A type of underwater observation drone

Abstract

This utility model belongs to the technical field of underwater operation equipment, specifically disclosing an underwater observation drone, including a fuselage with several buoyancy blocks mounted on it, four lateral thrusters and two vertical thrusters mounted on the fuselage, a sealed cabin mounted on the fuselage, an image acquisition device installed inside the sealed cabin, a transparent observation window at the front of the sealed cabin, an internal support frame mounted inside the sealed cabin, a swinging support frame mounted on the front of the internal support frame, the swinging support frame being hinged to the internal support frame, the front end of the swinging support frame being able to swing up and down around a horizontal hinge axis, the image acquisition device being mounted at the front end of the swinging support frame, the image acquisition device being close to the observation window, and a power device for driving the swinging support frame to swing on the internal support frame. The underwater observation drone disclosed in this utility model can move freely and dive smoothly in water, and the image acquisition device can simulate the up-and-down scanning motion of a human, expanding the range of underwater image acquisition.

Description

Technical Field

[0001] This utility model relates to the field of underwater operation equipment technology, specifically to an underwater observation drone. Background Technology

[0002] In bridge maintenance, it is necessary to frequently observe and inspect underwater piers. Traditional inspection methods are difficult to cover all areas of underwater piers, especially the junction between the pier and the riverbed and the hidden underwater parts of the pier body. This can easily lead to the omission of hidden dangers such as cracks, erosion, and corrosion, creating blind spots in safety management.

[0003] Traditional inspections involve professionals wearing oxygen equipment working underwater, which is not only costly in terms of manpower but also carries safety risks such as drowning and complex underwater environments. Furthermore, operational efficiency is limited by personnel stamina and the time spent underwater. Therefore, we conceived of a solution using underwater drones for inspection, which ensures safety while enabling timely and comprehensive inspections of the piers.

[0004] Existing underwater drones consist of a fuselage with several buoyancy blocks, four lateral thrusters, and two vertical thrusters. Some underwater drones also have a sealed compartment containing a camera for underwater photography. However, these drones cannot tilt vertically. When they descend to the riverbed, the camera can only capture the area directly opposite the pier. The area where the pier meets the riverbed is difficult to photograph clearly due to the limited field of view. Therefore, it is necessary to improve existing underwater drones to meet the needs of underwater pier inspection. Utility Model Content

[0005] The purpose of this invention is to provide an underwater observation drone to solve the problem that the fixed camera angle of existing underwater drones makes it difficult to capture clear images of the lower part of objects in front, resulting in blind spots.

[0006] To achieve the above objectives, this utility model discloses an underwater observation drone, comprising a fuselage with several buoyancy blocks mounted on it, four lateral thrusters and two vertical thrusters mounted on the fuselage, a sealed cabin mounted on the fuselage, an image acquisition device mounted inside the sealed cabin, a transparent observation window at the front of the sealed cabin, an internal support frame mounted inside the sealed cabin, a swinging support frame mounted at the front of the internal support frame, the swinging support frame being hinged to the internal support frame, the front end of the swinging support frame being able to swing up and down around a horizontal hinge axis, the image acquisition device being mounted at the front end of the swinging support frame, the image acquisition device being close to the observation window, and a power device for driving the swinging support frame to swing on the internal support frame. With the above structure, the underwater observation UAV uses buoyancy blocks to balance the weight of the entire machine. Four lateral thrusters provide thrust for horizontal movement, and two vertical thrusters provide thrust for diving, enabling the underwater observation UAV to move and dive. The image acquisition device installed in the sealed cabin can collect image information. Since the power unit can drive the swing support to swing, and the image acquisition device is installed at the front end of the swing support, when the underwater observation UAV dives to the bottom of the riverbed, the swing angle of the swing support can be adjusted to tilt the image acquisition device downward, thereby collecting image information at the junction of the pier and the riverbed. Since the swing angle of the swing support can be continuously adjusted, continuous image information can be collected from top to bottom or from bottom to top, which facilitates the staff to analyze and judge the condition of the pier.

[0007] Furthermore, the power unit includes an electric motor mounted on an internal support frame. The electric motor outputs torque to rotate around a longitudinal axis. A drive handle capable of rotating around the longitudinal axis is rotatably connected to the internal support frame. The power output shaft of the electric motor is poweredly connected to the drive handle. A power connecting rod is laterally slidably connected to the rear end of the swing bracket. A sliding fit hole is provided at the end of the drive handle away from the power output shaft, and the rear end of the power connecting rod is inserted into the sliding fit hole. With the above structure, the electric motor outputs power, driving the drive handle to rotate around the longitudinal axis, thereby driving the power connecting rod to rotate. Since the power connecting rod and the rear end of the swing bracket are laterally slidably connected to the power connecting rod, the swing bracket can be driven to swing, thereby adjusting the pitch angle of the image acquisition device. This power unit is designed for the confined space inside the sealed chamber. The electric motor and the transmission mechanism, consisting of a drive handle, power connecting rod, and swing bracket, are all located behind the image acquisition device. This not only does not obstruct the signal acquisition of the image acquisition device, but also adapts to the long and narrow space of the sealed chamber. Furthermore, the pitch of the image acquisition device can be repeatedly adjusted without controlling the forward and reverse rotation of the electric motor, simulating the up and down scanning motion of a human. It is particularly suitable for applications such as underwater pier inspection, and the control is also relatively simple.

[0008] Furthermore, the front side of the cabin support has two ear plates, left and right, with a hinge shaft fixedly connected between them. A swing bracket is located between the two ear plates and includes two swing arms, left and right, with a hinge sleeve fixedly connected between them. The middle part of each swing arm is connected to the hinge sleeve, which is fitted onto the hinge shaft. With this structure, the hinge sleeve connects the two swing arms as a single unit. The cooperation between the hinge sleeve and the hinge shaft allows the swing bracket to swing around the hinge shaft. An image acquisition device and a power connection device can be respectively installed at the front and rear ends of the swing bracket.

[0009] Furthermore, the swing bracket includes two swing arms, left and right, with a sliding shaft installed between them. The sliding shaft is connected to the rear end of the swing arms, and a sliding sleeve is fixedly connected to the front end of the power connecting rod, with the sliding sleeve fitted onto the sliding shaft. With this structure, the sliding connection between the rear end of the swing bracket and the power connecting rod is achieved through the cooperation of the sliding sleeve and the sliding shaft, resulting in a reliable structure that is easy to assemble.

[0010] Furthermore, the sealed chamber includes a cylindrical body with a rear sealing plate at the rear end and a front sealing head at the front end. The front sealing head is a hemispherical shell made of transparent material, which serves as an observation window. With this structure, the rear sealing plate and the front sealing head seal both ends of the cylindrical body, forming a closed space. The image acquisition device is located within this closed space, allowing it to better adapt to the underwater environment. The front sealing head, being a hemispherical shell made of transparent material, also serves as an observation window, providing resistance to water flow impact and a wide field of view.

[0011] Furthermore, the cabin support includes a U-shaped channel extending forward and backward with the slot facing upward. The front and rear ends of the U-shaped channel are respectively connected to a first arc-shaped plate and a second arc-shaped plate that surround it. The first arc-shaped plate and the second arc-shaped plate are both large semi-circular arc-shaped plates with their openings facing upward, and the opening edges of the two plates are respectively connected to the corresponding slot edges of the U-shaped channel. The channel wall of the part of the U-shaped channel between the first arc-shaped plate and the second arc-shaped plate is provided with a wire hole. The front end of the U-shaped channel is connected to a front end plate, and the front end plate is connected to two ear plates extending forward on the left and right sides. With the above structure, after the swing bracket is placed in the sealed chamber, the first and second arc-shaped plates can fit snugly against the inner wall of the cylindrical chamber, serving a positioning function. After being placed in the cylindrical chamber, it can be secured using adhesive or fasteners. A battery can be placed inside the U-shaped channel. The section of the U-shaped channel between the first and second arc-shaped plates can be used to install PCB circuit boards or other electrical components. Wiring holes allow wires or signal lines to pass through. The front endplate provides a mounting position for the motor, and the two forward-extending ear plates are used to install the swing bracket and image acquisition device. This structural design of the internal support achieves both the partitioning and full utilization of the space within the sealed chamber.

[0012] Furthermore, the fuselage includes a left side plate and a right side plate spaced apart from each other, and a top plate and a bottom plate spaced apart from each other. Both the top and bottom plates are connected to the left and right side plates. With this structure, the left side plate, right side plate, top plate, and bottom plate together form a stable frame structure with ample internal space for installing components such as lateral thrusters, vertical thrusters, and sealed compartments, making the underwater observation UAV's structure more compact.

[0013] Furthermore, four lateral thrusters are installed at the four corners of the bottom surface of the top plate, with their nozzles facing different directions. Two vertical thrusters are installed on the left and right side plates, respectively, located in the middle of the two left and right lateral thrusters. The sealed chamber is installed on the bottom plate and located in the space between the bottom and top plates. With this structure, the four lateral thrusters at the four corners of the bottom surface of the top plate can propel the underwater observation UAV in various directions, while the two vertical thrusters in the middle facilitate a smooth descent of the underwater observation UAV.

[0014] Furthermore, a waterproof light source is installed on the front side of the left and right side plates, near the sealed chamber. With this structure, the two waterproof light sources illuminate the front from both sides of the sealed chamber, facilitating image acquisition by the image acquisition device.

[0015] Furthermore, a buoyancy shield is installed at each of the four corners of the top plate, and four buoyancy blocks are provided, each located inside one of the four buoyancy shields. The buoyancy shields are equipped with water-permeable holes. With this structure, the buoyancy shields with water-permeable holes are used to hold the buoyancy blocks on the fuselage, providing buoyancy for the underwater observation UAV.

[0016] In summary, the beneficial effects of this utility model are as follows: the underwater observation drone disclosed in this utility model can move freely and dive smoothly in water, and its image acquisition device can simulate the up-and-down scanning action of a human, thus expanding the image acquisition range of the underwater observation drone, and is particularly suitable for the detection of special underwater parts such as the junction of piers and riverbeds. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of one embodiment of the present invention; Figure 2 yes Figure 1 The above-view structural diagram of the embodiment is shown. Figure 3 yes Figure 2 A schematic diagram after being cut along line AA in the middle; Figure 4 yes Figure 3 A schematic diagram of the structure after being cut along line BB. Figure 5 yes Figure 4 Schematic diagram of the central sealed chamber and its related structures; Figure 6 yes Figure 5 A schematic diagram of the first working state of the image acquisition device and its related structures; Figure 7 yes Figure 5 A schematic diagram of the second working state of the image acquisition device and its related structures; Figure 8 yes Figure 5 A schematic diagram of the third working state of the image acquisition device and its related structures; Figure 9 yes Figure 7 A schematic diagram of the structure as shown from above.

[0018] In the diagram: 1. Body, 2. Buoyancy block, 3. Lateral thruster, 4. Vertical thruster, 5. Sealed chamber, 6. Image acquisition device, 8. Internal support frame, 9. Swing support frame, 10. Electric motor, 11. Sliding fit hole, 12. Drive handle, 13. Power connecting rod, 14. Ear plate, 15. Hinge shaft, 16. Swing arm, 17. Hinge sleeve, 18. Sliding shaft, 19. Sliding sleeve, 20. Cylindrical chamber, 21. Rear sealing plate, 22. Front end cap, 23. U-shaped channel, 24. First arc plate, 25. Second arc plate, 26. Threading hole, 27. Front blocking plate, 28. Left side plate, 30. Top plate, 31. Bottom plate, 32. Connecting shaft, 33. Buoyancy shield, 34. Water permeable hole. Detailed Implementation

[0019] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this utility model, but are not intended to limit the scope of this utility model.

[0020] Referring to the accompanying drawings, in some embodiments of this utility model, the underwater observation drone includes a body 1, on which several buoyancy blocks 2 are mounted. Four lateral thrusters 3 and two vertical thrusters 4 are mounted on the body 1. A sealed chamber 5 is mounted on the body 1, and an image acquisition device 6 is installed inside the sealed chamber 5. A transparent observation window is provided at the front of the sealed chamber 5. An internal support 8 is installed inside the sealed chamber 5, and a swing bracket 9 is mounted at the front of the internal support 8. The swing bracket 9 is hinged to the internal support 8, and its front end can swing up and down around a horizontal hinge axis 15. The image acquisition device 6 is mounted at the front end of the swing bracket 9, near the observation window. A power device for driving the swing bracket 9 to swing is mounted on the internal support 8. In this utility model, the image acquisition device 6 is a component for acquiring visual images, such as a camera or video module. The lateral thrusters 3 and vertical thrusters 4 are propulsion devices used to provide thrust in the horizontal and vertical directions. In one embodiment, a ducted propeller thruster can be used, comprising a motor-driven propeller and a duct covering the propeller. The underwater observation UAV uses buoyancy blocks 2 to balance its weight, four lateral thrusters 3 to provide horizontal thrust, and two vertical thrusters 4 to provide descent thrust, enabling the UAV to move and dive. An image acquisition device 6, installed in the sealed chamber 5, can collect image information. Since the power unit drives the swing bracket 9 to swing, and the image acquisition device 6 is installed at the front end of the swing bracket 9, when the underwater observation UAV dives to the bottom of the riverbed, the swing angle of the swing bracket 9 can be adjusted to tilt the image acquisition device 6 downwards, thereby acquiring image information at the junction of the pier and the riverbed. Because the swing angle of the swing bracket 9 can be continuously adjusted, continuous image information can be acquired from top to bottom or bottom to top, facilitating the analysis and judgment of the pier's condition by personnel.

[0021] Reference Figures 5 to 9 In some embodiments of this utility model, the power unit includes an electric motor 10 mounted on an internal support 8. The electric motor 10 outputs a torque for rotation about a longitudinal axis. A drive handle 12 capable of rotating about a longitudinal axis is rotatably connected to the internal support 8. The power output shaft of the electric motor 10 is poweredly connected to the drive handle 12. A power connecting rod 13 is laterally slidably connected to the rear end of the swing support 9. A sliding fit hole 11 is provided at the end of the drive handle 12 away from the power output shaft. The rear end of the power connecting rod 13 is inserted into the sliding fit hole 11. (Refer to...) Figure 5The rear end of the drive handle 12 is provided with a connecting shaft 32, which is rotatably connected to the internal support 8. The power output shaft of the motor 10 is inserted into the power connection hole located at the rear end of the connecting shaft 32. The end of the power output shaft of the motor 10 can be in the shape of a semi-circular cross section, and the power connection hole at the rear end of the connecting shaft 32 can be in the shape of a semi-circular hole. This achieves a power connection between the power output shaft of the motor 10 and the drive handle 12. Since the method of achieving the power connection is a conventional technology, only one example is given here, and other methods will not be described in detail. The motor 10 outputs power, driving the drive handle 12 to rotate around the longitudinal axis, thereby driving the power connecting rod 13 to rotate. The rear end of the power connecting rod 13 and the swing bracket 9 are laterally slidably connected, thus driving the swing bracket 9 to swing, thereby adjusting the pitch angle of the image acquisition device 6. This power unit is designed for the narrow space inside the sealed chamber 5. The electric motor 10 and the transmission mechanism consisting of the drive handle 12, the power connecting rod 13, and the swing bracket 9 are all located behind the image acquisition device 6. This not only does not obstruct the signal acquisition of the image acquisition device 6, but also adapts to the long and narrow space of the sealed chamber 5. In addition, the pitch of the image acquisition device 6 can be repeatedly adjusted without controlling the forward and reverse rotation of the electric motor 10, simulating the up and down scanning action of a person. It is particularly suitable for the application scenario of underwater pier inspection, and the control is also relatively simple.

[0022] Reference Figure 5 In some embodiments of this utility model, the front side of the cabin support 8 has two ear plates 14, and a hinge shaft 15 is fixedly connected between the two ear plates 14. The swing support 9 is located between the two ear plates 14. The swing support 9 includes two swing arms 16, and a hinge sleeve 17 is fixedly connected between the two swing arms 16. The middle part of the swing arm 16 is connected to the hinge sleeve 17, and the hinge sleeve 17 is fitted onto the hinge shaft 15. The hinge sleeve 17 connects the two swing arms 16 into one unit. The swing support 9 can swing around the hinge shaft 15 by the cooperation between the hinge sleeve 17 and the hinge shaft 15. The front and rear ends of the swing support 9 can be respectively equipped with an image acquisition device 6 and a power connection device.

[0023] Reference Figure 5 In some embodiments of this utility model, the swing bracket 9 includes two swing arms 16, left and right, with a sliding shaft 18 installed between the two swing arms 16. The sliding shaft 18 is connected to the rear end of the swing arms 16, and a sliding sleeve 19 is fixedly connected to the front end of the power connecting rod 13. The sliding sleeve 19 is fitted onto the sliding shaft 18. The sliding connection between the rear end of the swing bracket 9 and the power connecting rod 13 is achieved by the cooperation of the sliding sleeve 19 and the sliding shaft 18, which makes the structure reliable and easy to assemble.

[0024] Reference Figure 5In some embodiments of this utility model, the sealed chamber 5 includes a cylindrical chamber 20, with a rear sealing plate 21 at the rear end and a front end cap 22 at the front end. The front end cap 22 is a hemispherical shell made of transparent material, which serves as an observation window. The rear sealing plate 21 and the front end cap 22 seal both ends of the cylindrical chamber 20, forming a sealed space. The image acquisition device 6 is located within this sealed space, which allows it to better adapt to the underwater environment. The front end cap 22, being a hemispherical shell made of transparent material, serves as an observation window, which is not only resistant to water flow impact but also provides a wide field of view.

[0025] Reference Figure 5 , Figure 8 In some embodiments of this utility model, the cabin support 8 includes a U-shaped groove 23 extending front to back with its opening facing upwards. The U-shaped groove 23 is used to house a battery. The front and rear ends of the U-shaped groove 23 are respectively connected to a first arc-shaped plate 24 and a second arc-shaped plate 25 that surround it. Both the first arc-shaped plate 24 and the second arc-shaped plate 25 are large semi-circular arc-shaped plates with their openings facing upwards, and their opening edges are respectively connected to the corresponding groove edges of the U-shaped groove 23. The first arc-shaped plate 24 and the second arc-shaped plate 25 are used to support the cylindrical cabin. The inner wall of the U-shaped groove 23 is fitted together. The groove wall of the part of the U-shaped groove 23 between the first arc plate 24 and the second arc plate 25 is used to install PCB circuit boards or other electrical components. The groove wall of the part of the U-shaped groove 23 between the first arc plate 24 and the second arc plate 25 is provided with a wire hole 26. The wire hole 26 allows the signal line or wire of the circuit to pass through. The front end of the U-shaped groove 23 is connected to a front end plate 27. The motor 10 is installed on the rear side of the front end plate 27. The front end plate 27 is connected to two ear plates 14 extending forward on the left and right. After the swing bracket 9 is placed into the sealed chamber 5, the first arc-shaped plate 24 and the second arc-shaped plate 25 can fit against the inner wall of the cylindrical chamber 20, serving as a positioning element. After being placed into the cylindrical chamber 20, it can be fixed by applying adhesive or using fasteners. A battery can be placed inside the U-shaped groove 23. The groove wall of the U-shaped groove 23 between the first arc-shaped plate 24 and the second arc-shaped plate 25 can be used to install PCB circuit boards or other electrical components. The wire hole 26 allows wires or signal lines to pass through. The front end plate 27 provides a fixing position for the motor 10. The two forward-extending ear plates 14 are used to install the swing bracket 9 and the image acquisition device 6. The structural design of the internal support 8 achieves the division and full utilization of the space within the sealed chamber 5.

[0026] Reference Figures 1 to 4In some embodiments of this utility model, the body 1 includes a left side plate 28 and a right side plate 29 spaced apart from each other, and a top plate 30 and a bottom plate 31 spaced apart from each other from top to bottom. The top plate 30 and the bottom plate 31 are both connected to the left side plate 28 and the right side plate 29. The left side plate 28, the right side plate 29, the top plate 30, and the bottom plate 31 together form a stable frame structure with a large internal space for installing components such as the lateral thruster 3, the vertical thruster 4, and the sealed chamber 5, making the structure of the underwater observation UAV more compact.

[0027] Reference Figures 1 to 4 In some embodiments of this invention, four lateral thrusters 3 are respectively installed at the four corners of the bottom surface of the top plate 30, with the nozzles of the four lateral thrusters 3 facing different directions. Two vertical thrusters 4 are respectively installed on the left side plate 28 and the right side plate 29, with the two vertical thrusters 4 located in the middle of the two left lateral thrusters 3 and the two right lateral thrusters 3, respectively. The sealed chamber 5 is installed on the bottom plate 31 and located in the space between the bottom plate 31 and the top plate 30. The four lateral thrusters 3, respectively installed at the four corners of the bottom surface of the top plate 30, can propel the underwater observation UAV in various directions, while the two vertical thrusters 4, located in the middle, facilitate the smooth descent of the underwater observation UAV.

[0028] Reference Figures 1 to 4 In some embodiments of this invention, a waterproof light source 32 is installed on the front side of the left side plate 28 and the right side plate 29 near the sealed chamber 5. The two waterproof light sources 32 illuminate the front of the sealed chamber 5 from both sides, facilitating image acquisition by the image acquisition device 6.

[0029] Reference Figures 1 to 4 In some embodiments of this utility model, a buoyancy shield 33 is installed at each of the four corners of the top plate 30, and four buoyancy blocks 2 are provided, each located inside one of the four buoyancy shields 33. The buoyancy shields 33 are provided with water-permeable holes 34. The buoyancy shields 33 with water-permeable holes 34 are used to keep the buoyancy blocks 2 on the body 1 and provide buoyancy for the underwater observation UAV.

[0030] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present utility model, and these improvements and substitutions should also be considered within the protection scope of the present utility model.

Claims

1. An underwater observation unmanned aerial vehicle (UAV), comprising a fuselage (1), a plurality of buoyancy blocks (2) mounted on the fuselage (1), four lateral thrusters (3) and two vertical thrusters (4) mounted on the fuselage (1), a sealed chamber (5) mounted on the fuselage (1), and an image acquisition device (6) mounted inside the sealed chamber (5), characterized in that, The front of the sealed chamber (5) is provided with a transparent observation window. An internal support (8) is installed inside the sealed chamber (5). A swing support (9) is installed at the front of the internal support (8). The swing support (9) is hinged to the internal support (8). The front end of the swing support (9) can swing up and down around the horizontal hinge axis (15). The image acquisition device (6) is installed at the front end of the swing support (9). The image acquisition device (6) is close to the observation window. A power device for driving the swing support (9) to swing is installed on the internal support (8).

2. The underwater observation drone as described in claim 1, characterized in that, The power unit includes an electric motor (10) mounted on the cabin support (8). The electric motor (10) is used to output a torque that rotates around the longitudinal axis. A drive handle (12) that can rotate around the longitudinal axis is rotatably connected to the cabin support (8). The power output shaft of the electric motor (10) is poweredly connected to the drive handle (12). A power connecting rod (13) is slidably connected to the rear end of the swing support (9). A sliding fit hole (11) is provided at the end of the drive handle (12) away from the power output shaft. The rear end of the power connecting rod (13) is inserted into the sliding fit hole (11).

3. The underwater observation drone as described in claim 2, characterized in that, The front side of the cabin support (8) has two ear plates (14) on the left and right sides. A hinge shaft (15) is fixedly connected between the two ear plates (14). The swing support (9) is located between the two ear plates (14). The swing support (9) includes two swing arms (16) on the left and right sides. A hinge sleeve (17) is fixedly connected between the two swing arms (16). The middle part of the swing arm (16) is connected to the hinge sleeve (17). The hinge sleeve (17) is fitted on the hinge shaft (15).

4. The underwater observation drone as described in claim 2, characterized in that, The swing bracket (9) includes two swing arms (16) on the left and right, and a sliding shaft (18) is installed between the two swing arms (16). The sliding shaft (18) is connected to the rear end of the swing arm (16). The front end of the power connecting rod (13) is fixedly connected to a sliding sleeve (19), which is fitted onto the sliding shaft (18).

5. The underwater observation drone as described in claim 1, characterized in that, The sealed chamber (5) includes a cylindrical chamber (20), with a rear sealing plate (21) at the rear end of the cylindrical chamber (20) and a front end cap (22) at the front end of the sealed chamber (5). The front end cap (22) is a hemispherical shell made of transparent material, which serves as an observation window.

6. The underwater observation drone as described in claim 5, characterized in that, The cabin support (8) includes a U-shaped channel (23) extending forward and backward with the slot facing upward. The front end and rear end of the U-shaped channel (23) are respectively connected to a first arc plate (24) and a second arc plate (25) that surround it. The first arc plate (24) and the second arc plate (25) are both large semi-circular arc plates with the opening facing upward, and the opening side edges of the two are respectively connected to the corresponding slot edge of the U-shaped channel (23). The part of the U-shaped channel (23) between the first arc plate (24) and the second arc plate (25) has a wire hole (26) on the channel wall. The front end of the U-shaped channel (23) is connected to a front end plate (27), and the front end plate (27) is connected to two ear plates (14) extending forward on the left and right.

7. The underwater observation drone as described in claim 1, characterized in that, The body (1) includes a left side plate (28) and a right side plate (29) spaced apart from each other, and a top plate (30) and a bottom plate (31) spaced apart from each other. The top plate (30) and the bottom plate (31) are connected to the left side plate (28) and the right side plate (29).

8. The underwater observation drone as described in claim 7, characterized in that, Four lateral thrusters (3) are installed at the four corners of the bottom surface of the top plate (30). The nozzles of the four lateral thrusters (3) face different directions. Two vertical thrusters (4) are installed on the left side plate (28) and the right side plate (29) respectively. The two vertical thrusters (4) are located in the middle of the two lateral thrusters (3) on the left side and the middle of the two lateral thrusters (3) on the right side respectively. The sealed chamber (5) is installed on the bottom plate (31) and located in the space between the bottom plate (31) and the top plate (30).

9. The underwater observation drone as described in claim 8, characterized in that, A waterproof light source (32) is installed on the front side of the left side plate (28) and the right side plate (29) near the sealed chamber (5).

10. The underwater observation drone as described in claim 7, characterized in that, Each of the four corners of the top plate (30) is equipped with a buoyancy shield (33), and there are four buoyancy blocks (2). The four buoyancy blocks (2) are located in the four buoyancy shields (33), and the buoyancy shields (33) are provided with water-permeable holes (34).

Images