An underwater working device and underwater working system

Abstract

The application discloses an underwater operation device and an underwater operation system. The underwater operation device comprises an underwater vehicle, a forward ranging device and a camera arranged on the underwater vehicle, the forward ranging device is used for detecting distance information between the underwater vehicle and a target to be operated, and the camera is used for at least capturing image information of the target to be operated; and a cavitation jet device which is detachably installed at the bottom of the underwater vehicle and has at least two jet outlets. In this way, the cavitation jet device can be carried on the underwater vehicle, and the cavitation jet device can complete an underwater operation task according to the distance information provided by the underwater vehicle, so that the sensing technology and the cavitation jet device are cooperated, the operation efficiency is ensured, and the operation stability is improved.

Description

Technical Field

[0001] This application relates to the technical field, and in particular to an underwater operation equipment and an underwater operation system. Background Technology

[0002] With the development of society, people's demand for marine resource development and underwater infrastructure maintenance is increasing. Underwater operation equipment (such as remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs) are core tools for achieving precise underwater operations and have been widely used in marine resource exploration, underwater engineering construction, environmental monitoring, rescue and salvage.

[0003] In specific operational fields such as underwater cleaning (e.g., rust and scale removal from ship surfaces) and underwater structure maintenance (e.g., removing impurities from offshore platform legs), key technologies focus on two core aspects: First, it is necessary to dynamically adjust the propulsion output of the underwater vehicle through sensing equipment (e.g., ranging devices, underwater cameras) to counteract external interference and maintain a stable attitude, ensuring that the vehicle accurately fits the working surface without deviation; second, it is necessary to achieve coordinated operation between the underwater vehicle and the cavitation jet device, so that the jet energy emitted by the cavitation jet device can accurately act on the target working area, thereby ensuring the efficiency and quality of the cleaning operation. Utility Model Content

[0004] This application provides an underwater operation equipment and system to solve the problem that the lack of coordination between sensing technology and cavitation jet device in the prior art makes it impossible to ensure stable operation posture.

[0005] To solve the above-mentioned technical problems, this application adopts the following technical solution: providing an underwater operation device. The underwater operation device includes: an underwater vehicle equipped with a forward ranging device and a camera; the forward ranging device is used to detect the distance information between the underwater vehicle and the target to be operated on, and the camera is used to capture at least image information of the target to be operated on; a cavitation jet device detachably mounted on the bottom of the underwater vehicle; the cavitation jet device has at least two jet outlets; the jet center axis of each jet outlet is not parallel to the center axis of the forward ranging device; during operation, the forward ranging device and the cavitation jet device jointly maintain the stability of the underwater operation device's operating attitude.

[0006] In some embodiments, the cavitation jet device includes: a chassis body and a cavitation jet generator mounted on the chassis body, wherein the chassis body has at least two connection components for connecting to the underwater vehicle and a receiving slot; the cavitation jet device is mounted on the chassis body through the receiving slot, and the cavitation jet generator has at least two jet outlets.

[0007] In some embodiments, the cavitation jet includes: The first drain pipe is installed on the bottom surface of the chassis body and includes a first pipe body and a first nozzle disposed on the first pipe body. The first nozzle is disposed at an angle to the first pipe body. The second drain pipe is installed on the bottom surface of the chassis body and includes a second pipe body and a second nozzle disposed on the second pipe body. The second nozzle is disposed at an angle to the second pipe body. The first pipe body and the second pipe body are coaxially disposed, and both the first nozzle and the second nozzle have the jet outlet. A connector is provided with a water inlet. The connector is installed on the bottom wall of the receiving tank and the water inlet is located in the receiving tank. The connector connects the first pipe body and the second pipe body and is used to supply water to the first pipe body and the second pipe body simultaneously.

[0008] In some embodiments, the jet center axis of the first nozzle is intersected with the jet center axis of the second nozzle, or the jet center axis of the first nozzle is parallel to the jet center axis of the second nozzle, and the jet directions of the first nozzle and the second nozzle are opposite in space.

[0009] In some embodiments, the cavitation jet further includes a water inlet pipe connected to the water inlet of the connector and at least partially located in the receiving groove, the water inlet pipe being arranged parallel to and spaced apart from the second pipe body.

[0010] In some embodiments, the camera includes a first camera and a second camera, the first camera being positioned above the second camera. The first camera is used to capture images in the forward direction of the underwater vehicle, and the second camera is used to capture images of the working area of ​​the first drainage pipe. The underwater vehicle is also equipped with at least two illuminators, which are disposed on both sides of the first camera to provide illumination for the first camera and the second camera.

[0011] In some embodiments, the chassis body includes a buoyancy disk and a support plate connected to the buoyancy disk; the buoyancy disk has the receiving groove and a plurality of mounting grooves; each of the connecting components is installed in the mounting grooves in a corresponding manner; the mounting part on the underwater vehicle cooperates with the connecting components to realize the connection between the chassis body and the underwater vehicle.

[0012] In some embodiments, the connecting assembly includes a slot seat, a clamping member, a limiting pin, and an elastic member. The slot seat is mounted on the mounting groove, and the clamping member is movably connected to one side of the slot seat via the elastic member. The slot seat and the clamping member cooperate to form a slot. Under the preload provided by the elastic member, the clamping member applies a clamping force to the mounting portion of the underwater vehicle located in the slot. The limiting pin is connected to the middle of the clamping member and exposed on the side of the buoyancy plate, and is used to position the mounting portion of the underwater vehicle.

[0013] To address the aforementioned technical problems, another technical solution adopted in this application is to provide an underwater operation system. This underwater operation system includes shore-based equipment and the underwater operation equipment as described above. The shore-based equipment is connected to the underwater vehicle via cables, and the shore-based equipment is also connected to the cavitation jet device.

[0014] The beneficial effects of this application are as follows: Unlike existing technologies, this application discloses an underwater operation equipment and system. By mounting a cavitation jet device on an underwater vehicle, wherein the underwater vehicle's nose is equipped with a forward ranging device and a camera, the cavitation jet device has at least two jet outlets for performing preset underwater operation tasks. When the forward ranging device detects that the target is at a preset distance, the cavitation jet device can perform underwater cleaning on the target. This synergistic cooperation between sensing technology and the cavitation jet device, along with the forward ranging device and the cavitation jet device, maintains the stability of the underwater operation equipment's operating posture, effectively improving operational efficiency. Attached Figure Description

[0015] 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: Figure 1 This is a schematic diagram of the structure of an embodiment of the underwater operation equipment provided in this application; Figure 2 yes Figure 1 A schematic diagram of the cavitation jet device in the underwater operation equipment shown. Figure 3 yes Figure 2 A side view of one embodiment of the cavitation jet device is shown. Figure 4 yes Figure 2 A side view of another embodiment of the cavitation jet device shown; Figure 5 yes Figure 4 A schematic diagram of the structure of an embodiment of the cavitation jet device shown in the diagram. Figure 6 yes Figure 5 A schematic diagram of another embodiment of the cavitation jet device shown in the diagram; Figure 7 yes Figure 2 A schematic diagram of the exploded structure of the cavitation jet device shown. Figure 8 yes Figure 2 A schematic cross-sectional view of the cavitation jet device shown. Figure 9 yes Figure 2 A partially exploded structural diagram of the cavitation jet device shown. Figure 10 yes Figure 9 A partially exploded view of the connecting components in the cavitation jet device shown. Detailed Implementation

[0016] 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.

[0017] 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 two, such as two, three, etc., 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.

[0018] 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.

[0019] This application provides an underwater operation device, see reference. Figure 1 , Figure 1 This is a schematic diagram of an embodiment of the underwater operation equipment provided in this application.

[0020] The underwater operation equipment includes an underwater vehicle 200 and a cavitation jet device 100. The underwater vehicle 200 is equipped with a forward ranging device 201 and a camera 208. The forward ranging device 201 is used to detect the distance information between the underwater vehicle 200 and the target to be operated on, and the camera 208 is used to capture at least the image information of the target to be operated on. The cavitation jet device 100 is detachably installed on the bottom of the underwater vehicle 200 and is used to perform a preset underwater cleaning task. The cavitation jet device 100 has at least two jet outlets. The jet center axis of each jet outlet is not parallel to the center axis of the forward ranging device 201. During the operation, the forward ranging device 201 and the cavitation jet device 200 work together to maintain the stability of the underwater operation equipment's operating attitude.

[0021] The underwater vehicle 200 is equipped with autonomous navigation and propulsion, enabling it to navigate stably along a preset route. It also uses onboard sensors to perceive its surrounding environment in real time, allowing for obstacle avoidance and path optimization. Connected to a cavitation jet device 100, the underwater vehicle 200 can carry the device along to perform underwater tasks. The cavitation jet device 100 moves with the underwater vehicle 200 to the target work area and can hover. The cleaning operation can then be initiated or controlled from shore-based equipment.

[0022] In this embodiment, the camera 208 includes a first camera 202 and a second camera 203. Specifically, the head of the underwater vehicle 200 is equipped with a forward ranging device 201, a first camera 202, a second camera 203, a laser emitter 204, and at least two illuminators 206. The forward ranging device 201 can be a sound wave detector, which is used to detect underwater sound wave signals and can identify the surrounding environment and obstacles to provide speed and distance information for the underwater vehicle 200, ensuring the navigation safety of the robot body 10. At the same time, it can detect the distance information between the underwater vehicle 200 and the target to be operated. The first camera... The first camera 202 is located above the second camera 203. The first camera 202 is used to capture images of the underwater vehicle 200 in the forward direction, while the second camera 203 is used to capture images of the area below the underwater vehicle 200. During operation, the second camera 203 is used to capture image information of the target to be operated on. The laser emitter 204 is used to project a marker spot onto the surface of the target to be operated on, assisting in positioning the target and calibrating the operation accuracy. The illuminator 206 provides supplementary lighting to the water area in front of and below the underwater vehicle 200 to ensure the imaging quality of the first camera 202 and the second camera 203 in low-light environments.

[0023] In this embodiment, the forward ranging device 201, the first camera 202, the second camera 203, the laser emitter 204, and the illuminator 206 are all installed on the head of the underwater vehicle 200. They are mainly used to monitor and collect environmental information, obstacle information, or target information in real time along the underwater vehicle 200's forward path and in the work area. This ensures accurate navigation and efficient operation during travel or work, avoids collisions with obstacles, and provides decision-making basis for subsequent forward paths or work tasks. This enables the underwater vehicle 100 to operate safely in complex environments and perform work tasks more efficiently.

[0024] The "head" of the underwater vehicle 200 refers to the front end when it is moving forward.

[0025] In this embodiment, the forward ranging device 201 and the laser emitter 204 are disposed on the side of the first camera 202 away from the second detector 203. The two laser emitters 204 are disposed side by side with the ranging device 201, and the two laser emitters 204 are disposed on both sides of the acoustic detector 201.

[0026] It is understood that in other embodiments of this application, the relative position between the laser emitter 204 and the ranging device 201 is not limited.

[0027] The first camera 202 is positioned above the second camera 203, and the first camera 202 and the second camera 203 are arranged at an angle to capture image information from different directions. Specifically, the first camera 202 is used to capture images in the forward direction of the underwater vehicle 200, and the second camera 203 is used to capture images of the operating area of ​​the cavitation jet 20.

[0028] The angle between the first camera 202 and the second camera 203 is an acute angle. This design minimizes the overlap of the fields of view between the two cameras, maximizes the coverage, reduces information loss, and ensures that the underwater vehicle 200 acquires comprehensive and accurate visual data in complex environments, further improving the reliability and efficiency of its navigation and operations.

[0029] In this embodiment, there are two illuminators 206, which are located on both sides of the first camera 202.

[0030] The number of illuminators 206 can also be three or four, with some illuminators 206 located on both sides of the first camera 202 and the remaining illuminators 206 located on both sides of the second camera 203 to form an all-round lighting effect, ensuring uniform and sufficient lighting at different angles and depths, and further improving the accuracy and detail of image acquisition.

[0031] In this embodiment, the jet outlet of the cavitation jet device 100 generates high-intensity cavitation bubbles underwater. By utilizing the impact energy released when the bubbles burst, it enhances the flushing and cleaning effect on the deposits in the target area, efficiently stripping the deposits. It is suitable for cleaning surface dirt of various underwater facilities. The onshore equipment can be a cavitation jet host, which delivers high-pressure water to the cavitation jet device 100 through pipelines, so that the cavitation jet device 100 stably generates a cavitation effect underwater to complete the cleaning task.

[0032] When the underwater operation equipment is performing an operation, the forward ranging device 201 detects the distance information between the underwater vehicle 200 and the target in real time, ensuring that the underwater vehicle 200 and the target are at a preset distance in real time. Then, the cavitation jet device 100 performs underwater cleaning on the target. At the same time, the second camera 203 continuously monitors the real-time status of the operation area and feeds back the image information to the shore control terminal of the underwater vehicle 200, so that the operator can accurately control the operation process.

[0033] By cooperating with the forward ranging device 201 and the camera 208, and combining distance data and visual information, the underwater vehicle 200 can achieve dynamic compensation for the operational accuracy of the cavitation jet device 100, effectively avoiding operational deviations caused by water flow disturbances or equipment drift, and improving operational reliability. When the underwater ambient light is insufficient or there are many suspended objects, the illuminator 206 automatically adjusts its brightness and illumination angle, and in conjunction with the high dynamic range imaging technology of the second camera 203, effectively suppresses scattered light interference and improves image contrast and clarity. At the same time, the shore control terminal of the underwater vehicle 200 adjusts its navigation attitude in real time based on the distance data fed back by the forward ranging device 201, ensuring that the cavitation jet device 100 operates stably within the optimal operating distance; and during operation, the forward ranging device 201 and the cavitation jet device 200 work together to maintain the stability of the underwater equipment's operating attitude.

[0034] The cavitation jet device 100 can effectively counteract the reaction force and rotational torque generated during operation, while the forward ranging device 201 can detect the distance information between the underwater vehicle 200 and the target to be operated. The underwater vehicle 200 uses this distance information to perform dynamic self-balancing, so that the two can work together to maintain the stability of the operating attitude.

[0035] See also Figure 1 and Figure 2 ,in Figure 2 yes Figure 1 The diagram shows the structure of the cavitation jet device in the underwater operation equipment.

[0036] In this embodiment, the cavitation jet device 100 includes a chassis body 10 and a cavitation jet 20 fixedly or movably mounted on the chassis body 10. The chassis body 10 is detachably connected to the bottom of the underwater vehicle 101. The cavitation jet 20 is mounted on the chassis body 10 and is used to perform preset underwater operation tasks.

[0037] The chassis body 10 is provided with at least two connection components 14 for connecting with the underwater vehicle 101 and a receiving slot 103; the cavitation jet 20 is installed on the chassis body 10 through the receiving slot 103; in the installed state, at least part of the cavitation jet 20 is blocked by the chassis body 10; in the operating state, the working end of the cavitation jet 20 extends beyond the front end of the chassis body 10.

[0038] Optionally, in the non-operating state, all cavitation jets 20 can be retracted into the chassis body 10; while in the operating state, the operating end of the cavitation jet 20 extends beyond the front end of the chassis body 10.

[0039] Optionally, such as Figure 1As shown, in the non-working state, the working end of the cavitation jet 20 remains outside the chassis body 10.

[0040] See also Figures 2 to 6 The cavitation jet 20 includes a connector 24 and a first drain pipe 21 and a second drain pipe 22 that connect to the connector 24. The bottom of the receiving tank 103 is provided with a mounting hole, and the connector 24 is connected to the mounting hole. The connector 24 is provided with a water inlet located inside the receiving tank 103. The water supply pipeline that supplies water to the cavitation jet can be connected to the water inlet of the connector 24 to supply water to the first drain pipe 21 and the second drain pipe 22 simultaneously.

[0041] The first drain pipe 21 includes a first pipe body 211 and a first nozzle 212 disposed on the first pipe body 211, with the first nozzle 212 and the first pipe body 211 arranged at an angle; the second drain pipe 22 includes a second pipe body 221 and a second nozzle 222 disposed on the second pipe body 221, with the second nozzle 222 and the second pipe body 221 arranged at an angle; the connector 24 is provided with a water inlet, and the connector 24 connects the first pipe body 211 and the second pipe body 221 for synchronously supplying water to the first pipe body 211 and the second pipe body 221; the first pipe body 211 and the second pipe body 221 are coaxially arranged, and thus the jet directions of the first nozzle 212 and the second nozzle 222 are opposite in space.

[0042] Since the jet directions of the first nozzle 212 and the second nozzle 222 are opposite in space, the connector 24 is provided with a water inlet that can be used to connect to the water outlet of the cavitation jet host, so that the high-pressure water flow is synchronously introduced into the first drain pipe 21 and the second drain pipe 22 through the connector 24, and then the first drain pipe 21 and the second drain pipe 22 form two cavitation jets in opposite directions.

[0043] By coaxially arranging the first tube 211 and the second tube 222, and with the jet direction of the first nozzle 212 and the jet direction of the second nozzle 222 being spatially opposite, it is ensured that the reaction forces of the two cavitation jets cancel each other out at least most of the time and / or the rotational torques generated cancel each other out during operation, thereby maintaining the stable operating attitude of the underwater vehicle 101 and the functional chassis 100.

[0044] During operation, the cavitation jet formed by one of the first drain pipe 21 and the second drain pipe 22 is used to clean the dirt on the target surface, while the other forms a dynamic balance through the back jet, effectively counteracting the reaction force generated during underwater cleaning operations. This enhances the stability of the underwater vehicle 101 and the functional chassis 100 during underwater operations, avoids attitude deviation or displacement of the underwater vehicle 101 and the functional chassis 100 caused by the reaction force of the cleaning jet, and ensures that the cleaning operation is stable and controllable.

[0045] For example, the first drain pipe 21 serves as a cleaning drain pipe, used to perform cleaning tasks. Its jet direction is towards the target surface, using the impact force of high-intensity cavitation bubble rupture to peel off the attached substances. The second drain pipe 22 serves as a balancing drain pipe, with its jet direction opposite to that of the first drain pipe 21, used to generate a reverse thrust to counteract the reaction force during the cleaning process. Alternatively, the second drain pipe 22 can also be used as a cleaning drain pipe, while the first drain pipe 21 is switched to a balancing drain pipe, flexibly adjusting the roles of the two according to actual operational needs.

[0046] Optionally, the jet center axis of the first nozzle 212 is arranged to intersect with the jet center axis of the second nozzle 222, which can also make the jet directions of the first nozzle 212 and the second nozzle 222 spatially opposite.

[0047] like Figure 5 As shown, in this embodiment, the jet center axis of the first nozzle 212 intersects with the jet center axis of the second nozzle 222. The first nozzle 212 and the second nozzle 222 can be arranged symmetrically or asymmetrically. When the jet center axes of the first nozzle 212 and the second nozzle 222 intersect and are symmetrical, the rotational torques generated by the two nozzles can cancel each other out, effectively offsetting most of the reaction force. The remaining reaction force can be offset by part of the weight of the underwater vehicle and the functional chassis, or by compensation through the attitude adjustment system of the underwater vehicle 101. This structural design effectively avoids the rotational torque caused by a single-sided jet, ensuring that the functional chassis 100 maintains a stable attitude in complex underwater environments.

[0048] Meanwhile, the symmetrical jet design of the first drainage pipe 21 and the second drainage pipe 22 enables the underwater vehicle 101 and the functional chassis 100 to maintain precise attitude control in complex water flow environments, further improving operational accuracy.

[0049] When the jet center axis of the first nozzle 212 intersects and is asymmetrical with the jet center axis of the second nozzle 222, the rotational torque generated by the two can at least partially cancel each other out, and can also effectively cancel out most of the reaction force. The residual reaction force and residual rotational torque can be canceled out by the dynamic adjustment of the underwater vehicle 101 and the functional chassis 100.

[0050] Optionally, such as Figure 6 As shown, the jet center axis of the first nozzle 212 is parallel to the jet center axis of the second nozzle 222, and the jet directions of the first nozzle 212 and the second nozzle 222 are opposite in space. As a result, the reaction forces generated by the two can cancel each other out, and the resulting rotational torque is small and can be canceled out by the dynamic control of the underwater vehicle 101 and the functional chassis 100.

[0051] The first jet outlet 212 has a Laval configuration at its outlet section to accelerate the water flow under supercritical pressure, forming a high-speed cavitation jet. The second jet outlet 222 is configured with a convergent-diffusion structure to ensure that the reverse jet has sufficient momentum balance capability. The first jet outlet 212 and the second jet outlet 222 work together to achieve efficient cleaning while suppressing attitude disturbances of the underwater vehicle 101 and the functional chassis 100 caused by unilateral jets.

[0052] Optionally, the first jet port 212 and the second jet port 222 have the same structure, and their outlet sections are configured as Laval configuration or convergent-diffusion type to achieve dual optimization of thrust self-balancing and cleaning efficiency during operation.

[0053] like Figure 4 and Figure 5 As shown, the first nozzle 212 is set at an angle to the first tube 211, and the second nozzle 222 is set at an angle to the second tube 221. The jet outlet orientation of the first nozzle 212 and the jet outlet orientation of the second nozzle 222 are not collinear but are symmetrically arranged. At this time, although the reaction forces generated by the two cavitation jets are not collinear, the rotational torques generated by the two jets are canceled out by the symmetrical arrangement, and a stable working condition with zero net torque is still achieved. The components of the two reaction forces on the axis of the first tube 211 cancel each other out. The residual components of the two reaction forces on the axis perpendicular to the first tube 211 can be compensated and canceled out by the attitude adjustment system of the underwater vehicle 101.

[0054] In this embodiment, the first nozzle 212 is arranged at a downward angle relative to the axis of the first tube 211, with an angle range of 15°-60°, specifically 15°, 30°, 45°, or 60°; the second nozzle 222 is arranged at an upward angle relative to the axis of the second tube 221, with an angle range of 15°-60°, specifically 15°, 30°, 45°, or 60°. The downward angle of the first nozzle 212 can be the same as the downward angle of the second nozzle 222, thus making them symmetrical; or, the downward angle of the first nozzle 212 can be different from the downward angle of the second nozzle 222.

[0055] The downward angle range of the first nozzle 212 and the downward angle range of the second nozzle 222 can largely cancel out the rotational torque and reaction force generated by them, making it easier for the functional chassis 100 and the underwater vehicle 101 equipped with the cavitation jet 20 to maintain self-balance during operation.

[0056] Optionally, the angle between the first nozzle 212 and the first tube 211 is not adjustable, the first nozzle 212 and the first tube 211 are coaxially arranged, or the first nozzle 212 and the first tube 211 are arranged at a preset angle; the angle between the second nozzle 222 and the second tube 221 is also not adjustable, maintaining a symmetrical structural relationship with the first nozzle 212 and the first tube 211, ensuring that the reaction force and / or rotational torque generated by the two cavitation jets during operation are mostly canceled out.

[0057] Optionally, the angle of the first nozzle 212 relative to the first tube 211 is adjustable, and / or the angle of the second nozzle 222 relative to the second tube 221 is adjustable. For example, the first nozzle 212 and the first tube 211 are connected by a first adapter pipe, which allows the first nozzle 212 to adjust its tilt angle relative to the first tube 211, thereby changing the jet direction. The second nozzle 222 and the second tube 221 are also connected by a second adapter pipe. The two are structurally symmetrical and are linked for adjustment, ensuring that the angle changes of the two opposing jets are always synchronized. Alternatively, by replacing the first and second adapter pipes with different tilt angles, the jet angles under different working conditions can be adapted to ensure that the reaction force and rotational torque are continuously symmetrically offset. Alternatively, the tilt angles of the first nozzle 212 and the second nozzle 222 can be coordinated by a synchronous adjustment mechanism, so that the reaction force vectors of the two cavitation jets are always symmetrically distributed during operation, so as to offset most of the reaction force and / or the rotational torque generated by the reaction force, thereby effectively avoiding the attitude deviation or rotation of the underwater vehicle caused by the jet reaction force during operation, and improving its motion stability and operational accuracy.

[0058] For example, the synchronous adjustment mechanism is composed of a motor-driven gear set. The first nozzle 212 is connected to the first tube body 211 through a flexible tube, and the second nozzle 222 is connected to the second tube body 221 through another flexible tube. The gear set synchronously adjusts the tilt angle of the first nozzle 212 and the second nozzle 222 to ensure that the jet reaction forces of the two are symmetrically canceled.

[0059] Optionally, the diameter of the first nozzle 211 is adjustable; and / or, the diameter of the second nozzle 212 is adjustable. The first nozzle 211 and / or the second nozzle 212 can be variable diameter nozzles, which can dynamically adjust the impact force and reaction force of the cavitation jet by adjusting the nozzle opening to adapt to different operational needs.

[0060] In this embodiment, the cavitation jet generator 20 also includes a water inlet pipe 23, which is connected to the water inlet of the connector 24. The water inlet pipe 23 is connected to the water supply end of the cavitation jet generator, so as to make it easier to connect to the water supply end of the cavitation jet generator. The water inlet pipe 23 and the second pipe body 222 are arranged in parallel and spaced apart to optimize the water flow channel layout and reduce the fluid resistance during underwater navigation.

[0061] The water inlet pipe 23 includes a water inlet pipe body 231 and a bent pipe body 232. One end of the bent pipe body 232 is connected to one end of the water inlet pipe body 231, and the other end of the bent pipe body 232 is connected to the water inlet of the connector 24. The water inlet pipe body 231 and the second pipe body 222 are arranged in parallel and spaced apart.

[0062] Furthermore, the length of the first pipe 211 is adjustable, and / or the length of the second pipe 221 is adjustable, and / or the length of the inlet pipe 23 is adjustable. Any of the first pipe 211, the second pipe 221, and the inlet pipe 23 can be a telescopic pipe, allowing for flexible adjustment of the length of each pipe according to the needs of the work site to adapt to different water depths or working distances, thereby enhancing the applicability and flexibility of the functional chassis 100. The telescopic pipe can be adjusted in length via hydraulic, electric push rod, or threaded connection structure.

[0063] Continue reading Figure 2 The chassis body 10 is provided with a curved groove 102 that adapts to the bottom of the underwater vehicle 101. When the chassis body 10 is connected to the bottom of the underwater vehicle 101, the curved groove 102 conforms to the bottom contour of the underwater vehicle 101, so that the functional chassis 100 and the underwater vehicle 101 form a tight fit, enhancing connection stability and reducing the impact of water flow disturbance on the operating attitude. An elastic sealing layer or suction cup structure may be provided in the curved groove 102 to further improve the adhesion reliability and prevent the functional chassis 100 from falling off due to high-speed movement or external impact. At the same time, this fitting design helps to reduce the overall flow resistance of the equipment and improve the underwater navigation efficiency of the underwater vehicle 101 and the functional chassis 100.

[0064] like Figures 2 to 4 As shown, the water-facing end (head end) of the chassis body 10 has a streamlined design, which effectively reduces the resistance impact when entering the water and avoids the generation of eddy separation, thereby reducing energy loss and improving navigation stability; the side edge of the water-facing end has a smooth transition, which further suppresses the water flow disturbance of the boundary layer of the functional chassis 100 and ensures that the functional chassis 100 can still maintain the predetermined attitude in complex water flow environment.

[0065] Specifically, such as Figures 2 to 4 As shown, the water-facing end of the chassis body 10 is configured as a drag-reducing bow 122. The drag-reducing bow 122 has a teardrop-like cross-sectional profile, with its front end being rounded and narrowed, and its tail end gradually widening, which conforms to the fluid dynamics morphology and can effectively guide the water flow to adhere smoothly, reducing pressure drag and friction drag. The drag-reducing bow 122 gradually protrudes from one side of the curved groove 102 to the side of the chassis body 10 away from the curved groove 102, which can achieve a gradient drag reduction effect in the direction of the flow, so that the water flow gradually adheres to the surface of the functional chassis 100 in layers, avoiding local turbulence surges.

[0066] The bow of the chassis body 10 is the water-facing end, and the stern is the water-repellent end. When the functional chassis 100 moves with the underwater vehicle 101, the bow of the chassis body 10 breaks through the water first and guides the water flow to be smoothly diverted along the drag-reducing bow profile, thereby reducing impact vibration and noise.

[0067] Furthermore, such as Figure 2 As shown, the bottom of the curved groove 102 is provided with a receiving groove 103 leading to the tail end of the chassis body 10. The water inlet pipe 23 is provided in the receiving groove 103. The first drain pipe 21 and the second drain pipe 22 are provided on the bottom surface of the chassis body 10 away from the curved groove 103. The first drain pipe 21 and the second drain pipe 22 are arranged along the head and tail direction of the chassis body 10.

[0068] By creating a receiving groove 103 leading to the tail end of the chassis body 10, the weight of the chassis body 10 can be reduced, and a concealed layout space for the water inlet pipe 23 can be provided, reducing the interference between the external water flow and the water inlet pipe 23 and avoiding the risk of increased resistance or entanglement caused by excessive exposure of the water inlet pipe 23. The receiving groove 103 also serves as a flow channel guiding structure, so that the water flow entering between the curved groove 102 and the underwater vehicle 101 is smoothly guided to the tail end in the groove, and then merges with the mainstream flowing from both sides of the functional chassis 100, reducing wake turbulence and improving flow field uniformity.

[0069] The first drainage pipe 21 and the second drainage pipe 22 are directly fixed to the bottom surface of the chassis body 10 and arranged along the bow and stern direction of the chassis body 10, consistent with the navigation direction of the underwater vehicle 101. The first drainage pipe 21 is located at the bow end of the chassis body 10, and the second drainage pipe 22 is located at the stern end of the chassis body 10. This allows the water flow below the chassis body 10 to form an orderly flow along the direction from the first drainage pipe 21 to the second drainage pipe 22 during navigation. At the same time, the first drainage pipe 21 extends beyond the bow end of the chassis body 10. During navigation, the extended part of the first drainage pipe 21 can pre-disturb the incoming flow in front, weaken the formation of the high-pressure zone at the bottom, and thus reduce the bottom resistance. During navigation, the second drainage pipe 22 is located near the low-pressure zone at the stern end, which is conducive to achieving passive drainage efficiency by utilizing the negative pressure at the stern. During navigation, the first drainage pipe 21 and the second drainage pipe 22 work together to further optimize the flow field distribution below the chassis body 10, suppress flow separation, and improve its hydrodynamic efficiency.

[0070] Optionally, the underwater vehicle 100 and the chassis body 10 can be locked together with fasteners to ensure a secure connection and facilitate disassembly and maintenance.

[0071] Optionally, the underwater vehicle 101 and the functional chassis 100 can be connected by magnetic attraction to achieve rapid docking and separation. The underwater vehicle 101 may be equipped with an electromagnet, and the functional chassis 100 may be equipped with a corresponding ferromagnet. The electromagnet, when energized, generates magnetic force to attract the ferromagnet, achieving a reliable connection between the underwater vehicle 101 and the functional chassis 100. The attraction is released when the power is off, facilitating autonomous separation. Alternatively, the underwater vehicle 101 may be equipped with a permanent magnet, and the functional chassis 100 may be equipped with a corresponding ferromagnet or another permanent magnet. The magnetic attraction between the magnets achieves a stable connection between the underwater vehicle 101 and the functional chassis 100. When separating, applying external force to overcome the magnetic force disengages the connection. This structure is simple and allows for rapid connection.

[0072] In this embodiment, the surface of the curved groove 102 is provided with a plurality of slots 104, which are used to detachably connect the mounting part 105 of the underwater vehicle 101. In other words, the mounting part 105 of the underwater vehicle 101 can be quickly fixed simply by inserting it into the slot 104, which is extremely convenient for the rapid assembly and disassembly of the underwater vehicle 101 and the functional chassis 100.

[0073] The slots 104 and the mounting parts 105 are matched one-to-one. For example, if the underwater vehicle 101 has three or four mounting parts 105 extending out of its bottom surface, then three or four slots 104 are correspondingly provided on the curved groove 102 to ensure that they are firmly connected and accurately positioned.

[0074] Optionally, the chassis body 10 is an integral structure made of high-strength lightweight composite material, which can effectively reduce the overall weight and improve the structural durability; the slot 104 is provided on the chassis body 10.

[0075] See Figure 2 , Figure 7 and Figure 8 ,in Figure 7 yes Figure 2 The diagram shows the exploded structure of the functional chassis. Figure 8 yes Figure 2 The diagram shows a cross-sectional view of the functional chassis.

[0076] In this embodiment, the chassis body 10 is a modular structure, assembled from multiple components, which reduces manufacturing difficulty and facilitates later maintenance and replacement. The chassis body 10 includes a chassis component 12 and multiple connecting components 14. The chassis component 12 is provided with a receiving groove 103 and multiple mounting grooves 106. Each connecting component 14 is installed in a corresponding mounting groove 106. Each connecting component 14 is provided with a slot 104. The chassis component 12 and each connecting component 14 together form a curved groove 102.

[0077] The chassis component 12 includes a buoyancy plate 122 and a support plate 124 connected to the buoyancy plate 122; the buoyancy plate 122 has a receiving groove 103 and a plurality of mounting grooves 106; each connecting component 14 is installed in each mounting groove 106 in a corresponding manner; the mounting part 105 on the underwater vehicle 101 cooperates with the connecting component 106 to realize the connection between the chassis body 10 and the underwater vehicle 101.

[0078] The buoyancy plate 122 is made of buoyancy material, such as closed-cell foam plastic (e.g., polyethylene foam, polyurethane foam) or other lightweight polymer materials, which has both high buoyancy and pressure resistance; the support plate 124 is made of carbon fiber reinforced resin matrix composite material or polymer material to ensure a balance between structural rigidity and lightweight.

[0079] In this embodiment, the support plate 124 is a carbon fiber plate, and the carbon fiber plate is provided with a first connecting hole 125; the buoyancy plate 122 is provided with a second connecting hole 126 and a stress relief groove 127, the stress relief groove 127 is connected to the second connecting hole 126, and the first connecting hole 125 and the second connecting hole 126 are connected by a locking fastener, which can be a screw or a pin, etc.

[0080] The buoyancy disk 122 has good buoyancy performance and can provide sufficient positive buoyancy underwater to counteract the overall gravity of the system, ensuring that the functional chassis 100 does not affect the stable suspension or maneuverability of the underwater vehicle 101. At the same time, the support plate 124 has the characteristics of being lightweight and high-strength, effectively bearing external loads and transferring them to the buoyancy disk 122. The two work together to improve the bending and impact resistance of the overall structure, which not only improves the overall structural strength and deformation resistance of the chassis body 10, but also makes the chassis body 10 have good buoyancy performance, which can effectively reduce the energy consumption of the underwater vehicle 101 during underwater navigation and process.

[0081] The surface of the buoyancy plate 122 is configured as a curved groove 102 adapted to the bottom of the underwater vehicle 101, the receiving groove 103 is provided at the bottom of the curved groove 102, and the bottom surface of the carbon fiber plate 124 also has multiple support parts 128.

[0082] The fastener passes through the first connecting hole 125 and the second connecting hole 126, firmly connecting the support plate 124 and the buoyancy disk 122. At the same time, the stress relief groove 127 can effectively alleviate the internal stress caused by material deformation during assembly, preventing the buoyancy disk 122 from cracking or structural damage. The connecting component 14 is fixed to the chassis component 12 by being embedded in the mounting groove 106, ensuring the positional accuracy of the slot 104.

[0083] like Figure 7 and Figure 8As shown, the first drain pipe 21 and the second drain pipe 22 are both fixed by multiple supports 129 installed on the bottom surface of the support plate 124. The connector 24 is also locked to the top surface of the support plate 124 by fasteners. The water inlet pipe 23 is also fixed by the support 129 installed on the top surface of the support plate 124, ensuring that each fluid pipeline is stably connected to the support plate 124.

[0084] Multiple mounting slots 106 are distributed around the receiving slot 103, and the receiving slot 103 extends inward from the tail end of the buoyancy disk 122 along the head-to-tail direction of the buoyancy disk 122; the extension length of the receiving slot 103 is less than the total length of the buoyancy disk 122 along the head-to-tail direction, so as to ensure that the head end of the buoyancy disk 122 retains sufficient structural integrity, while maintaining the symmetry of the buoyancy distribution provided by the buoyancy disk 122.

[0085] The mounting part of the underwater vehicle 101 can be a protruding structure provided on the outer shell of the underwater vehicle 101, or it can be a support leg formed by the extension of the internal bracket of the underwater vehicle 101 out of its shell. The protruding structure or support leg cooperates with the slot 104 of the connecting component 14 to achieve quick docking and locking.

[0086] Each connecting component 14 is installed in its corresponding mounting slot 106 using fasteners such as screws or pins, or it can be installed by adhesive bonding. By individually machining each connecting component 14 to form a slot 104, and then installing each connecting component 14 into the mounting slot 106 of the chassis component 12, the machining difficulty of the chassis body 10 can be greatly reduced and the machining efficiency can be improved.

[0087] The upper surface of the chassis component 12 and the upper surfaces of each connecting component 14 together form the contour of the curved groove 102, ensuring that the mounting part 105 fits tightly with the slot 104 when inserted, thus improving connection stability. At the same time, the arc design of the curved groove 102 is adapted to the bottom shape of the underwater vehicle 101, achieving guidance and positioning and reducing assembly deviation.

[0088] See also Figure 2 , Figure 7 , Figure 9 and Figure 10 ,in Figure 9 yes Figure 2 The diagram shows a partial exploded view of the functional chassis. Figure 10 yes Figure 9 The diagram shows a partial exploded view of the connecting components in the functional chassis.

[0089] The connection assembly 14 includes a slot seat 142 and a clamping member 144 movably connected to one side of the slot seat 142. The slot seat 142 is mounted on the mounting groove 106. The slot seat 142 and the clamping member 144 cooperate to form a slot 104. The clamping member 144 is used to apply a clamping force to the mounting part 105 of the underwater vehicle 101 located in the slot 104.

[0090] The clamping member 144 is movably connected to one side of the slot seat 142 via the elastic member 145, ensuring that the mounting part 105 is automatically locked under the pre-tightening of the elastic member 145 after it is inserted into the slot 104, thereby improving the connection reliability with the mounting part 105; if necessary, the clamping member 144 can be manually driven to open, so as to quickly release the mounting part 105 of the underwater vehicle 101.

[0091] In this embodiment, the elastic element 145 is a compression spring, and the clamping element 142 is pre-tightened to one side of the slot seat 144 by the compression spring. When the mounting part 105 is inserted into the slot 104, it squeezes the clamping element 142. Under the pre-tightening force provided by the compression spring, the clamping element 142 applies a clamping force to the mounting part 105 located in the slot 104, thereby forming a stable lock on the mounting part 105.

[0092] Specifically, the clamping member 142 is provided with at least two through holes, and the corresponding fixing post 147 passes through the through holes on the clamping member 142 and connects to one side of the plug-in seat 144. The clamping member 142 can move relative to the plug-in seat 144 along the fixing post 147. The elastic member 145 is sleeved on the fixing post 147 and elastically compressed between the end caps of the clamping member 142 and the fixing post 147, allowing the clamping member 142 to move along the axis of the fixing post 147.

[0093] It should be noted that the chassis body 10 of this application is basically made of high-strength lightweight composite material. Through lightweight design, the functional chassis 100 itself effectively reduces the overall weight while ensuring structural strength. Therefore, after each mounting part 105 is inserted into the corresponding slot 104 and locked by the clamping part 142, the underwater vehicle 101 and the functional chassis 100 form a stable and reliable connection. This can maintain the stability of the connection structure under complex water conditions and prevent the functional chassis 100 from separating and falling off underwater. At the same time, the application of lightweight composite material significantly reduces the self-weight of the functional chassis 100, improves its carrying efficiency and navigation maneuverability, and is suitable for long-term underwater deployment and operation.

[0094] Furthermore, after the mounting part 105 is inserted into the slot 104, it can also form a hook structure with the clamping member 142. That is, the mounting part 105 may be provided with a hook, which engages with the inner edge of the clamping member 142 to further prevent the mounting part 105 from accidentally coming off under vibration or impact conditions, and enhance the redundancy and safety of the connection. The hook structure maintains the engagement state under the continuous preload of the compression spring. When disassembling, the engagement state can be released by external force to achieve quick separation.

[0095] In this embodiment, the connecting component 14 also includes a limiting pin 143, which is connected to the middle of the clamping member 142 and exposed on the side of the buoyancy plate 122. It is used to position the mounting part 105 so that the mounting part 105 and the slot 104 are aligned and engaged, thereby ensuring accurate alignment when the underwater vehicle 101 is connected to the functional chassis 100, and maintaining the same overall attitude after connection.

[0096] The mounting part 105 has a bayonet at the bottom, which is adapted to the limiting pin 143. When the mounting part 105 is inserted into the slot 104 to a predetermined depth, the limiting pin 143 is embedded in the bayonet, thereby centering and positioning the mounting part 105 and effectively preventing misalignment or tilting of the mounting part 105 during the connection process.

[0097] The limiting pin 143 is exposed on the side of the buoyancy plate 122, and the end of the limiting pin 143 located outside the clamping member 142 is also provided with a pulling part for pulling, so that force can be applied when separation is required. The clamping member 142 is pulled by the pulling part to release the clamping force applied to the mounting part 105, thereby releasing the mounting part 105 of the underwater vehicle 101, so that the mounting part 105 can be easily disengaged from the slot 104.

[0098] like Figure 9 As shown, the connecting assembly 14 also includes a connecting seat 146, which has a guide groove 107 and a mounting groove 108 with an opening on the side of the connecting seat 146. The connecting seat 146 is mounted on the mounting groove 106. The plug-in seat 142 and the clamping member 144 are installed in the mounting groove 108 through the side opening of the connecting seat 146. The limiting pin 143 is exposed in the opening of the mounting groove 106. The bottom of the guide groove 107 is connected to the slot 104. The guide groove 107 is used to guide the mounting part 105 to slide into the slot 104. The chassis member 12 and each connecting seat 146 together form a curved groove 102.

[0099] The connector 142 and clamping member 144 are pre-assembled and then installed together in the mounting slot 108 through the side opening of the connector 146. The connector 146 is installed on the mounting slot 106, and then the connector 146 and connector 142 are fastened together to the chassis member 12 by screws, realizing the modular and rapid assembly of the connecting component 14. This modular design not only improves the assembly efficiency, but also facilitates later maintenance and replacement. When disassembly is required, simply loosen the screws and pull out the connecting component 14 as a whole to replace the connecting component 14.

[0100] During the docking process between the underwater vehicle 101 and the functional chassis 100, the mounting part 105 slides into the slot 104 along the guide slope of the guide groove 107, automatically opens the clamping member 144 relative to the plug seat 142, and further compresses the compression spring, so that the clamping member 144 locks the mounting part 105 under the action of the elastic force, realizing a fast and reliable self-centering connection.

[0101] In this embodiment, the connecting seat 146 is also a buoyancy seat made of buoyancy material. In the underwater scenario, each connecting seat 146 can generate buoyancy, effectively offsetting at least part of the weight of the functional chassis 100, reducing the underwater vehicle 101's load-bearing burden underwater, and improving the underwater operation stability and endurance of the overall underwater operation system.

[0102] Buoyancy material is a functional material with low density and high buoyancy, mainly used to provide buoyancy support in water. It is usually made of closed-cell foam plastics (such as polyethylene foam, polyurethane foam, etc.) or other lightweight polymer materials, and has the characteristics of being waterproof, corrosion-resistant, and having good compressive strength. It can offset the weight of an object in water through its own buoyancy.

[0103] Based on this, this application provides an underwater operation system (not shown), which includes shore-based equipment (not shown) and the underwater operation equipment as described above. The shore-based equipment is connected to the underwater vehicle 200 via cables, and is also connected to the cavitation jet device 100's cavitation jet nozzle 20. The shore-based equipment remotely controls and supplies power to the underwater vehicle 200 via cables, enabling continuous operation; the cavitation jet nozzle 20 on the cavitation jet device 100 responds to shore-based commands to complete the underwater operation task for the target.

[0104] Unlike existing technologies, this application discloses an underwater operation equipment and system. By mounting a cavitation jet device on an underwater vehicle, the underwater vehicle's nose is equipped with a forward ranging device and a camera. The cavitation jet device has at least two jet outlets for performing preset underwater operation tasks. When the forward ranging device detects a target at a preset distance, the cavitation jet device can perform underwater cleaning on the target. This synergistic combination of sensing technology and the cavitation jet device, along with the forward ranging device and the cavitation jet device, maintains the stability of the underwater operation equipment's operating posture, effectively improving operational efficiency.

[0105] The above descriptions are merely embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made based on the description and drawings of this application, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application. The technical solutions in 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, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

Claims

1. An underwater operation device, characterized in that, The underwater operation equipment includes: An underwater vehicle is equipped with a forward ranging device and a camera. The forward ranging device is used to detect the distance information between the underwater vehicle and the target to be operated on, and the camera is used to capture at least the image information of the target to be operated on. A cavitation jet device is detachably mounted on the bottom of the underwater vehicle; the cavitation jet device has at least two jet outlets; the jet center axis of each jet outlet is not parallel to the center axis of the forward ranging device; During operation, the forward ranging device and the cavitation jet device work together to maintain the stability of the underwater operation equipment's operating posture.

2. The underwater operation equipment according to claim 1, characterized in that, The cavitation jet device includes: a chassis body and a cavitation jet generator mounted on the chassis body. The chassis body has at least two connection components for connecting with the underwater vehicle and a receiving slot. The cavitation jet device is mounted on the chassis body through the receiving slot, and the cavitation jet generator has at least two jet outlets.

3. The underwater operation equipment according to claim 2, characterized in that, The cavitation jet includes: The first drain pipe is installed on the bottom surface of the chassis body and includes a first pipe body and a first nozzle disposed on the first pipe body. The first nozzle is disposed at an angle to the first pipe body. The second drain pipe is installed on the bottom surface of the chassis body and includes a second pipe body and a second nozzle disposed on the second pipe body. The second nozzle is disposed at an angle to the second pipe body. The first pipe body and the second pipe body are coaxially disposed, and both the first nozzle and the second nozzle have the jet outlet. A connector is provided with a water inlet. The connector is installed on the bottom wall of the receiving tank and the water inlet is located in the receiving tank. The connector connects the first pipe body and the second pipe body and is used to supply water to the first pipe body and the second pipe body simultaneously.

4. The underwater operation equipment according to claim 3, characterized in that, The jet center axis of the first nozzle is intersected with the jet center axis of the second nozzle, or the jet center axis of the first nozzle is parallel to the jet center axis of the second nozzle, and the jet directions of the first nozzle and the second nozzle are opposite in space.

5. The underwater operation equipment according to claim 3, characterized in that, The angle of the first nozzle relative to the first tube body is adjustable; and / or The angle of the second nozzle relative to the second tube body is adjustable; and / or The diameter of the first nozzle is adjustable; and / or The diameter of the second nozzle is adjustable.

6. The underwater operation equipment according to claim 4, characterized in that, The cavitation jet also includes a water inlet pipe, which is connected to the water inlet of the connector and is at least partially located in the receiving groove. The water inlet pipe is arranged parallel to and spaced apart from the second pipe body.

7. The underwater operation equipment according to claim 3, characterized in that, The camera includes a first camera and a second camera, with the first camera positioned above the second camera. The first camera is used to capture images of the underwater vehicle's forward direction, and the second camera is used to capture images of the first drainage pipe's operating area. The underwater vehicle is also equipped with at least two illuminators, which are located on both sides of the first camera to provide illumination for both the first camera and the second camera.

8. The underwater operation equipment according to claim 2, characterized in that, The chassis body includes a buoyancy plate and a support plate connected to the buoyancy plate; the buoyancy plate has a receiving groove and multiple mounting grooves; each of the connecting components is installed in the mounting grooves; the mounting part on the underwater vehicle cooperates with the connecting components to realize the connection between the chassis body and the underwater vehicle.

9. The underwater operation equipment according to claim 8, characterized in that, The connecting assembly includes a slot seat, a clamping member, a limiting pin, and an elastic member. The slot seat is mounted on the mounting groove. The clamping member is movably connected to one side of the slot seat via the elastic member. The slot seat and the clamping member cooperate to form a slot. Under the pre-tightening force provided by the elastic member, the clamping member applies a clamping force to the mounting part of the underwater vehicle located in the slot. The limiting pin is connected to the middle of the clamping member and exposed on the side of the buoyancy plate, and is used to position the mounting part of the underwater vehicle.

10. An underwater operation system, characterized in that, The underwater operation system includes shore-based equipment and underwater operation equipment as described in any one of claims 1-9, wherein the shore-based equipment is connected to the underwater vehicle via cables, and the shore-based equipment is also connected to the cavitation jet device.

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