An underwater robot

Abstract

This utility model provides an underwater robot, comprising: a fuselage with a sealed space inside; a propulsion mechanism disposed on the side of the fuselage, the propulsion mechanism providing propulsion force; and a processing mechanism communicatively connected to the propulsion mechanism, the processing mechanism being disposed within the sealed space, the processing mechanism sending operating commands to the propulsion mechanism. This addresses the problem that the robot can only rely on activating and deactivating multiple thrusters for "thrust differential" compensation. In confined spaces (such as inside a net cage or between pipeline supports), the robot cannot compensate for center of gravity shifts through large-scale maneuvers, making it highly susceptible to collisions with surrounding structures. Furthermore, in strong ocean current environments, frequent attitude corrections further amplify the risk of position drift.

Description

Technical Field

[0001] This utility model relates to the field of underwater robots, and in particular to an underwater robot. Background Technology

[0002] In recent years, with the rapid development of deep-sea oil and gas field development, offshore wind farm operation and maintenance, submarine pipeline / cable inspection, and deep-sea intelligent aquaculture, underwater robots have evolved from "optional tools" to "critical infrastructure." At the same time, the frequent occurrence of extreme weather has led to a surge in accidents such as river overflows, subway flooding, and underground water accumulation. Petrochemical parks, ports, LNG bases, and other locations present numerous "water and fire coexistence" scenarios, making it impossible for traditional divers to approach and conduct timely exploration, rescue, and salvage operations.

[0003] In typical engineering scenarios, traditional solutions centrally position the thrusters at the rear or top of the robot body, while the robotic arm is fixed to the front. If the robotic arm needs to change its working direction (e.g., from horizontal grasping to vertical cutting), the robot must pitch, roll, or yaw as a whole, resulting in a strong coupling between the overall robot attitude and the working direction. This coupling not only prolongs adjustment time but is also prone to secondary drift due to water flow disturbances.

[0004] Once the robotic arm extends, its own weight and the lever arm of the load it grasps instantly generate additional torque, causing the entire machine's center of gravity to shift outward. Thrust differential compensation can only be achieved by activating and deactivating multiple thrusters.

[0005] When operating in confined spaces (such as inside a net cage or between pipeline supports), the robot cannot compensate for the shift in its center of gravity through large-scale maneuvers, making it extremely prone to collisions with surrounding structures; and in strong ocean current environments, frequent attitude corrections further amplify the risk of position drift. Utility Model Content

[0006] This invention provides an underwater robot to solve the problem that when operating in confined spaces, the robot's center of gravity shifts outward after the robotic arm is extended, and this shift cannot be offset by large-scale maneuvers, making it extremely prone to collisions with surrounding structures.

[0007] The technical solution of this utility model is as follows:

[0008] An underwater robot, comprising:

[0009] The fuselage, the interior of which forms a sealed space;

[0010] The propulsion mechanism is located on the side of the fuselage and provides propulsion force.

[0011] A processing mechanism that is communicatively connected to the propulsion mechanism is disposed within the enclosed space.

[0012] Furthermore, the propulsion mechanism in the underwater robot of this utility model includes: a first thruster and a second thruster;

[0013] The first thruster has at least two units arranged in an array around the fuselage. The first thruster has a first water inlet and a first water outlet. The center of the first water inlet and the center of the first water outlet are on the same straight line. The plane where the first water inlet is located is perpendicular to the plane where the fuselage is located.

[0014] There are at least two second propellers, which are disposed between the two first propellers. Each second propeller has a second water inlet and a second water outlet. The center of the second water inlet and the center of the second water outlet are on the same straight line. The plane where the second water inlet is located is parallel to the plane where the fuselage is located.

[0015] Preferably, the lines connecting the inlets and outlets of each first propeller are located in the same plane.

[0016] Preferably, the inlets of each second propeller are located in the same plane, and / or the outlets of each first propeller are located in the same plane, and / or the intermediate cross-sections of each first propeller parallel to the inlet or outlet are located in the same plane.

[0017] Furthermore, in this utility model underwater robot, the first thruster has four units, which are arranged in an array around the body;

[0018] There are also four second thrusters, which are arranged between the first thrusters along the length of the fuselage.

[0019] Furthermore, in the underwater robot of this invention, the included angle between the two first thrusters located on the same side of the body along the length direction of the body is 100-140 degrees (preferably 110-130 degrees, such as 115 degrees, 120 degrees, 125 degrees), and the included angle between the two first thrusters located on the same side of the body along the width direction of the body is 40-80 degrees (preferably 50-70 degrees, such as 55 degrees, 60 degrees, 65 degrees).

[0020] Furthermore, the underwater robot of this utility model includes: a body and a mounting platform;

[0021] The sealed space is provided inside the fuselage body;

[0022] The installation platform is located on the outside of the fuselage body, and the propulsion mechanism is located on the installation platform and / or the fuselage body.

[0023] Furthermore, in the underwater robot of this invention, the first thruster and the second thruster are mounted on the mounting platform.

[0024] Furthermore, the mounting platform in the underwater robot of this utility model includes a first mounting plate and a second mounting plate;

[0025] The first mounting plate and the second mounting plate are arranged in parallel, and the first mounting plate and the second mounting plate are detachably connected.

[0026] The fuselage body is disposed between the first mounting plate and the second mounting plate;

[0027] The first thruster and the second thruster are disposed in the area between the first mounting plate and the second mounting plate, and are connected to the first mounting plate and / or the second mounting plate by fasteners.

[0028] Preferably, the areas of the first mounting plate and the second mounting plate facing the water inlet and outlet of the second propeller are provided with openings.

[0029] Preferably, the area of ​​the opening is greater than or equal to the area of ​​the inlet or outlet facing the opening.

[0030] Furthermore, the second mounting plate of the underwater robot of this utility model is provided with a support at its bottom.

[0031] Preferably, the support includes a first support plate and a second support plate;

[0032] The first support plate and the second support plate are symmetrically arranged at the bottom of the second mounting plate along the length direction of the underwater robot.

[0033] Preferably, a reinforcing member is connected between the first support plate and the second support plate.

[0034] Preferably, the first support plate and the second support plate are provided with a hollow structure.

[0035] Furthermore, the underwater robot of this utility model also includes: a buoyancy unit;

[0036] The buoyancy unit is detachably connected to the fuselage.

[0037] Preferably, the buoyancy component is disposed at the top of the second mounting plate or the bottom of the first mounting plate.

[0038] Preferably, the buoyancy component has buoyancy or adjustable buoyancy. For example, the buoyancy component can be a balloon, an airbag, a closed-cell foam, hollow glass microspheres, a composite material, a hollow aluminum alloy float, or other materials with a density less than water.

[0039] Furthermore, the installation platform of the underwater robot of this utility model also includes a connector, which is disposed in the area between the first mounting plate and the second mounting plate. One end of the connector is connected to the first mounting plate, and the other end is connected to the second mounting plate.

[0040] Preferably, there are multiple connectors (i.e., at least two), which are spaced apart in the area between the edge of the first mounting plate and the edge of the second mounting plate.

[0041] Furthermore, the underwater robot of this invention is equipped with a handle on its body.

[0042] Preferably, the handle includes: a first handle and a second handle;

[0043] The first handle is disposed on the outer surface of the body, or the first handle is disposed on the surface of the second mounting plate.

[0044] Preferably, the first handle is located on the side of the body near the second mounting plate, and the second mounting plate has an opening through which the first handle can pass.

[0045] Preferably, the second handle is located on the side of the connector away from the main body.

[0046] Furthermore, the underwater robot of this invention has a cable interface on its main body, which connects the sealed space to the outside.

[0047] Furthermore, the underwater robot of this utility model also includes: a power mechanism disposed in the enclosed space, the power mechanism being connected to the propulsion mechanism, and the power mechanism providing power to the propulsion mechanism.

[0048] Preferably, the power mechanism is a power supply device, such as a storage battery (including dry cell batteries, secondary batteries, etc.).

[0049] Preferably, the battery has a charging input port and a discharging output port. The charging input port is connected to the charging power supply through a cable interface when charging is required, and the discharging output port is connected to the propulsion mechanism.

[0050] Preferably, the power mechanism is a transformer and / or voltage regulator, which is installed in the enclosed space. One end is connected to a high-voltage power supply through a cable interface, and the other end is connected to the propulsion mechanism to provide power to the propulsion mechanism.

[0051] Preferably, the processing mechanism is a control circuit board, which is disposed in the enclosed space and is used to control the operation of the power mechanism and / or the propulsion mechanism.

[0052] Preferably, the data cable and / or electrical wire extend into the enclosed space through the cable interface, and the data cable and / or electrical wire are sealed to the cable interface.

[0053] Preferably, the data cable is connected to the control circuit board in a sealed space.

[0054] Preferably, the electrical conductor is connected to the power mechanism in a confined space.

[0055] Preferably, the power mechanism and the propulsion mechanism are connected via the electrical wire.

[0056] Preferably, the fuselage body is provided with a plurality of (i.e., at least two) cable interfaces, and there are a plurality of (i.e., at least two) electrical wires, and each of the first thruster and the second thruster is connected to the power mechanism through the electrical wires.

[0057] Furthermore, the underwater robot of this utility model also includes: a working mechanism disposed on the side of the body, the working mechanism being rotatably connected to the body.

[0058] Preferably, the working mechanism is rotatably linked to the machine body.

[0059] Furthermore, the working mechanism of the underwater robot of this utility model includes: a camera assembly and a grasping assembly connected to the camera assembly;

[0060] The camera assembly is rotatably connected to the main body of the device;

[0061] The grasping component is fixedly connected to the side of the camera component.

[0062] Furthermore, the camera assembly in the underwater robot of this utility model includes: a camera housing, an output shaft, and a servo motor;

[0063] The servo motor is located inside the camera compartment;

[0064] The output shaft is perpendicular to and rotatably connected to the output end of the servo motor. Both ends of the output shaft pass through the camera compartment and are fixedly connected to the body.

[0065] Furthermore, the grasping component in the underwater robot of this invention includes: an extension arm and a mechanical claw;

[0066] One end of the extension arm is fixed to the lower surface of the camera compartment;

[0067] The mechanical gripper is fixed to the end of the extension arm away from the camera compartment.

[0068] Furthermore, the working mechanism of the underwater robot of this utility model also includes: a light assembly; the light assembly is disposed on the top surface of the body near the end of the camera assembly, and the light assembly can provide illumination.

[0069] Preferably, the lamp assembly is disposed on the side surface of the second mounting plate away from the first mounting plate, and / or disposed on the side surface of the first mounting plate away from the second mounting plate.

[0070] Preferably, there is more than one lamp assembly.

[0071] Preferably, the lamp assembly is symmetrically disposed on the second mounting plate, and / or the first mounting plate, and / or disposed on the first mounting plate and the second mounting plate respectively.

[0072] In the above description of this utility model, the bottom refers to the surface of the first mounting plate away from the second mounting plate, and the top refers to the surface of the second mounting plate away from the first mounting plate.

[0073] Compared with the prior art, this utility model has the following obvious and prominent substantive features and significant advantages:

[0074] This technical solution achieves high maneuverability, low energy consumption, fast response, and precise visualization of underwater robots in complex environments through the integrated design of the fuselage, propulsion, and operation, as well as the multi-point vector thrust layout. The camera assembly and grasping mechanism form a rotatable joint with the fuselage through the servo motor and output shaft, which can independently complete pitch or yaw while keeping the fuselage in a hovering posture, avoiding water flow disturbance and position drift caused by the rotation of the whole machine. It is particularly suitable for confined spaces such as narrow cages and pipeline supports. Attached Figure Description

[0075] The accompanying drawings, which constitute a part of this utility model, are used to provide a further understanding of the utility model. The illustrative embodiments and descriptions of the utility model are used to explain the utility model and do not constitute an undue limitation of the utility model. In the drawings:

[0076] Figure 1 This is a three-dimensional view of the underwater robot of this utility model.

[0077] Figure 2 This is an exploded structural diagram of the underwater robot of this utility model.

[0078] Figure 3 This is a right view of the underwater robot of this utility model.

[0079] Figure 4 This is a top view of the underwater robot of this utility model.

[0080] Figure 5This is a rear view of the underwater robot of this utility model.

[0081] Figure 6 This is a side sectional view of the underwater robot of this utility model.

[0082] Figure 7 This is a top sectional view of the underwater robot of this utility model.

[0083] In the diagram: 1. Fuselage; 10. Fuselage body; 11. First mounting plate; 12. Second mounting plate; 13. Buoyancy unit; 2. Propulsion mechanism; 21. First thruster; 22. Second thruster; 3. Working mechanism; 31. Camera assembly; 311. Camera compartment; 312. Output shaft; 313. Servo motor; 32. Grabbing assembly; 321. Extension arm; 322. Mechanical claw; 33. Light assembly; 34. Cable interface; 35. First handle; 36. Second handle; 4. Power mechanism. Detailed Implementation

[0084] This utility model provides an underwater robot. To make the purpose, technical solution, and effects of this utility model clearer and more explicit, the following describes this utility model in further detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain this utility model and are not intended to limit this utility model.

[0085] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be used interchangeably where appropriate. 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 necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products, or devices.

[0086] like Figure 1 As shown, this utility model provides an underwater robot, including: a body 1, a propulsion mechanism 2, and a processing mechanism. The body 1 forms a sealed space, within which the processing mechanism is completely enclosed; the propulsion mechanism 2 is located on the side of the body 1, providing propulsion for the body 1; the propulsion mechanism can be driven by a cable alone, reducing the number of dynamic seals in the structure and extending the pressure resistance depth.

[0087] Combination Figure 1 and Figure 2As shown, further, in a preferred embodiment of the underwater robot of the present utility model, the propulsion mechanism 2 comprises: a first propeller 21 and a second propeller 22; there are at least two first propellers 21, which are arranged in an array around the body 1. The first propeller 21 is provided with a first water inlet and a first water outlet, the center of the first water inlet and the center of the first water outlet are located on the same straight line, and the plane where the first water inlet is located is perpendicular to the plane where the body 1 is located, forming a horizontal jet thrust surface. The horizontal jet is specifically responsible for forward movement, backward movement and in-situ steering, and can be orthogonally combined with vertical jet to achieve translation and rotation control in any direction. There are at least two second propellers 22, which are arranged between two first propellers 21. The second propeller 22 is provided with a second water inlet and a second water outlet, the center of the second water inlet and the center of the second water outlet are located on the same straight line, and the plane where the second water inlet is located is parallel to the plane where the body 1 is located, forming a vertical jet thrust surface. The vertical jet can directly generate heaving (surfacing or submerging) and rolling moment, and can quickly adjust the depth without pitching of the whole body; the array distribution makes the thrust center at the same height as the center of gravity of the body 1, the rolling moment arm is the shortest, the rolling angular velocity is improved, and energy consumption is reduced. When the lateral center of gravity shifts due to the deployment of the mechanical arm, the horizontal jet can instantaneously generate a reverse lateral thrust, complete the center of gravity compensation within 1s, and the whole body does not need to yaw.

[0088] Further, the connecting lines between the water inlets and the water outlets of each first propeller 21 are located in the same plane.

[0089] Further, the water inlets of each second propeller 22 are located in the same plane, and / or the water outlets of each first propeller 21 are located in the same plane, and / or the middle cross-sections of each first propeller 21 parallel to the water inlet or the water outlet are located in the same plane.

[0090] Further, in a preferred embodiment of the underwater robot of the present utility model, there are four first propellers 21, which are arranged in a "pin-shaped" array around the body 1, the jet axis is parallel to the plane of the body 1, and is responsible for providing moments for forward movement, backward movement and lateral movement; there are also four second propellers 22, which are symmetrically arranged on both sides of the center line along the length direction of the body 1, and arranged between the first propellers 21, the jet axis is perpendicular to the plane of the body 1, and is responsible for providing heaving and rolling moments.

[0091] As Figure 3 shown, further, in a preferred embodiment of the underwater robot of the present utility model, in the length direction (longitudinal direction) of the body 1, two first propellers 21 on the same side are symmetrically arranged based on the width direction (lateral direction) of the body 1, and the included angle between their axes is 100 degrees to 140 degrees (preferably 110 to 130 degrees, such as 115 degrees, 120 degrees, 125 degrees); the preferred longitudinal included angle enables the body 1 to move laterally quickly, which is used for lateral translation or in-situ sideslip.

[0092] In a preferred embodiment of the underwater robot of this invention, two first thrusters 21 on the same side of the fuselage 1 are symmetrically arranged with respect to the length direction (longitudinal direction) of the fuselage 1, and the angle between their axes is 40-80 degrees (preferably 50-70 degrees, such as 55 degrees, 60 degrees, or 65 degrees). The two thrust vectors tilt outward and combine to form a large lateral thrust, used for lateral translation or lateral sliding. The preferred lateral angle allows the fuselage 1 to move forward and backward quickly, forming a four-thrust cone surface with a composite angle of "outward V" and "inward V" on the same sidewall. The thrust components in the longitudinal, lateral, and vertical directions are all redundant, and the system remains controllable even if any single thruster fails. The control algorithm only needs to perform a matrix inversion to distribute the thrust in real time, resulting in a faster system response.

[0093] Furthermore, the underwater robot of this utility model includes: a body 10 and a mounting platform; the body 10 has a sealed space inside; the mounting platform is located on the outside of the body 10, and the propulsion mechanism 2 is located on the mounting platform and / or the body 10.

[0094] Preferably, in a preferred embodiment of the underwater robot of this invention, the first thruster 21 and the second thruster 22 share a common mounting platform, forming an orthogonal vector thrust network. If any single thruster fails, the remaining seven thrusters can still maintain directional control through real-time thrust redistribution; the two thrusters at the front and rear generate thrust in the same or opposite directions, achieving stepless speed regulation for forward and backward movement; during reverse differential movement, a turnaround can be completed on the spot with a turning radius of 0. When the gripping mechanism extends, causing the longitudinal center of gravity to shift forward, the two rear second thrusters 22 increase thrust, thus restoring the horizontal attitude without requiring additional roll adjustment.

[0095] Furthermore, in a preferred embodiment of the underwater robot of this utility model, the mounting platform includes a first mounting plate 11 and a second mounting plate 12, the first mounting plate 11 and the second mounting plate 12 are arranged in parallel and are detachably connected; the body 10 is disposed between the first mounting plate 11 and the second mounting plate 12; the first thruster 21 and the second thruster 22 are disposed in the area between the first mounting plate 11 and the second mounting plate 12, and are connected to the first mounting plate 11 and / or the second mounting plate 12 by fasteners.

[0096] Furthermore, in a preferred embodiment of the underwater robot of this utility model, the first thruster 21 and the second thruster 22 are all embedded in the side wall of the body 1, with no protrusions on the outer contour, reducing the external support, reducing the surface area, and reducing the cruising resistance; they share a common power bus, reducing dynamic sealing points and improving the pressure resistance level.

[0097] Preferably, the areas on the first mounting plate 11 and the second mounting plate 12 facing the water inlet and outlet of the second propeller 22 are provided with openings.

[0098] Preferably, the area of ​​the opening is greater than or equal to the area of ​​the inlet or outlet facing the opening.

[0099] like Figure 4 As shown, the second mounting plate 12 of the underwater robot of this utility model is further provided with a support at its bottom.

[0100] Preferably, the support includes a first support plate and a second support plate;

[0101] The first support plate and the second support plate are symmetrically arranged at the bottom of the second mounting plate 12 along the length direction of the underwater robot.

[0102] Preferably, a reinforcing member is connected between the first support plate and the second support plate.

[0103] Preferably, the first support plate and the second support plate are provided with a hollow structure.

[0104] Furthermore, the underwater robot of this utility model also includes: a buoyancy unit 13;

[0105] The buoyancy unit 13 is detachably connected to the fuselage 1.

[0106] Preferably, the buoyancy part 13 is disposed on the top of the second mounting plate 12 or the bottom of the first mounting plate 11.

[0107] Preferably, the buoyancy part 13 has buoyancy or adjustable buoyancy. For example, the buoyancy part 13 can be a balloon, an airbag, a closed-cell foam, a hollow glass microsphere composite material, a hollow aluminum alloy float, or other materials with a density less than water.

[0108] The buoyancy unit 13 is fixed to the top of the second mounting plate 12 by bolts or dovetail grooves, and is located above the robot's center of gravity. The buoyancy unit 13 generates a continuous upward buoyancy at the top, creating a height difference with the center of gravity of the first mounting plate 11 below and the internal equipment, thus generating a righting arm; even if the extension of the robotic arm causes lateral eccentricity, the robot can return to a horizontal posture without the need for additional thruster compensation.

[0109] Preferably, in a preferred embodiment of the underwater robot of this utility model, the buoyancy part 13 adopts three specifications with a thickness of 30mm, 50mm and 80mm, which can be replaced on site within 2 minutes; in scenarios with differences in the density of seawater and freshwater, neutral buoyancy can be maintained by replacing the buoyancy part 13 without the need for re-weighting, thus shortening the task preparation time.

[0110] Furthermore, in a preferred embodiment of the underwater robot of this utility model, the buoyancy part 13 conformally fits the top of the second mounting plate 12 without increasing the wingspan; compared with the side-mounted float scheme, it reduces the wetted surface area and lowers the cruising resistance; at the same time, the buoyancy part 13 is located at the highest point, so when operating near the seabed or the bottom of the cage, it will contact the obstacle first, which will act as a "collision cap" to protect the precision equipment below.

[0111] Preferably, in a preferred embodiment of the underwater robot of this utility model, the buoyancy part 13 and the second mounting plate 12 are detachably connected. When the buoyancy part 13 is disassembled, the main cabin seal will not be damaged. On-site replacement or maintenance of buoyancy materials does not require opening the pressure chamber, ensuring that the internal electronic equipment is always in a dry environment and reducing the maintenance risk to zero.

[0112] Furthermore, the installation platform of the underwater robot of this utility model also includes a connector, which is disposed in the area between the first mounting plate 11 and the second mounting plate 12. One end of the connector is connected to the first mounting plate 11, and the other end is connected to the second mounting plate 12.

[0113] Preferably, there are multiple connectors (i.e. at least two), which are spaced apart in the area between the edge of the first mounting plate 11 and the edge of the second mounting plate 12.

[0114] Furthermore, the underwater robot of this invention has a handle on its main body 10.

[0115] Preferably, the handle includes: a first handle 35 and a second handle 36;

[0116] The first handle 35 is disposed on the outer surface of the body 10, or the first handle 35 is disposed on the surface of the second mounting plate 12.

[0117] Preferably, the first handle 35 is disposed on the side of the body 10 near the second mounting plate 12, and the second mounting plate 12 has an opening through which the first handle 35 can pass.

[0118] Preferably, the second handle 36 is located on the side of the connector away from the body 10.

[0119] Furthermore, the underwater robot of this invention has a cable interface 34 on its main body 10, which connects the sealed space to the outside.

[0120] Furthermore, the underwater robot of this utility model also includes: a power mechanism 4 disposed in the enclosed space, the power mechanism 4 being connected to the propulsion mechanism 2, and the power mechanism 4 providing power to the propulsion mechanism 2.

[0121] Combination Figure 6 and Figure 7 As shown, the underwater robot of this invention further includes: a working mechanism 3, which is also disposed on the side of the main body 10, and the working mechanism 3 is rotatably connected to the main body 10.

[0122] In a preferred embodiment of the underwater robot of this utility model, the propulsion mechanism 2 and the working mechanism 3 are both centrally powered by the power mechanism 4 located in the enclosed space of the body 10. The propulsion mechanism 2 and the working mechanism 3 can be synchronously controlled. When the working mechanism 3 is working, the propulsion mechanism 2 adjusts the thrust direction in real time. The single power source is centrally managed, reducing the number of independent propulsion motors, reducing the system weight, and extending the cruising endurance.

[0123] Preferably, the power mechanism 4 is a power supply device, such as a storage battery (including dry cell batteries, secondary batteries, etc.).

[0124] Preferably, the battery has a charging input port and a discharging output port. The charging input port is connected to the charging power supply through a cable interface when charging is required, and the discharging output port is connected to the propulsion mechanism.

[0125] Preferably, the power mechanism is a transformer and / or voltage regulator, which is installed in the enclosed space. One end is connected to a high-voltage power supply through a cable interface, and the other end is connected to the propulsion mechanism to provide power to the propulsion mechanism.

[0126] Preferably, the processing mechanism is a control circuit board, which is disposed in the enclosed space and is used to control the operation of the power mechanism 4 and / or the propulsion mechanism 2.

[0127] Preferably, the data cable and / or electrical wire extend into the enclosed space through the cable interface 34, and the data cable and / or electrical wire are sealed to the cable interface 34.

[0128] Preferably, the data cable is connected to the control circuit board in a sealed space.

[0129] Preferably, the electrical conductor is connected to the power mechanism 4 in a confined space.

[0130] Preferably, the power mechanism 4 and the propulsion mechanism 2 are connected by the electrical wire.

[0131] Preferably, the main body 10 is provided with a plurality of (i.e., at least two) cable interfaces 34, and there are a plurality of (i.e., at least two) electrical wires, and each of the first thruster 21 and the second thruster 22 is connected to the power mechanism 4 through the electrical wires.

[0132] In a preferred embodiment of the underwater robot of this invention, the working mechanism 3 includes a camera assembly 31 and a gripping assembly 32 connected to the camera assembly 31. The camera assembly 31 is rotatably connected to the main body 10, and the gripping assembly 32 is fixedly connected to the side of the camera assembly 31. The camera and gripping assembly 32 can be rotated while the main body 10 remains stationary, allowing for angle conversion without rotation of the entire robot, thus reducing water flow disturbance. The angle between the gripping assembly 32 and the main body 10 is adjustable in real time. After gripping a load, the lever arm can be shortened by reverse rotation, controlling the center of gravity offset and reducing thruster compensation power consumption. The optical axis of the camera always coincides with the center line of the gripping assembly 32, achieving a "what you see is what you get" visual closed loop and improving the success rate of gripping. The camera and gripping assembly 32 constitute an "integrated rotating unit" that swings synchronously, allowing the main body 10 to change its working direction without any posture change, saving posture adjustment time and energy consumption.

[0133] Furthermore, in another preferred embodiment of the underwater robot of this utility model, the camera assembly 31 includes a camera compartment 311, an output shaft 312, and a servo motor 313. The servo motor 313 is placed inside the camera compartment 311, and its output end is vertically connected to and can drive the output shaft 312 to rotate. Both ends of the output shaft 312 pass through the wall of the camera compartment 311 and are directly fixed to the main body 10, thereby enabling the servo motor 313 to drive the entire camera compartment 311 to pitch relative to the main body 10 through the output shaft 312. The connection between both ends of the output shaft 312 and the wall of the camera compartment 311 is sealed, and the entire working mechanism 3 only needs one output shaft 312 to achieve power transmission, reducing the probability of leakage. At the same time, the gripping assembly 32 is modularly installed and can be replaced as a whole underwater within 3 minutes, improving maintenance efficiency.

[0134] Preferably, in another preferred embodiment of the underwater robot of this invention, the rotation axis of the camera assembly 31 is perpendicular to the longitudinal axis of the body 10, and the rotation angle can reach ±90° to ±180°. In narrow spaces, the robot can keep the body 10 hovering horizontally, and the gripping assembly 32 can complete the downward and recovery actions in the vertical plane simply by rotating the camera assembly 31, avoiding the collision risk caused by the overall tilting of the robot.

[0135] Furthermore, in another preferred embodiment of the underwater robot of this utility model, the camera compartment 311 and the output shaft 312 are supported at both ends: the output shaft 312 passes through the two side walls of the compartment, and the double-end support reduces the radial runout when the camera compartment 311 rotates, ensuring that the camera image is stable and shake-free, and improving the image recognition accuracy; the load torque is borne by the bearings on both sides, and the force on the output shaft 312 is halved.

[0136] In a preferred embodiment of the underwater robot of this utility model, the camera compartment 311 has a cable hole on the side near the main body 10, and a seal is formed by a cable nut. The servo motor 313 is in a dry environment, avoiding deep-water pressure and seawater corrosion, thus extending its service life. The entire camera assembly 31 (including the servo motor 313) can rotate relative to the main body 10 through a single rotating shaft, reducing the probability of leakage and extending the pressure resistance depth.

[0137] Furthermore, in another preferred embodiment of the underwater robot of this utility model, the grasping component 32 is fixed to the bottom surface of the camera component 31, and the relative position between the two is constant. The end of the grasping component 32 away from the camera component 31 is always located on the center line of the camera's field of view. The image acquisition optical axis has zero parallax with the grasping center of the grasping component 32, and the operator can achieve accurate grasping without additional coordinate transformation, reducing positioning errors and improving the grasping success rate.

[0138] Preferably, in a preferred embodiment of the underwater robot of this utility model, the grasping component 32 includes: an extension arm 321 and a mechanical claw 322; one end of the extension arm 321 is fixedly connected to the lower surface of the camera compartment 311, and the other end of the extension arm 321 is fixedly connected to the mechanical claw 322; the three form a fixed series chain of camera compartment 311, extension arm 321, and mechanical claw 322. When the camera compartment 311 rotates, the extension arm 321 and the mechanical claw 322 swing synchronously, without any lag or shaking caused by the flexible hinge.

[0139] Furthermore, in a preferred embodiment of the underwater robot of this utility model, the length of the extension arm 321 can be changed according to the task. The shorter the lever arm, the smaller the overturning torque generated when grasping the load.

[0140] Preferably, in a preferred embodiment of the underwater robot of this utility model, the camera compartment 311, the extension arm 321, and the mechanical claw 322 are fixed by bolts, and can be completely disassembled underwater within 1 minute.

[0141] Furthermore, in a preferred embodiment of the underwater robot of this utility model, the mechanical claw 322 can be quickly replaced with end tools such as shears and suction cups, without the need to recycle the entire machine, thus achieving multi-functional operation.

[0142] In a preferred embodiment of the underwater robot of this invention, a through-groove is provided inside the extension arm 321, and the control cable runs along the inner cavity of the arm directly to the mechanical claw 322, with no exposed wiring harnesses on the outside. This avoids the risk of the wiring harnesses being impacted and worn by seawater; the appearance is neat, water resistance is reduced, and the overall cruising speed of the robot is improved.

[0143] In a preferred embodiment of the underwater robot of the present invention, the working mechanism 3 further includes: a light assembly 33; the light assembly 33 is disposed on the top surface of the second mounting plate 12 near the end of the camera assembly 31, and the light assembly 33 can provide illumination.

[0144] Furthermore, in a preferred embodiment of the underwater robot of this utility model, the lamp assembly 33 includes a pressure-resistant lamp housing and a transparent cover, which is located at the front end of the top surface of the second mounting plate 12, on the same side as the camera assembly 31 and with the same optical axis direction; the rear end of the lamp housing passes through a small hole at the top of the body 10 via an electrical wire and is connected to the power supply and dimming module in the sealed space to form an independent and replaceable modular lighting unit.

[0145] In a preferred embodiment of the underwater robot of this utility model, the optical axis of the lamp assembly 33 is parallel to the optical axis of the camera, so that when illuminated underwater, the shadow falls directly behind the camera, and the image is unobstructed.

[0146] Furthermore, in a preferred embodiment of the underwater robot of this utility model, the lamp assembly 33 is located above the camera and shines obliquely downwards to avoid the beam of light being directly reflected back to the lens and to eliminate image glare.

[0147] In a preferred embodiment of the underwater robot of this utility model, the lamp assembly 33 adopts a snap-fit ​​interface, which can be plugged and replaced underwater; there is only one static seal between the lamp housing and the top of the second mounting plate 12, so that the sealed space is not damaged during disassembly, realizing "quick replacement with power" and zero risk of water leakage.

[0148] Furthermore, in a preferred embodiment of the underwater robot of this utility model, two sets of lamp components 33 are symmetrically arranged on the top surface of the second mounting plate 12 to form a 120° wide-angle fan-shaped light field; in turbid water, the double-sided cross-lighting reduces the shadow of suspended particles and improves image contrast.

[0149] A preferred method of using an underwater robot includes the following steps:

[0150] The operating unit 3 collects and acquires underwater environmental detection data in real time, and transmits the detection data to the processing unit via wired or wireless means.

[0151] After receiving the detection data, the processing mechanism processes the detection data to generate operational data that characterizes the target position, attitude correction amount and operation action instructions, and then distributes the operational data synchronously to the propulsion mechanism 2 and the operation mechanism 3.

[0152] The propulsion mechanism 2 adjusts the thrust vector, attitude angle, and navigation trajectory based on the received operational data, while the operation mechanism 3 executes the corresponding operational actions based on the received operational data, achieving coordinated closed-loop control of the underwater robot's overall motion and operational actions. By constructing the operation mechanism 3, processing mechanism, and propulsion mechanism 2 into a coordinated control system with data sharing and command closed loop, the system integrates detection, decision-making, and execution, significantly improving the underwater robot's response speed, motion accuracy, and operational efficiency in complex underwater environments, while reducing energy consumption and simplifying the control process.

[0153] The usage method further includes:

[0154] The camera component 31 acquires underwater optical detection data in real time and sends the detection data to the processing unit.

[0155] The processing mechanism receives and parses the detection data, generates operational data including the grasping trajectory and body posture correction based on target recognition and pose calculation, and transmits the operational data to the grasping component 32 and the propulsion mechanism 2 respectively.

[0156] The gripping component 32 performs corresponding opening, closing, extension, and clamping actions based on the operating data, and the propulsion mechanism 2 synchronously adjusts the thrust vector and body attitude based on the operating data to achieve coordinated closed-loop operation of the camera component 31, the gripping component 32, and the propulsion mechanism 2 in a unified coordinate system.

[0157] The method of use further includes the following steps:

[0158] The camera module synchronously acquires current location data and target location image data containing the target object within the same sampling period, and sends the current location data and target location image data to the processing unit using a preset communication protocol.

[0159] After receiving the target location image data, the processing mechanism extracts the spatial coordinates of the target object through an image recognition algorithm to generate target location data. It then performs a difference operation between the target location data and the current location data to obtain distance data that represents the relative positional relationship. Subsequently, the processing mechanism maps the distance data into running data that includes the thrust vector of the propulsion mechanism 2 and the opening and closing stroke of the gripping component 32, and sends the running data to the propulsion mechanism 2 and the gripping component 32 respectively.

[0160] The propulsion mechanism 2 adjusts the magnitude and direction of the propulsion force based on the operating data to drive the underwater robot to approach the target position along the shortest path; the gripping component 32 executes corresponding opening, closing, translation and clamping actions based on the operating data to complete the gripping operation when it reaches the target position.

[0161] The methods of using underwater robots further include:

[0162] Based on the distance data, the processing mechanism generates first thrust data representing the vertical thrust vector and second thrust data representing the horizontal thrust vector, respectively, and sends the first thrust data to the first thruster 21 and the second thrust data to the second thruster 22.

[0163] The first thruster 21 adjusts the vertical thrust according to the first thrust data to achieve the heave and pitch attitude correction of the fuselage body 10.

[0164] The second thruster 22 adjusts the horizontal thrust according to the second thrust data to achieve forward, backward, left, right and yaw motion control of the fuselage body 10.

[0165] The method of use further includes the following steps:

[0166] Based on distance data, the processing mechanism generates extension data representing the extension amount of the extension arm 321 through spatial coordinate mapping, and simultaneously generates gripping data representing the opening and closing angle and gripping force of the mechanical claw 322.

[0167] The extension arm 321 performs a linear telescopic motion of the corresponding stroke according to the extension data, so as to deliver the mechanical gripper 322 to the preset gripping distance between it and the target object.

[0168] The robotic gripper 322 performs opening, closing, and clamping actions based on the gripping data to reliably grasp the target object.

[0169] The usage method further includes:

[0170] When the processing mechanism performs the operation of processing the detection data into operational data, it reads the buoyancy parameter that represents the buoyancy of the buoyancy unit 13 in real time, and performs coupling calculations with the current thrust of the propulsion mechanism 2, the body attitude and distance data to obtain operational data after compensating for the buoyancy effect.

[0171] The propulsion mechanism 2, gripping component 32, extension arm 321 and mechanical claw 322 operate in coordination based on the compensated operating data.

[0172] The usage method further includes:

[0173] Before the working mechanism 3 performs the acquisition of detection data, the processing mechanism first sends a lighting command to the lamp assembly 33.

[0174] The lamp assembly 33 responds to the lighting command and actively illuminates the work position with a preset light intensity and illumination angle.

[0175] The camera assembly 31 acquires optical detection data under the illumination provided by the lamp assembly 33 and transmits the detection data to the processing mechanism.

[0176] The usage method further includes:

[0177] When the underwater robot is placed in the water, the first handle 35 and the second handle 36 are clamped to facilitate the movement of the underwater robot.

[0178] The usage method further includes:

[0179] Connect the data cable and / or electrical wire to the cable interface 34. Control commands are transmitted via the data cable to control the movement and operation of the underwater robot, and power is transmitted to the propulsion mechanism 2 and the working mechanism 3 via the electrical wire.

[0180] The specific embodiments of this utility model have been described in detail above, but they are merely examples, and this utility model is not limited to the specific embodiments described above. For those skilled in the art, any equivalent modifications and substitutions to this utility model are also within the scope of this utility model. Therefore, all equivalent changes and modifications made without departing from the spirit and scope of this utility model should be covered within the scope of this utility model.

Claims

1. An underwater robot, comprising: The fuselage, the interior of which forms a sealed space; A propulsion mechanism is provided on the side of the fuselage, and the propulsion mechanism provides propulsion force; A processing mechanism that is communicatively connected to the propulsion mechanism is disposed within the enclosed space.

2. The underwater robot according to claim 1, characterized in that, The propulsion mechanism includes: a first thruster and a second thruster; The first thruster has at least two units arranged in an array around the fuselage. The first thruster has a first water inlet and a first water outlet. The center of the first water inlet and the center of the first water outlet are on the same straight line. The plane where the first water inlet is located is perpendicular to the plane where the fuselage is located. There are at least two second propellers, which are disposed between the two first propellers. Each second propeller has a second water inlet and a second water outlet. The center of the second water inlet and the center of the second water outlet are on the same straight line. The plane where the second water inlet is located is parallel to the plane where the fuselage is located.

3. The underwater robot according to claim 2, characterized in that, The first thruster consists of four units, arranged in an array around the fuselage; There are also four second thrusters, which are arranged between the first thrusters along the length of the fuselage.

4. The underwater robot according to claim 3, characterized in that, Along the length of the fuselage, the included angle between the two first thrusters located on the same side of the fuselage is 100 degrees to 140 degrees, and along the width of the fuselage, the included angle between the two first thrusters located on the same side of the fuselage is 50 degrees to 70 degrees.

5. The underwater robot according to claim 4, characterized in that, The fuselage includes: the fuselage body and the mounting platform; The sealed space is provided inside the fuselage body; The installation platform is located on the outside of the fuselage body, and the propulsion mechanism is located on the installation platform and / or the fuselage body.

6. The underwater robot according to claim 5, characterized in that, The installation platform includes a first installation plate and a second installation plate; The first mounting plate and the second mounting plate are arranged in parallel, and the first mounting plate and the second mounting plate are detachably connected. The fuselage body is disposed between the first mounting plate and the second mounting plate; The first thruster and the second thruster are disposed in the area between the first mounting plate and the second mounting plate, and are connected to the first mounting plate and / or the second mounting plate by fasteners.

7. The underwater robot according to claim 1, characterized in that, Also includes: A power mechanism is installed within the enclosed space, and the power mechanism is connected to the propulsion mechanism, providing power to the propulsion mechanism.

8. The underwater robot according to claim 1, characterized in that, Also includes: The working mechanism is located on the side of the machine body and is rotatably connected to the machine body.

9. The underwater robot according to claim 8, characterized in that, The operating mechanism includes: a camera assembly and a grasping assembly connected to the camera assembly; The camera assembly is rotatably connected to the main body of the device; The grasping component is fixedly connected to the side of the camera component.

10. The underwater robot according to claim 9, characterized in that, The operating mechanism further includes a light assembly; the light assembly is disposed on the top surface of the body near the end of the camera assembly, and the light assembly can provide illumination.

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