markings. In other embodiments, the first underwater speed measuring device may also consist only of a plurality of first acoustic transponders and a camera device.

[0057] The second underwater speed measuring device 32 includes multiple second acoustic transponders 321.

[0058] Both the first acoustic transponder 311 and the second acoustic transponder 321 are used to generate acoustic signals and receive echo signals, thereby obtaining distance information between the transponder and surrounding objects. The underwater speed information of the underwater relay device 103 can also be obtained from the time-series distance information. The transmitting faces of the multiple first acoustic transponders 311 on the first underwater speedometer 31 are located on the same side, but the orientation of each transmitting face is different, to improve the detection comprehensiveness of the first underwater speedometer 31 and effectively avoid excessive overlap of the detection areas of the multiple first acoustic transponders 311. Similarly, the transmitting faces of the multiple second acoustic transponders 321 on the second underwater speedometer 32 are all located on the same side, but the orientation of each transmitting face is different, to improve the detection comprehensiveness of the second underwater speedometer 32 and effectively avoid excessive overlap of the detection areas of the multiple second acoustic transponders 321.

[0059] Each of the first underwater speed measuring instrument 31 and the second underwater speed measuring instrument 32 can be used to detect distance information and speed information in its orientation, thereby providing information for its controlled movement and helping to perform omnidirectional obstacle avoidance in the controlled movement state, preventing it from colliding with marine facilities or underwater obstacles.

[0060] Furthermore, the camera device on the first underwater speed measuring instrument 31 can acquire real-time images of the area in the detection direction, and the lighting device 313 can provide illumination compensation to ensure that the acquired images are clear, so as to accurately obtain image information of the underwater environment. Combining the image information and the aforementioned distance information, the underwater relay device 103 can more accurately identify the surrounding environment and can also obtain more accurate positioning, which can further improve navigation accuracy, thereby effectively avoiding misjudgment and collision, and improving the safety and efficiency of underwater missions.

[0061] Furthermore, the controller can accurately identify the size of surrounding obstacles based on the reference size indicators provided by the laser beams emitted by at least two laser emitters 314, which supports the optimization of obstacle avoidance strategies and helps ensure the stable operation of the underwater relay device 103 in complex environments.

[0062] Multiple wheels 172 are also installed on the bottom frame 17 to facilitate the movement of the underwater relay device in the aquatic environment. In a preferred embodiment, the wheels are retractable, meaning that after the underwater relay device is retrieved to shore, the wheels can be deployed and moved under external force. When the underwater relay device is operating in the water, the wheels can be retracted into the bottom frame to reduce water resistance and avoid entanglement.

[0063] The underwater relay device 103 provided in this application achieves efficient environmental perception and precise positioning through the integrated collaborative operation of multiple sensors. Simultaneously, combined with the coordinated control of multiple thrusters 20, it can flexibly adjust its attitude and course in complex underwater environments, ensuring stable and efficient completion of various underwater tasks. For example, it can perform actions such as forward movement, backward movement, surfacing, diving, obstacle avoidance, or hovering in the water, improving the flexibility and safety of underwater operations. The underwater relay device 103 also has real-time data transmission capabilities, ensuring that the onshore command center can instantly grasp the underwater situation, optimize decision-making, and significantly improve the safety and reliability of the underwater robot 102's underwater operations. It is suitable for exploration and operational tasks in complex waters.

[0064] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. An underwater relay device, characterized by, include: The relay frame includes a cable reel compartment and an underwater robot compartment arranged in a stacked manner. The cable reel compartment is equipped with a cable reel mechanism, and the underwater robot compartment is used to house the underwater robot. The cables of the cable reel mechanism are connected to the underwater robot. Multiple thrusters are distributed and installed on the relay frame; Multiple underwater speed measuring instruments are distributed and installed around and at the bottom of the relay frame to acquire environmental information around and at the bottom of the relay frame; The controller, mounted on the relay frame, is communicatively connected to the plurality of thrusters and the plurality of underwater speed measuring instruments, and is used to control the plurality of thrusters to regulate the operating status of the relay frame.

2. The underwater repeater apparatus of claim 1, wherein The relay frame is a hollow frame, which includes a top frame, a middle frame, a bottom frame, multiple first connecting arms and multiple second connecting arms. The multiple first connecting arms are connected between the top frame and the middle frame, and the top frame and the middle frame define the cable reel compartment. The multiple second connecting arms are connected between the bottom frame and the middle frame, and the bottom frame and the middle frame define the underwater robot compartment.

3. The underwater repeater apparatus of claim 2, wherein The first connecting arm and the top frame are transitioned by a first inclined plane, and the second connecting arm and the bottom frame are transitioned by a second inclined plane.

4. The undersea repeater of claim 2, wherein, A third window is formed between two adjacent first connecting arms and the middle frame and the top frame, and a fourth window is formed between two adjacent second connecting arms and the middle frame and the bottom frame.

5. The underwater repeater of claim 4, wherein, The relay frame also includes multiple adjusting members, each of which is mounted on a corresponding second connecting arm for adjusting the extension length of the second connecting arm to increase the area of ​​the fourth window when the underwater robot enters or exits the underwater robot bay through the fourth window; or The bottom frame is provided with an entrance and an exit and a controlled door installed at the entrance and exit. The controlled door is communicatively connected to the controller. The controller is used to control the controlled door to open so that the underwater robot can enter and exit the underwater robot compartment, and to control the controlled door to close after the underwater robot enters the underwater robot compartment.

6. The undersea repeater of claim 2, wherein, The central frame integrates a controller compartment, and the controller is installed in the controller compartment; The underwater speed measuring device includes multiple first underwater speed measuring devices and at least one second underwater speed measuring device. The multiple first underwater speed measuring devices are distributed around the controller compartment, and the at least one second underwater speed measuring device is disposed on the bottom surface of the bottom frame.

7. The underwater repeater of claim 6, wherein, The first underwater speed measuring instrument includes at least a plurality of first acoustic transponders and a camera device, wherein the plurality of first acoustic transponders are used to acquire speed and / or distance information, and the camera device is used to acquire image information; the second underwater speed measuring instrument includes a plurality of second acoustic transponders.

8. The underwater repeater of claim 7, wherein, The first underwater speed measuring instrument also includes at least one illumination device and at least two laser emitters; the illumination device is used to provide supplemental lighting, and the laser emitters are used to provide reference size markings.

9. The undersea repeater of claim 2, wherein, The bottom frame is also equipped with multiple wheels.

10. An underwater working system, characterized in that The underwater operation system includes shore-based equipment, an underwater robot, and an underwater relay device as described in any one of claims 1-9. The shore-based equipment is connected to the underwater relay device via cables, and the underwater robot is placed in the underwater robot compartment of the underwater relay device and connected to the cables of the cable reel mechanism.

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