Submersible propulsion device and diving suit

Abstract

The invention provides a diving propulsion device and a diving suit. The diving propulsion device comprises at least one angle sensor assembly, and the at least one angle sensor assembly comprises a first sensing unit arranged on the thigh of the diver and a second sensing unit arranged on the shank of the diver on the same side. The at least one angle sensor assembly is configured to sense the included angle between the thigh and the shank of the corresponding side of the diver based on the relative position relation of the first sensing unit and the second sensing unit of the at least one angle sensor assembly. The at least one thruster comprises a thruster body and at least one battery module; and the controller is respectively connected with the at least one angle sensor assembly and the at least one thruster so as to control the at least one thruster based on an included angle signal sensed by the at least one angle sensor assembly. According to the embodiment, the diving propulsion device is flexible in arrangement, convenient to control and capable of liberating two hands.

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202411204445.1 (22) Application Date 2024.08.29 (71) Applicant Lin Qun Address Room 1401, Building 5, Jiayuwan, Lane 1888, Songhu Road, Yangpu District, Shanghai 200438 (72) Inventor Lin Qun (74) Patent Agency China Patent Agency (Hong Kong) Limited 72001 Patent Attorney Wang Lei Zhu Tiehong (51) Int.Cl. B63C 11 / 02 (2006.01) B63C 11 / 04 (2006.01) (54) Invention Title Diving Propulsion Device and Diving Suit (57) Abstract This application provides a diving propulsion device and a diving suit. A diving propulsion device includes: at least one angle sensor assembly comprising a first sensing unit disposed on the diver's thigh and a second sensing unit disposed on the lower leg on the same side, and the at least one angle sensor assembly being configured to sense the angle between the diver's thigh and lower leg on the corresponding side based on the relative positional relationship of the respective first and second sensing units; at least one thruster comprising: a thruster body and at least one battery module; and a controller connected to both the at least one angle sensor assembly and the at least one thruster to control the at least one thruster based on the angle signal sensed by the at least one angle sensor assembly. The diving propulsion device according to the embodiment is flexible in arrangement, convenient to control, and frees up the divers' hands. Claims (3 pages), Description (9 pages), Drawings (14 pages), CN 121626381 A, 2026.03.10, CN 1 21 62 63 81 A. 1. A diving propulsion device comprising: at least one angle sensor assembly, the at least one angle sensor assembly including a first sensing unit disposed on the thigh of a diver on the same side and a second sensing unit disposed on the lower leg, and the at least one angle sensor assembly configured to sense an angle between the thigh and lower leg of the diver on the corresponding side based on the relative positional relationship of the respective first sensing unit and second sensing unit; at least one thruster, the at least one thruster including: a thruster body and at least one battery module; and a controller connected to the at least one angle sensor assembly and the at least one thruster respectively, to control the at least one thruster based on an angle signal sensed by the at least one angle sensor assembly. 2. The diving propulsion device according to claim 1, wherein the at least one thruster is switchable between a first state in which the thruster body is connected to the at least one battery module and a second state in which the thruster body is disconnected from the at least one battery module.3. The diving propulsion device according to claim 1, wherein the at least one angle sensor assembly is a high-performance three-dimensional motion attitude measurement system based on MEMS technology, wherein each of the at least one angle sensor assembly includes a three-axis gyroscope, a three-axis accelerometer, a three-axis electronic compass, and a processor. 4. The diving propulsion device according to claim 1, wherein the diving propulsion device further includes a wearable suit, the controller and the at least one angle sensor assembly are attached to the wearable suit, such that when the wearable suit is worn by the diver, the first sensing unit and the second sensing unit of the at least one angle sensor assembly are positioned on the same side of the diver's thigh and calf, and the controller is positioned on the front of the diver's waist or chest. 5. The diving propulsion device according to claims 2-4, wherein the at least one thruster includes a single thruster attached in a first state to an oxygen cylinder on the diver's back, wherein the at least one angle sensor assembly includes a single angle sensor assembly worn on the left or right side of the diver, and the controller controls the single thruster to output thrust forward or backward based on the included angle signal sensed by the single angle sensor assembly. 6. The diving propulsion device according to claims 2-4, characterized in that the at least one propeller comprises a left propeller and a right propeller respectively worn on the left and right sides of the diver, wherein the at least one angle sensor assembly comprises a left angle sensor assembly and a right angle sensor assembly respectively worn on the left and right sides of the diver, the controller controls the left propeller based on a first included angle signal sensed by the left angle sensor assembly, and the controller controls the right propeller based on a second included angle signal sensed by the right angle sensor assembly. 7. The diving propulsion device according to claim 6, characterized in that the left propeller and the right propeller can be installed in any of the following ways: the left propeller and the right propeller are attached to the left and right sides of the oxygen cylinder on the diver's back in a first state; the left propeller and the right propeller are attached to the left and right sides of the diver's body in a first state; or the left propeller and the right propeller are respectively in a second state, wherein the propeller bodies of the left propeller and the right propeller are attached to the left and right sides of the diver's body, and at least one battery module of the left propeller and the right propeller are respectively attached to the left and right sides of the oxygen cylinder on the diver's back. 8. The submersible propulsion device according to claim 6, wherein the controller is configured to control the thruster on the corresponding side to output forward thrust when the first included angle signal or the second included angle signal is in a first interval, control the thruster on the corresponding side to stop when the first included angle signal or the second included angle signal is in a second interval, and control the thruster on the corresponding side to output forward thrust when the first included angle signal or the second included angle signal is in a third interval.9. The diving propulsion device according to claim 8, characterized in that, when the first included angle signal or the second included angle signal is in the first interval or the third interval, the controller is configured such that the magnitude of the forward thrust and / or backward thrust output by the corresponding thruster changes with the first included angle signal or the second included angle signal, wherein the controller is configured such that the magnitude of the forward thrust or backward thrust output by the corresponding thruster increases or decreases with the increase of the first included angle signal or the second included angle signal. 10. The diving propulsion device according to claim 1, characterized in that the first sensing unit and / or the second sensing unit are equipped with batteries and are wirelessly connected to the controller, wherein the controller is equipped with batteries and is wirelessly connected to the at least one thruster; or the first sensing unit, the second sensing unit, and the controller are connected via cables to each other and / or to the at least one thruster. 11. The diving propulsion device according to claim 2, characterized in that, when the at least one thruster is in a first state, the thruster body is connected to the at least one battery module via a waterproof connector; and / or when the at least one thruster is in a second state, the thruster body is connected to the at least one battery module via an adapter, wherein the adapter includes a cable, the first end and the second end of the cable being connected to the thruster body and the at least one battery module respectively via waterproof connectors; wherein the waterproof connector includes: a male waterproof connector and a female waterproof connector respectively disposed on the ends of the two connected to each other. 12. The diving propulsion device according to claim 11, characterized in that the male waterproof connector includes: a male connector body, the end of the male connector body having a first base plane; an annular boss protruding from the first base plane, the annular boss having at least one electrical connection terminal disposed therein; and a pair of arm-like structures disposed on opposite sides of the end of the male connector body near the first base plane. 13. The submersible propulsion device according to claim 12, characterized in that the annular boss is racetrack-shaped, and the pair of clamping arms are disposed at opposite straight sections of the annular boss, wherein the clamping arms have hooks, the width of which is in the range of 80% to 100% of the width of the straight section. 14. The submersible propulsion device according to claim 12, characterized in that the at least one electrical connection terminal comprises a set of power supply terminals and a set of signal terminals respectively disposed at opposite arcuate sections of the annular boss. 15. The submersible propulsion device according to claim 12, characterized in that the male waterproof connector further includes surrounding the...A first sealing element is disposed on the outer ring of the annular boss, wherein the first sealing element is disposed at the junction of the outer ring of the annular boss and the first base plane. 16. The diving propulsion device according to any one of claims 12-15, wherein the annular boss further comprises a foolproof part, the foolproof part being formed as a protrusion or a groove. 17. The diving propulsion device according to any one of claims 12-15, wherein each of the arm arms comprises: a first segment pivotally connected to the male connector body; and a second segment pivotally connected to the first segment. 18. The diving propulsion device according to claim 17, characterized in that the pair of clamping arms can switch between a locked state and a free state, wherein in the locked state, the first segment and the second segment are substantially collinear, and the hook of the second segment engages with the slot of the corresponding female waterproof connector; in the free state, the first segment and the second segment are able to rotate along their respective axes; in the free state, when the male waterproof connector is mated with the female waterproof connector, when the hook of the second segment of the pair of clamping arms is connected to the slot of the corresponding female waterproof connector, the second segment of the pair of clamping arms is pressed inward, causing the second segment to rotate around the slot, thereby switching the clamping arms from the free state to the locked state. 19. The diving propulsion device according to any one of claims 12-15, characterized in that one side of the male connector body has a connecting boss extending to the first base plane, wherein the connecting boss has a T-shaped cross-section. 20. The diving propulsion device according to any one of claims 12-15, characterized in that the female waterproof connector is used to connect with the male waterproof connector, the female waterproof connector comprising: a female connector body, the end of the female connector body having a second base plane; an annular groove recessed into the second base plane, the annular groove being provided with an electrical connection terminal; and a pair of slots disposed on opposite sides of the connector body near the end of the second base plane, the pair of slots being used to receive a pair of arms of the male waterproof connector. 21. The diving propulsion device according to claim 1, characterized in that the at least one thruster comprises: a thruster body; one or more intermediate battery modules; and an end battery module or end cap; the intermediate battery module comprising opposite ends respectively configured as the male waterproof connector and the female waterproof connector. 22. A diving suit, characterized in that the diving suit comprises: a diving suit body configured for wear by a diver and covering at least the diver's legs and torso; at least one angle sensor assembly, the at least one angle sensor assembly comprising a first sensing unit disposed on the diving suit body at a thigh corresponding to the same side of the diver and a second sensing unit disposed on the lower leg, and the at least one angle sensor assembly comprising: a first sensing unit disposed on the thigh of the diving suit body corresponding to the same side of the diver and a second sensing unit disposed on the lower leg; and the at least one angle sensor assembly comprising: a first sensing unit disposed on the thigh of the diving suit body corresponding to the same side of the diver and a second sensing unit disposed on the lower leg; and the at least one angle sensor assembly comprising: a first sensing unit disposed on the thigh of the diving suit body corresponding to the same side of the diver and a second sensing unit disposed on the lower leg; and the at least one angle sensor assembly comprising: a first sensing unit disposed on the thigh of the diving suit body at a thigh ...An angle sensor assembly is configured to sense the angle between the thigh and calf of a diver on the corresponding side based on the relative positional relationship of the respective first and second sensing units; and a controller attached to the wetsuit body at a position corresponding to the front of the diver's waist or chest, the controller being wirelessly connected to the at least one angle sensor assembly or connected via a cable embedded in the wetsuit body. 23. The wetsuit according to claim 22, wherein the controller further includes a port for connecting to at least one thruster, the port being a wired port or a wireless connection port, wherein the at least one angle sensor assembly includes a left angle sensor assembly and a right angle sensor assembly. Claims 3 / 3 Page 4 CN 121626381 A Diving Propulsion Device and Wetsuit Technical Field

[0001] This application relates to the field of underwater equipment technology, and more specifically, to a wearable diving propulsion device. Background Art

[0002] With the increasing popularity of diving, various underwater propulsion devices are frequently seen in diving equipment. However, these propulsion devices usually require divers to control them manually or via a wired controller, leaving them unable to operate other equipment, especially when underwater operations are required. Backpack-mounted diving devices can also cause conflicts with other equipment such as air cylinders. Many underwater propulsion devices only have simple propulsion functions and cannot perform operations such as reversing or turning. In addition, there is a desire for diving propulsion devices to be lighter and more comfortable to wear. Summary of the Invention

[0003] The purpose of this application is to solve or at least alleviate one or more problems existing in the prior art.

[0004] According to one aspect, a diving propulsion device is provided, comprising:

[0005] at least one angle sensor assembly, the at least one angle sensor assembly including a first sensing unit disposed on the thigh of a diver on the same side and a second sensing unit disposed on the lower leg, and the at least one angle sensor assembly being configured to sense an angle between the thigh and lower leg of the diver on the corresponding side based on the relative positional relationship of the respective first sensing unit and the second sensing unit;

[0006] at least one thruster, the at least one thruster including: a thruster body and at least one battery module; and

[0007] a controller connected to the at least one angle sensor assembly and the at least one thruster respectively, to control the at least one thruster based on an angle signal sensed by the at least one angle sensor assembly.

[0008] Optionally, in an embodiment of the diving propulsion device, the at least one thruster is switchable between a first state in which the thruster body is connected to the at least one battery module and a second state in which the thruster body is disconnected from the at least one battery module.

[0009] Optionally, in an embodiment of the diving propulsion device, the at least one angle sensor assembly is a high-performance three-dimensional motion attitude measurement system based on MEMS technology, wherein each of the at least one angle sensor assembly includes a three-axis gyroscope, a three-axis accelerometer, a three-axis electronic compass, and a processor.

[0010] Optionally, in an embodiment of the diving propulsion device, the diving propulsion device further includes a wearable suit, the controller and the at least one angle sensor assembly are attached to the wearable suit, such that when the wearable suit is worn by the diver, the first sensing unit and the second sensing unit of the at least one angle sensor assembly are positioned on the same side of the diver's thigh and calf, and the controller is positioned on the front side of the diver's waist or chest.

[0011] Optionally, in an embodiment of the diving propulsion device, the at least one thruster includes a single thruster attached to an oxygen cylinder on the back of the diver in a first state, wherein the at least one angle sensor assembly includes a single angle sensor assembly worn on the left or right side of the diver, and the controller controls the single thruster to output thrust forward or backward based on the included angle signal sensed by the single angle sensor assembly.

[0012] Optionally, in an embodiment of the diving propulsion device, the at least one propeller includes a left propeller and a right propeller respectively worn on the left and right sides of the diver, as described on page 1 / 9 of the specification (CN 121626381 A). The at least one angle sensor assembly includes a left angle sensor assembly and a right angle sensor assembly respectively worn on the left and right sides of the diver. The controller controls the left propeller based on a first included angle signal sensed by the left angle sensor assembly, and the controller controls the right propeller based on a second included angle signal sensed by the right angle sensor assembly.

[0013] Optionally, in an embodiment of the diving propulsion device, the left and right thrusters can be installed in any of the following ways:

[0014] The left and right thrusters are attached to the left and right sides of the oxygen cylinder on the diver's back in a first state;

[0015] The left and right thrusters are attached to the left and right sides of the diver's body in a first state; or

[0016] The left and right thrusters are respectively in a second state, wherein the thruster bodies of the left and right thrusters are attached to the left and right sides of the diver's body, and at least one battery module of the left and right thrusters is respectively attached to the left and right sides of the oxygen cylinder on the diver's back.

[0017] Optionally, in an embodiment of the diving propulsion device, the controller is configured to control the thruster on the corresponding side to output forward thrust when the first angle signal or the second angle signal is in a first interval, and when the first angle signal is in a second interval, the controller controls the thruster on the corresponding side to output forward thrust.When the angle signal or the second included angle signal is in the second interval, the controller controls the thruster on the corresponding side to stop, and when the first included angle signal or the second included angle signal is in the third interval, the controller controls the thruster on the corresponding side to output forward thrust.

[0018] Optionally, in an embodiment of the diving propulsion device, when the first included angle signal or the second included angle signal is in the first interval or the third interval, the controller is configured to cause the magnitude of the forward thrust and / or backward thrust output by the thruster on the corresponding side to change with the change of the first included angle signal or the second included angle signal, wherein the controller is configured to cause the magnitude of the forward thrust or the backward thrust output by the thruster on the corresponding side to increase or decrease with the increase of the first included angle signal or the second included angle signal.

[0019] Optionally, in an embodiment of the diving propulsion device, the first sensing unit and / or the second sensing unit are equipped with batteries and wirelessly connected to the controller, wherein the controller is equipped with batteries and wirelessly connected to the at least one thruster; or

[0020] the first sensing unit, the second sensing unit, and the controller are connected to each other and / or the controller is connected to the at least one thruster via cables.

[0021] Optionally, in an embodiment of the diving propulsion device, when the at least one thruster is in a first state, the thruster body is connected to the at least one battery module via a waterproof connector; and / or

[0022] when the at least one thruster is in a second state, the thruster body is connected to the at least one battery module via an adapter, wherein the adapter includes a cable, and the first end and the second end of the cable are respectively connected to the thruster body and the at least one battery module via waterproof connectors;

[0023] wherein the waterproof connector includes: a male waterproof connector and a female waterproof connector respectively provided on the ends of the two connected to each other.

[0024] Optionally, in an embodiment of the submersible propulsion device, the male waterproof connector includes:

[0025] a male connector body, the end of which has a first base plane;

[0026] an annular boss protruding from the first base plane, the annular boss having at least one electrical connection terminal disposed therein; and

[0027] a pair of clamping arms disposed on opposite sides of the end of the male connector body near the first base plane.

[0028] Optionally, in an embodiment of the submersible propulsion device, the annular boss is racetrack-shaped, and the pair of clamping arms are disposed on opposite straight sections of the annular boss, wherein the clamping arms have hooks, the width of which is in the range of 80% to 100% of the width of the straight section.

[0029] Optionally, in an embodiment of the submersible propulsion device, the at least one electrical connection terminal includes a set of power supply terminals and a set of signal terminals respectively disposed at opposite arcuate sections of the annular boss.

[0030] Optionally, in an embodiment of the submersible propulsion device, the male waterproof connector further includes a first sealing element disposed around the outer ring of the annular boss, wherein the first sealing element is disposed at the junction of the outer ring of the annular boss and the first base plane.

[0031] Optionally, in an embodiment of the submersible propulsion device, the annular boss is further provided with a foolproof part, the foolproof part being formed as a protrusion or a groove.

[0032] Optionally, in an embodiment of the submersible propulsion device, each of the arm arms includes:

[0033] a first segment pivotally connected to the male connector body; and

[0034] a second segment pivotally connected to the first segment.

[0035] Optionally, in an embodiment of the diving propulsion device, the pair of clamping arms can switch between a locked state and a free state. In the locked state, the first segment and the second segment are substantially collinear, and the hook of the second segment engages with the slot of the corresponding female waterproof connector. In the free state, the first segment and the second segment can rotate along their respective axes. In the free state, when the male waterproof connector is connected to the female waterproof connector, when the hook of the second segment of the pair of clamping arms is connected to the slot of the corresponding female waterproof connector, the second segment of the pair of clamping arms is pressed inward, causing the second segment to rotate around the slot, thereby switching the clamping arms from the free state to the locked state.

[0036] Optionally, in an embodiment of the diving propulsion device, one side of the male connector body has a connecting boss extending to the first base plane, wherein the connecting boss has a T-shaped cross-section.

[0037] Optionally, in an embodiment of the diving propulsion device, the female waterproof connector is used to connect with the male waterproof connector, the female waterproof connector comprising:

[0038] a female connector body, the end of the female connector body having a second base plane;

[0039] an annular groove recessed into the second base plane, the annular groove being provided with an electrical connection terminal; and

[0040] a pair of slots disposed on opposite sides of the connector body near the end of the second base plane, the pair of slots being used to receive a pair of arms of the male waterproof connector.

[0041] Optionally, in an embodiment of the diving propulsion device, the at least one propeller comprises:

[0042] a propeller body;

[0043] one or more intermediate battery modules; and

[0044] an end battery module or end cap;

[0045] the intermediate battery module comprising opposite ends respectively configured as the male waterproof connector and the female waterproof connector.

[0046] According to another aspect, a diving suit is provided, characterized in that the diving suit comprises respectively:

[0047] A diving suit body configured to be worn by a diver and to at least cover the diver's legs and torso;

[0048] At least one angle sensor assembly comprising a first sensing unit disposed on the diving suit body at the thigh corresponding to the same side of the diver and a second sensing unit disposed on the lower leg, and the at least one angle sensor assembly configured to sense the angle between the diver's thigh and lower leg on the corresponding side based on the relative positional relationship of the respective first sensing unit and the second sensing unit; and

[0049] A controller attached to the diving suit body at a position corresponding to the front of the diver's waist or chest, the controller being wirelessly connected to the at least one angle sensor assembly or connected via a cable embedded in the diving suit body.

[0050] Optionally, in an embodiment of the diving suit, the controller further includes a port for connecting to at least one thruster, the port being a wired port or a wireless connection port, wherein the at least one angle sensor assembly includes a left angle sensor assembly and a right angle sensor assembly.

[0051] The diving propulsion device according to the embodiment is flexibly arranged, conveniently controlled, and frees up the hands. Brief Description of the Drawings

[0052] The disclosure of this application will become more readily understood with reference to the accompanying drawings. It will be readily understood by those skilled in the art that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this application. Furthermore, similar numbers in the figures are used to represent similar components, wherein:

[0053] Figure 1 shows a top view of a diver wearing the diving propulsion device according to an embodiment;

[0054] Figure 2 shows a side view of a diver wearing the diving propulsion device according to an embodiment;

[0055] Figure 3 shows a front view of a diver wearing the diving propulsion device according to another embodiment;

[0056] Figure 4 shows a side view of a diver wearing the diving propulsion device of Figure 3;

[0057] Figure 5 shows a rear view of a diver wearing the diving propulsion device of Figure 3;

[0058] Figure 6 shows a rear view of a diver wearing the diving propulsion device in an alternative manner;

[0059] Figure 7 shows a rear view of a diver wearing the diving propulsion device in another alternative manner;

[0060] Figure 8 shows a side view of the diving propulsion device according to an embodiment;

[0061] Figure 9 shows a perspective view of the diving propulsion device of Figure 8;

[0062] Figures 10 and 11 show perspective views of the propeller body of the diving propulsion device according to an embodiment from different angles;

[0063] Figures 12 and 13 show perspective views of the battery module of the submersible propulsion device according to an embodiment from different angles;

[0064] Figure 14 shows an exploded view of the male waterproof connector of the diving propulsion device according to an embodiment;

[0065] Figure 15 shows an end view of the male waterproof connector of the diving propulsion device according to an embodiment;

[0066] Figure 16 shows a perspective view of the battery module of the diving propulsion device according to an embodiment from another angle;

[0067] Figure 17 shows a side view of the diving propulsion device according to an embodiment when the male and female waterproof connectors are connected;

[0068] Figure 18 shows a rear view of the diving suit according to an embodiment;

[0069] Figure 19 shows a side view of the diving suit according to an embodiment; and

[0070] Figure 20 shows a front view of the diving suit according to an embodiment. Detailed Description

[0071] A wearable diving propulsion device according to an embodiment of the present application will be described with reference to Figures 1 and 2. The wearable diving propulsion device includes: a battery module; at least one thruster connected to the battery module, for example, in the illustrated embodiment, at least one thruster includes a left thruster and a right thruster 100; at least one angle sensor assembly, for example, in the illustrated embodiment, at least one angle sensor assembly includes a left angle sensor assembly and a right angle sensor assembly, each angle sensor assembly includes a first sensing unit 53, 51 arranged on the diver's thigh 93, 91 and a second sensing unit 54, 52 arranged on the lower leg 94, 92 on the corresponding side of the diver, and is configured to sense the included angle α between the diver's thigh 93, 91 and lower leg 94, 92 based on the relative positional relationship of the respective first sensing unit 53, 51 and second sensing unit 54, 52; and a controller 60, which is connected to at least one angle sensor assembly and at least one thruster respectively. Although the embodiments detailed below use two thrusters on the left and right sides and two angle sensor assemblies on the left and right sides as examples, in alternative embodiments, only a single thruster and a single angle sensor assembly may be provided, in which case the thruster can be worn on the back and the angle sensor assembly is mounted on one thigh and calf. The controller is configured to control the operating state of the at least one thruster based on the angle between the thigh and calf of one or both sides of the diver.

[0072] As shown, in some embodiments, the battery module may be integrated with the controller and can be strapped to the diver's waist 9 via a belt. The battery module may be connected to the left thruster 100 via a first cable 67 and to the right thruster 100 via a second cable 68. The left and right thrusters 100 may be secured to the diver's upper thighs via straps 61 and 62, respectively. In some embodiments, the controller 60 may be integrated with the battery module and is also connected to the left and right thrusters via the first cable 67 and the second cable 68, respectively. Alternatively, the controller may also be located at...Other suitable locations, such as on the wrist, chest, etc.

[0073] In some embodiments, the first sensing unit and / or the second sensing unit of at least one angle sensor assembly may also be connected to the controller and the battery module via cables. For example, the first sensing unit and / or the second sensing unit may be connected to the thruster on the corresponding side via cables, and further connected to the controller and the battery module via the thruster. In an alternative embodiment, the first sensing unit and / or the second sensing unit of at least one angle sensor assembly may be configured with a battery and wirelessly connected to the controller. Alternatively, the first sensing unit may be connected via a cable and the second sensing unit may be connected wirelessly.

[0074] In some embodiments, the first sensing unit and / or the second sensing unit are respectively strapped to the diver's thighs and calves via straps 63, 64, 65, 66. In an alternative embodiment, the first sensing unit and / or the second sensing unit may also be attached to the diver's thighs and calves, or by other suitable means.

[0075] In some embodiments, the diving propulsion device further includes a wearable suit, wherein the left thruster, right thruster, left angle sensor assembly, right angle sensor assembly, battery, and controller are worn on the diver via the wearable suit. The wearable suit may be, for example, a one-piece wetsuit, such as a dry suit or wetsuit. Alternatively, the wearable suit may be in a split form as illustrated, such as including multiple straps. Various cables and sensors may be embedded inside the wearable suit for, for example, sealing, preventing cable tangling, and / or facilitating wear.

[0076] In some embodiments, at least one angle sensor assembly may be a high-performance three-dimensional motion attitude measurement system based on MEMS technology. In some embodiments, each of the at least one angle sensor assembly includes a three-axis gyroscope, a three-axis accelerometer, a three-axis electronic compass, and a processor. In some embodiments, at least one angle sensor assembly can output zero-drift three-dimensional attitude orientation data expressed in quaternions and Euler angles in real time by utilizing quaternion-based three-dimensional algorithms and special data fusion techniques. This type of sensor technology is commonly used in the field of human posture capture.

[0077] The diver can first wear the left and right angle sensor components. Before entering the water, the left and right angle sensor components can be calibrated, for example, by having the diver stand or lie flat and setting the three-dimensional coordinate zero point position. When the system is in working condition, the control software can obtain the three-dimensional coordinates of each attitude sensor relative to the zero point position. By calculation, the angle data between each pair of attitude sensors fixed on the thighs and calves can be obtained.

[0078] In some embodiments, the controller is configured to calculate the angle between the diver's thighs and calves based on the angle between the thighs and calves on both sides of the diver. (See page 5 / 9 of the specification, CN 121626381 A)The controller controls the operating states of the left and right thrusters 100. In some embodiments, the left and right thrusters 100 can output force forward or backward, respectively. In some embodiments, the controller is configured to control the thruster on the corresponding side to output forward thrust when the included angle α is greater than a first angle, to control the thruster on the corresponding side to stop when the included angle α is less than the first angle but greater than a second angle, and to control the thruster on the corresponding side to output backward thrust when the included angle α is less than the second angle. When the included angle is greater than the first angle, the magnitude of the forward thrust output by the thruster on the corresponding side increases with the increase of the included angle. When both the left and right thrusters output backward thrust, the diver will move forward; when one of the left and right thrusters outputs backward thrust and the other outputs forward thrust, the diver will rotate in place; when one of the left and right thrusters outputs backward thrust and the other stops, the diver can turn; when both the left and right thrusters output backward thrust, the diver will move backward, and so on. Therefore, by means of the angle between the upper and lower legs of the left and right feet, the diver can easily and independently control the left and right thrusters, thereby performing a variety of desired diving maneuvers. In some embodiments, the first angle is selectable from 90 to 150 degrees, such that the diver's legs are in a substantially natural position when outputting forward thrust. In some embodiments, the second angle is selectable from 75 to 105 degrees and the second angle is smaller than the first angle.

[0079] Further embodiments will be described with reference to Figures 3 through 17. In some embodiments, the diving propulsion device includes: at least one angle sensor assembly, the at least one angle sensor assembly including a first sensing unit disposed on the thigh on the same side of the diver and a second sensing unit disposed on the lower leg, and the at least one angle sensor assembly being configured to sense the angle between the thigh and lower leg on the corresponding side of the diver based on the relative positional relationship of the respective first sensing unit and the second sensing unit; at least one thruster 100, the at least one thruster 100 including: a thruster body 1 and at least one battery module 2, 3, 4, the thruster body 1 and the battery module being integrally formed or a detachable modular design as detailed below; and a controller 7, the controller 7 being connected to the at least one angle sensor assembly and the at least one thruster respectively, to control the at least one thruster 100 based on the angle signal sensed by the at least one angle sensor assembly.

[0080] In some embodiments, the at least one angle sensor assembly, the at least one thruster and the controller 7 may all be wirelessly connected. Alternatively, if a cable is used to connect any two of the at least one angle sensor assembly, the at least one thruster and the controller, the cable may be embedded in the wearable suit 6 for easy wearing and concealment of the cable. In some embodiments, the thruster is capable of propulsion in a first state (Figures 5 and 6) where the thruster body 1 is connected to at least one battery module 2, 3, 4.The device body 1 switches between a second state (FIG. 7) where it is separated from the at least one battery module 2, 3, 4.

[0081] In some embodiments, the controller 7 and at least one angle sensor assembly are attached to the wearable suit 6 such that when the wearable suit is worn by the diver, the first and second sensing units of the at least one angle sensor assembly are positioned at the diver's thighs and calves, and the controller 7 is positioned at the front of the diver's waist or chest to facilitate the diver's operation of the controller 7.

[0082] The diving propulsion device according to the embodiment can be flexibly configured, for example, as shown in FIG. 5, at least one thruster 100 includes a single thruster 100 attached to the oxygen cylinder 8 on the diver's back in a first state. The single thruster 100 can be attached to either side of the oxygen cylinder 8 by straps and buckles, etc. Correspondingly, the at least one angle sensor assembly may consist only of a single set of angle sensor assemblies worn on the left or right side of the diver, and the controller 7 controls the single thruster to output thrust forward or backward based on the included angle signal sensed by the single set of angle sensor assemblies. In this mode, the diving propulsion device is directly attached to the oxygen cylinder, and the diver wearing the diving propulsion device is suitable for diving activities in narrow spaces such as cave diving.

[0083] In some embodiments, as shown in FIG6, at least one propulsion device includes a left propulsion device 102 and a right propulsion device 101 respectively worn on the left and right sides of the diver, wherein at least one angle sensor assembly includes a left angle sensor assembly and a right angle sensor assembly respectively worn on the left and right sides of the diver, the controller 7 controls the left propulsion device 102 based on a first included angle signal sensed by the left angle sensor assembly, and the controller controls the right propulsion device 101 based on a second included angle signal sensed by the right angle sensor assembly. This arrangement allows for independent control of the left thruster 102 and the right thruster 101, enabling various operating modes through combination. For example, when both the left and right thrusters 102 and 101 simultaneously output forward thrust, the diver is propelled forward; when both output backward thrust, the diver is propelled backward; when both stop, the diver stops; when one outputs forward thrust and the other outputs backward thrust, the diver rotates clockwise or counterclockwise in place; when one outputs forward thrust and the other stops, the diver turns left or right. This control method frees the diver's hands to perform various underwater operations.

[0084] In some embodiments, the left and right thrusters can be installed as shown in FIG6, i.e., the left thruster...The inlet 102 and the right thruster 101 are attached to the left and right sides of the oxygen cylinder on the diver's back in a first state. Alternatively, the left and right thrusters are attached to the left and right sides of the diver's body in a first state, for example, to the left and right sides of the thighs as shown in FIG1. ​​In some embodiments, as shown in FIG7, the left and right thrusters are in a second state, wherein the thruster bodies 1011, 1021 of the left and right thrusters are attached to the left and right sides of the diver's body, such as the thighs, and at least one battery module 1012, 1022 of the left and right thrusters are attached to the left and right sides of the oxygen cylinder on the diver's back, respectively.

[0085] In some embodiments, the controller 7 is configured to control the thruster on the corresponding side to output forward thrust when the first angle signal or the second angle signal is in a first interval, to control the thruster on the corresponding side to stop when the first angle signal or the second angle signal is in a second interval, and to control the thruster on the corresponding side to output forward thrust when the first angle signal or the second angle signal is in a third interval. In some embodiments, the first interval, the second interval, and the third interval may be continuous or separate. In some embodiments, when the first included angle signal or the second included angle signal is in the first interval and the third interval, the controller 7 may be configured such that the magnitude of the forward thrust and / or backward thrust output by the corresponding side of the thruster varies with the change of the first included angle signal or the second included angle signal, wherein the controller is configured such that the magnitude of the forward thrust or the backward thrust output by the corresponding side of the thruster increases or decreases with the increase of the first included angle signal or the second included angle signal.

[0086] In some embodiments, the first sensing unit and / or the second sensing unit are themselves equipped with batteries and are wirelessly connected to the controller 7, wherein the controller 7 is itself equipped with batteries and is wirelessly connected to at least one thruster 100; or the first sensing unit, the second sensing unit, and the controller are connected by cables and / or the controller is connected to at least one thruster.

[0087] Referring to Figures 8 and 9, a diving propulsion device according to one embodiment is shown. The diving propulsion device is used, for example, to be worn on a diver or on an oxygen tank to provide propulsion underwater. In this embodiment, the diving propulsion device employs a modular design, comprising a propulsion body 1, intermediate battery modules 2 and 3, and end battery modules or end caps 4. The modular design of the diving propulsion device allows for the selection of an appropriate number of battery modules based on the target diving duration, providing flexibility and convenience.

[0088] Referring to Figures 10 and 11, the propulsion body 1 of the diving propulsion device is shown. The propulsion body 1 mainly comprises a propulsion section 11 and a waterproof connector 13, which in the illustrated embodiment is a male waterproof connector, as detailed below. The propulsion section 11 has a generally cylindrical shape and internally houses a motor 110 and an impeller 12 connected to the motor 110. As shown in Figure 11,One end of the thruster portion 11 is open and the other end is connected to the waterproof connector 13. The side of the thruster portion 11 is grid-shaped and has a side opening 111. In some embodiments, one of the open end of the thruster portion 11 and the side opening 111 serves as an inlet and the other as an outlet, depending on the rotation direction of the motor 110. Although not shown, the thruster body 1 may also include a control device or signal receiver, thereby determining the thrust direction of the submersible thruster based on a control signal. For example, the end battery module or end cap 4 may have a connecting wire or wireless module to receive control signals, etc. It should be understood that the submersible thruster illustrated on pages 7 / 9 of the specification 11 CN 121626381 A is merely exemplary, and the specific structure of the submersible thruster may be changed in alternative embodiments.

[0089] Continuing with reference to Figures 12 to 17, the intermediate battery module 2 according to an embodiment will be described. The intermediate battery module 2 may have opposing first and second ends, wherein the first end is in the form of a male waterproof connector 23 and the second end is in the form of a female waterproof connector 24. The second end 24 of the intermediate battery module 2 can be connected to the male waterproof connector 13 of the thruster body. It should be understood that the first end of the intermediate waterproof module 2 can be connected to the second end of another intermediate battery module 3 or directly connected to the end battery module or end cap 4. It should be understood that the assembled submersible thruster can have 0, 1, 2 or any suitable number of intermediate battery modules. In addition, the waterproof connector 13 of the thruster body 1 can also be constructed as a female waterproof connector, and the end battery module or end cap 4 at the end of the submersible thruster can have a waterproof connector opposite to the waterproof connector of the thruster body 1.

[0090] The shape of the male waterproof connector is described in detail below using the male waterproof connector 23 as an example. The male waterproof connector 23 according to the embodiment includes a male connector body, the end of which has a first base plane 231; an annular boss 232 protruding from the first base plane 231, wherein at least one electrical connection terminal 234 is provided in the annular boss 232; and a pair of arms 235 provided on opposite sides of the end of the male connector body near the first base plane 231.

[0091] In some embodiments, the annular boss 232 is racetrack-shaped. Specifically, the annular boss 232 may have opposing straight sections 2321 and opposing arcuate sections 2322, and the annular boss 232 surrounds a portion 233 of the first base plane 231. The pair of arm-holding arms 235 are disposed at the opposing straight sections 2321 of the annular boss. In some embodiments, as clearly shown in FIG. 15, the arm-holding arms have hook portions 2325, the width e of which is comparable to the width d of the straight section 2321 of the annular boss 232. For example, the width e of the hook portion 2325 occupies 80% to 100% of the width d of the straight section 2321. A larger width of the hook portion 2325 of the arm-holding arms enables a larger contact area and more uniform axial pressure.

[0092] In some embodiments, the at least one electrical connection terminal 234 includes a set of power supply terminals 2341 and a set of signal terminals 2342 at opposite arcuate sections of the annular boss, the power supply terminals 2341 and signal terminals 2342 being separately disposed at corresponding arcuate sections 2322, for example, in the recess of the arcuate section 2322 of the annular boss 232. Alternatively, it may include only electrical terminals 2341.

[0093] In some embodiments, the annular boss is further provided with a foolproof part 236, which may be a protrusion or a groove. More specifically, as shown in FIG13, a large and a small circular groove 2361, 2362 may be respectively provided at opposite straight sections 2321, the foolproof part 236 being used to prevent incorrect installation of the waterproof connector.

[0094] In some embodiments, the male waterproof connector 23 may further include a first sealing member 238 disposed around the outer ring of the annular boss. In some embodiments, a first sealing element 238 is disposed at the junction of the outer ring of the annular boss 232 and the first base plane 231, thereby achieving sealing in both axial and radial directions. Alternatively, two sealing elements may be disposed on the side of the annular boss 232 and the first base plane 231 respectively to achieve axial and radial sealing. In some embodiments, the sealing element may also be disposed at the female waterproof connector. In some embodiments, one side of the male connector body has a connecting boss 237 extending to the first base plane 231. In some embodiments, the cross-section of the connecting boss 237 is T-shaped.

[0095] In some embodiments, as shown in FIG16, the female waterproof connector has features corresponding to the male waterproof connector for connection with the male waterproof connector. More specifically, taking the female waterproof connector 24 as an example, it includes: a female connector body, the end of which has a second base plane 241; an annular groove 242 recessed into the second base plane 241, wherein electrical connection terminals 2441 and 2442 are disposed within the annular groove 242; and a pair of slots 245 disposed on opposite sides of the end of the connector body near the second base plane, the pair of slots 245 being used to receive a pair of arms 235 of the male waterproof connector. In some embodiments, when the male waterproof connector has corresponding features, the female waterproof connector may further include anti-foolproof portions 2461 and 2462, such as two cylindrical anti-foolproof protrusions of different sizes, a connecting boss 247 extending to the second base plane 241, and a central boss 243 in the middle of the annular groove 242. In some embodiments, a series of air holes 249 may be provided on each side of the straight section of the annular groove 242. In some embodiments, as shown in FIG14, each arm 235 includes: a first segment 2352 pivotally connected to the male connector body; and a second segment 2355 pivotally connected to the first segment 2352, the end of the second segment 2355 being provided with a hook.2356. The first end of the first segment 2352 is pivotally connected to the lugs 2351 at both ends of the male connector body via a first pivot 2353, and the second end of the first segment 2352 is pivotally connected to the second segment 2355 via a second pivot 2354. The first segment 2352 extends from the first end to the second end generally in a direction away from the connector, and the second segment 2355 extends from the connecting end toward the hook 2356 toward the connector.

[0097] A pair of arms 235 are switchable between a locked state and a free state, as shown by solid lines in FIG17. In the locked state, the first segment 2352 and the second segment 2355 are substantially collinear, and the hook 2356 of the second segment engages with the groove of the corresponding female waterproof connector. In some embodiments, the outer sides of the pair of second segments 2355 are substantially parallel, and the second segment 2355 may have an opening 2350 to accommodate the first segment 2352. To improve strength, the first segment 2352 may include a plurality of parallel ribs. In the free state, the first segment 2352 and the second segment 2355 are rotatable along their respective axes. As shown in FIG17, in the free state, when the male waterproof connector 13 is mated with the female waterproof connector 24, the first base plane and the second base plane are in contact, and the annular boss and the annular groove cooperate with at least one terminal to transmit power and / or control signals. Furthermore, as shown by the dashed lines in FIG17, when the hooks 2356 of the second segments 1355 of the pair of arms are installed into the slots of the corresponding female waterproof connectors, the second segments 1355 of the pair of arms are pressed inward with a force F as an example, causing the hooks 1356 to rotate around the slots 245. This causes the arms to switch from the free state to the locked state, and axially locks the male waterproof connector 13 and the female waterproof connector 24. In the locked state, sufficient axial force is provided to press the seal 238, thereby providing sufficient underwater sealing. In some embodiments, the slots 245 may have an outer edge to prevent the hooks 1356 from disengaging from the slots 245 when the second segments 1355 rotate. As shown in Figure 2, after assembly, the male and female waterproof connectors engage with their connecting bosses to connect the diving propulsion unit to other components, such as oxygen cylinders. Furthermore, this application also provides a diving propulsion unit and battery module according to various embodiments.

[0098] Continuing to refer to Figures 18 to 20, a diving suit according to various embodiments is shown. The diving suit can be used in conjunction with a diving propulsion unit according to various embodiments, thereby facilitating the wearer's use. The diving suit includes: a diving suit body configured to be worn by a diver and covering at least the diver's legs and torso; at least one angle sensor assembly, the at least one angle sensor assembly including a first sensing unit 51, 53 disposed on the thigh corresponding to the same side of the diver on the diving suit body and a second sensing unit 52, 54 disposed on the lower leg, and the at least one angle sensor assembly is configured to...The angle between the thigh and calf on the corresponding side of the diver is sensed based on the relative positional relationship of their respective first sensing units 51, 53 and second sensing units 52, 54; and a controller 7, which is attached to the wetsuit body at a position corresponding to the diver's waist or chest front side, and the controller 7 is connected to at least one angle sensor assembly wirelessly or via a cable embedded in the wetsuit body. In some embodiments, the controller also includes a port for connecting to at least one thruster, the port being a plug-in port or a wireless connection port. In some embodiments, at least one angle sensor assembly includes a left angle sensor assembly and a right angle sensor assembly. The diver may first wear the wetsuit shown in Figures 18 to 20, then wear a tank vest (BCD), and finally wear the diving thruster and tank (both may be assembled first or the diving thruster may be worn separately), and the diver enters the water to conduct diving activities after the adjustment is completed.

[0099] The specific embodiments described above in this application are only for more clearly describing the principles of this application, wherein various components are clearly shown or described to make the principles of the invention easier to understand. Various modifications or changes can be easily made to this application by those skilled in the art without departing from the scope of this application. Therefore, it should be understood that these modifications or changes should all be included within the scope of patent protection of this application. Instruction manual, page 9 / 9, 13 CN 121626381 A, Figure 1, Figure 2; Instruction manual, Figure 1 / 14, page 14 CN 121626381 A, Figure 3; Instruction manual, Figure 2 / 14, page 15 CN 121626381 A, Figure 4; Instruction manual, Figure 3 / 14, page 16 CN 121626381 A, Figure 5; Instruction manual, Figure 4 / 14, page 17 CN 121626381 A, Figure 6; Instruction manual, Figure 5 / 14, page 18 CN 121626381 A, Figure 7; Instruction manual, Figure 6 / 14, page 19 CN 121626381 A, Figure 8, Figure 9; Instruction manual, Figure 10, Figure 11; Instruction manual, Figure 8 / 14, page 21 CN 121626381 A, Figure 12, Figure 13; Instruction manual, Figure 9 / 14, page 22 CN 121626381 A Figure 14 Figure 15 Appendix to the Instruction Manual 10 / 14 Page 23 CN 121626381 A Figure 16 Figure 17 Appendix to the Instruction Manual 11 / 14 Page 24 CN 121626381 A Figure 18 Appendix to the Instruction Manual 12 / 14 Page 25 CN 121626381 A Figure 19 Appendix to the Instruction Manual 13 / 14 Page 26CN 121626381 A Figure 20 Specification附图 14 / 14 pages 27 CN 121626381 A Abstract Abdominal ultrasound examination method, system and device HKP2620517 SUBMERSIBLE PROPULSION DEVICE AND DIVING SUIT The present application provides a submersible propulsion device and a diving suit. The submersible propulsion device comprises: at least one angle sensor assembly, the at least one angle sensor assembly comprising a first sensing unit to be disposed on a thigh and a second sensing unit to be disposed on a calf on the same side of the diver, and the at least one angle sensor assembly being configured to sense an angle between a thigh and a calf on a corresponding side of the diver based on a relative positional relationship between the respective first sensing unit and second sensing unit; at least one propeller, comprising: a propeller body and at least one battery module; and a controller, wherein the controller is connected to the at least one angle sensor assembly and the at least one propellerrespectively, so as to control the at least one propeller based on an angle signal sensed by the at least one angle sensor assembly. The submersible propulsion device according to the embodiments is flexible in configuration and convenient to control, and can free both hands.

Claims

1. A diving propulsion device, comprising: at least one angle sensor assembly comprising a first sensing unit arranged on a thigh and a second sensing unit arranged on a calf of a same side of a diver, and configured to sense an included angle between the thigh and the calf of the corresponding side of the diver based on a relative positional relationship of the first and second sensing units; at least one thruster comprising a thruster body and at least one battery module; and a controller connected with the at least one angle sensor assembly and the at least one thruster respectively to control the at least one thruster based on an included angle signal sensed by the at least one angle sensor assembly. The at least one thruster is switchable between a first state in which the thruster body is connected with the at least one battery module and a second state in which the thruster body is separated from the at least one battery module.

2. The submersible propulsion device of claim 1, wherein, The at least one angle sensor assembly is a high-performance three-dimensional motion posture measurement system based on MEMS technology, wherein the at least one angle sensor assembly each comprises a three-axis gyroscope, a three-axis accelerometer, a three-axis electronic compass and a processor.

3. The submersible propulsion device of claim 1, wherein, The diving propulsion device further comprises a wearing suit, the controller and the at least one angle sensor assembly are attached to the wearing suit, so that when the wearing suit is worn by the diver, the first and second sensing units of the at least one angle sensor assembly are positioned at the same side thigh and calf of the diver, and the controller is positioned at the front side of the waist or the front side of the chest of the diver.

4. The submersible propulsion device of claim 1, wherein, The at least one thruster comprises a single thruster attached to an oxygen cylinder on the back side of the diver in the first state, wherein the at least one angle sensor assembly comprises a single angle sensor assembly worn on the left side or the right side of the diver, and the controller controls the single thruster to output a thrust forward or backward based on an included angle signal sensed by the single angle sensor assembly.

5. The submersible propulsion device of claims 2-4, wherein, The at least one thruster comprises a left thruster and a right thruster respectively worn on the left side and the right side of the diver, wherein the at least one angle sensor assembly comprises a left angle sensor assembly and a right angle sensor assembly respectively worn on the left side and the right side of the diver, the controller controls the left thruster based on a first included angle signal sensed by the left angle sensor assembly, and the controller controls the right thruster based on a second included angle signal sensed by the right angle sensor assembly.

6. A submersible propulsion device according to claims 2-4, characterized in that, The left and right thrusters are mountable in any of the following ways:

7. The submersible propulsion device of claim 6, wherein, The left and right thrusters are attached to the left and right sides of an oxygen cylinder on the back side of the diver in the first state, The left and right thrusters are attached to the left and right sides of the body of the diver in the first state, or The left and right thrusters are attached to the left and right sides of the body of the diver in the first state. The left and right thrusters are respectively in a second state, wherein the thruster bodies of the left and right thrusters are attached to the left and right sides of the diver's body, and at least one battery module of the left and right thrusters is respectively attached to the left and right sides of the oxygen cylinder on the back of the diver.

8. The submersible propulsion device of claim 6, wherein, The controller is configured to control the corresponding side thruster to output forward thrust when the first or second included angle signal is in a first interval, to stop the corresponding side thruster when the first or second included angle signal is in a second interval, and to control the corresponding side thruster to output forward thrust when the first or second included angle signal is in a third interval.

9. The submersible propulsion device of claim 8, wherein, When the first or second included angle signal is in the first or third interval, the controller is configured to change the magnitude of the forward thrust and / or the backward thrust output by the corresponding side thruster as the first or second included angle signal changes, wherein the controller is configured to increase the magnitude of the forward thrust or the backward thrust output by the corresponding side thruster as the first or second included angle signal increases or to decrease the magnitude of the forward thrust or the backward thrust output by the corresponding side thruster as the first or second included angle signal increases.

10. The underwater propulsion device of claim 1, wherein, The first and / or second sensing unit is itself configured with a battery and is wirelessly connected to the controller, wherein the controller is itself configured with a battery and is wirelessly connected to the at least one thruster; or The first and / or second sensing unit, the controller, and / or the controller and the at least one thruster are connected by a cable.

11. The underwater propulsion device of claim 2, wherein, When the at least one thruster is in a first state, the thruster body is connected to the at least one battery module through a waterproof joint; and / or When the at least one thruster is in a second state, the thruster body is connected to the at least one battery module through an adapter, wherein the adapter includes a cable, a first end and a second end of the cable are respectively connected to the thruster body and the at least one battery module through waterproof joints; The waterproof joint includes a male waterproof joint and a female waterproof joint respectively arranged on the end portions of the two connected to each other.

12. The underwater propulsion device of claim 11, wherein, The male waterproof joint includes: A male joint body, an end portion of the male joint body has a first base plane; A ring-shaped boss protruding from the first base plane, at least one electrical connection terminal is arranged in the ring-shaped boss; and A pair of arms arranged at opposite sides of the end portion of the male joint body close to the first base plane.

13. The underwater propulsion device of claim 12, wherein, The ring-shaped boss is in the shape of a runway, the pair of arms are arranged at opposite straight sections of the ring-shaped boss, wherein the arms have a hook portion, the width of the hook portion is in the range of 80% to 100% of the width of the straight section.

14. The underwater propulsion device of claim 12, wherein, The at least one electrical connection terminal includes a set of power terminals and a set of signal terminals respectively arranged at opposite arc-shaped sections of the ring-shaped boss.

15. The underwater propulsion device of claim 12, wherein, The male waterproof joint further comprises a first sealing member arranged around the annular protrusion outer ring, wherein the first sealing member is arranged at the joint of the annular protrusion outer ring and the first base plane.

16. The submersible propulsion device of any one of claims 12-15, wherein, The annular protrusion inner portion is further provided with a foolproof part, which is formed as a protrusion or a groove.

17. The submersible propulsion device of any one of claims 12-15, wherein, Each of the holding arms comprises: a first segment pivotally connected to the male joint body; and a second segment pivotally connected to the first segment.

18. The underwater propulsion device of claim 17, wherein, The pair of holding arms can be switched between a locked state and a free state, in the locked state, the first segment and the second segment are substantially collinear, and the hook portion of the second segment buckles the notch of the corresponding female waterproof joint, in the free state, the first segment and the second segment can rotate along the respective rotation axes, in the free state, when the male waterproof joint is connected with the female waterproof joint, the hook portion of the second segment of the pair of holding arms is connected to the notch of the corresponding female waterproof joint, the second segment of the pair of holding arms is pressed inward, the second segment rotates around the notch, thereby switching the holding arms from the free state to the locked state.

19. The submersible propulsion device of any one of claims 12-15, wherein, One side of the male joint body has a connecting protrusion extending to the first base plane, wherein the connecting protrusion is T-shaped in cross section.

20. The submersible propulsion device of any one of claims 12-15, wherein, The female waterproof joint is used to connect with the male waterproof joint, the female waterproof joint comprises: a female joint body, an end portion of the female joint body has a second base plane; an annular groove recessed in the second base plane, the annular groove is provided with an electrical connection terminal; and a pair of notches arranged at opposite sides of the end portion of the joint body close to the second base plane, the pair of notches are used to receive a pair of holding arms of the male waterproof joint.

21. The underwater propulsion device of claim 1, wherein, The at least one thruster comprises: a thruster body; one or more intermediate battery modules; and a terminal battery module or an end cap; The intermediate battery modules comprise opposite ends respectively arranged as a male waterproof joint and a female waterproof joint.

22. A diving suit characterized in that, The diving suit comprises respectively: a diving suit body, the diving suit body is configured to be worn by a diver, and covers at least the diver's legs and torso; at least one angle sensor assembly, the at least one angle sensor assembly comprises a first sensing unit arranged at the thigh and a second sensing unit arranged at the calf of the same side of the diver on the diving suit body, and the at least one angle sensor assembly is configured to sense the included angle between the thigh and the calf of the corresponding side of the diver based on the relative positional relationship of the first sensing unit and the second sensing unit; and a controller attached to a position of the diving suit body corresponding to the waist or the front side of the chest of the diver, the controller is wirelessly connected with the at least one angle sensor assembly or connected through a cable embedded in the diving suit body. The controller further comprises a port for connecting with the at least one thruster, the port is a plug-in port or a wireless connection port, wherein the at least one angle sensor assembly comprises a left side angle sensor assembly and a right side angle sensor assembly.

23. The diving suit of claim 22, wherein, ​

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