Underwater propulsion device and diving suit

Abstract

To provide an underwater propulsion device and a diving suit.SOLUTION: An underwater propulsion device includes: a first sensing unit arranged on a thigh unit of a diver and a second sensing unit arranged on a shin on the same side; at least one angle sensor assembly body composed to sense an angle between the thigh unit and the shin of the diver based on relatively position relationship between the first sensing unit and the second sensing unit; and at least one propeller including a propeller body and at least one battery module; and a controller respectively connected to the at least one angle sensor assembly body and the at least one propeller to control the at least one propeller based on an angle signal sensed by the at least one angle sensor. The underwater propulsion device has flexible disposition, easy control, and both hands are capable of being released.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] This application relates to the technical field of underwater equipment, and more particularly to wearable submersible propulsion devices. [Background technology]

[0002] As diving has become more popular, various underwater propellers have become commonplace in diving equipment. However, these propellers typically require the diver to control the propulsion state by hand or with a wired controller. This makes it difficult to operate other equipment, especially underwater. Furthermore, backpack-type diving devices often prevent the attachment of other equipment, such as air tanks. Many underwater propellers only provide simple propulsion functions and are unable to reverse or change direction. Furthermore, a lighter, more comfortable underwater propulsion device is desirable. Summary of the Invention [Problem to be solved by the invention]

[0003] The present application seeks to solve or at least alleviate one or more problems present in the prior art. [Means for solving the problem]

[0004] On the other hand, at least one angle sensor assembly is provided with a first sensing unit disposed on the thigh of the diver and a second sensing unit disposed on the shin of the same side, and is configured to sense the angle between the thigh and shin of the diver on that side based on the relative positional relationship between the first sensing unit and the second sensing unit; at least one propeller comprising a propeller body and at least one battery module; a controller connected to the at least one angle sensor assembly and the at least one propeller, respectively, to control the at least one propeller based on an angle signal sensed by the at least one angle sensor; A submersible propulsion device is provided.

[0005] In an embodiment of the submersible propulsion device, it is preferable that the at least one propeller is switchable between a first state in which the propeller body is connected to the at least one battery module and a second state in which the propeller body is disconnected from the at least one battery module.

[0006] In an embodiment of the submersible propulsion device, it is preferable that the at least one sensor assembly is a high-performance three-dimensional motion and attitude measurement system based on MEMS technology, and that each of the at least one sensor assembly includes a three-axis gyroscope, a three-axis accelerometer, a three-axis electronic compass, and a processor.

[0007] In an embodiment of the diving propulsion device, the diving propulsion device preferably further comprises a wearable suit, and 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 a diver, the first sensing unit and the second sensing unit of the at least one angle sensor assembly are positioned on the thigh and shin on the same side of the diver, and the controller is positioned in front of the diver's waist or in front of the chest.

[0008] In an embodiment of the submersible propulsion device, it is preferable that the at least one propeller includes a single propeller attached to an oxygen tank on the dorsal side of the diver in a first state, the at least one angle sensor assembly includes a single angle sensor assembly attached to the left or right side of the diver, and the controller controls the single propeller to output thrust in a forward or rearward direction based on an angle signal sensed by the single angle sensor assembly.

[0009] In an embodiment of the submersible propulsion device, it is preferable that the at least one propeller includes a left propeller and a right propeller mounted on the left and right sides of the diver, respectively, the at least one angle sensor assembly includes a left angle sensor assembly and a right angle sensor assembly mounted on the left and right sides of the diver, respectively, and the controller controls the left propeller based on a first angle signal sensed by the left angle sensor assembly and controls the right propeller based on a second angle signal sensed by the right angle sensor assembly.

[0010] In the submersible propulsion device embodiment, the port and starboard propellers are preferably mounted in one of the following ways:

[0011] - the left and right propellers are attached to the left and right sides of the oxygen tank on the diver's back in a first state; - the left and right propellers are attached to the left and right sides of the diver's body in the first state, or - The left and right propellers are respectively in a second state, the propeller bodies of the left and right propellers are attached to the left and right sides of the diver's body, and at least one battery module of the left and right propellers is attached to the left and right sides of the oxygen tank on the diver's back, respectively.

[0012] In an embodiment of the submersible propulsion device, the controller is preferably configured to control the propeller 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 propeller 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 propeller on the corresponding side to output reverse thrust when the first angle signal or the second angle signal is in a third interval.

[0013] In an embodiment of the submersible propulsion device, it is preferable that the controller is configured such that when the first angle signal or the second angle signal is in the first interval or the third interval, the magnitude of the forward thrust and / or the reverse thrust output by the corresponding propeller changes with changes in the first angle signal or the second angle signal, and the controller is configured such that the magnitude of the forward thrust or the reverse thrust output by the corresponding propeller increases with an increase in the first angle signal or the second angle signal, or decreases with an increase in the first angle signal or the second angle signal.

[0014] In an embodiment of the submersible propulsion device, the first sensing unit and / or the second sensing unit are configured to have a battery and be wirelessly connected to the controller, and the controller is configured to have a battery and be wirelessly connected to the at least one propeller, or Preferably, the first sensing unit, the second sensing unit and the controller and / or the controller and the at least one propeller are connected by a cable.

[0015] In an embodiment of the submersible propulsion device, when the at least one propeller is in a first state, the propeller body is connected to the at least one battery module via a watertight joint; and / or When the at least one propeller is in a second state, the propeller body is connected to the at least one battery module via an adapter, the adapter includes a cable, and a first end and a second end of the cable are connected to the propeller body and the at least one battery module via watertight joints, respectively; The watertight joint preferably includes a male watertight joint and a female watertight joint provided at the ends of two members to be connected to each other.

[0016] In an embodiment of the submersible propulsion device, the male watertight fitting comprises: a male fitting body having a first base surface at an end thereof; an annular boss protruding from the first base surface and provided with at least one electrical connection terminal; a pair of embracing arms provided on opposite sides of an end of the male coupling body adjacent to the first base surface; It is preferable to have the following.

[0017] In an embodiment of the submersible propulsion device, it is preferable that the annular boss has a racetrack shape, the pair of embracing arms are provided on opposing straight portions of the annular boss, and the embracing arms have hook portions whose width is in the range of 80% to 100% of the width of the straight portions.

[0018] In the embodiment of the submersible propulsion device, the at least one electrical connection terminal preferably includes a pair of power supply terminals and a pair of signal terminals provided on opposing arcuate portions of the annular boss.

[0019] In an embodiment of the submersible propulsion device, it is preferable that the male watertight fitting further comprises a first sealant provided around the outer ring of the annular boss, the first sealant being provided at the intersection of the outer ring of the annular boss and the first base surface.

[0020] In the embodiment of the submersible propulsion device, the annular boss preferably further comprises a foolproof portion in the form of a protrusion or a recess.

[0021] In an embodiment of the submersible propulsion device, each of the embracing arms comprises: a first segment pivotally coupled to the male fitting body; a second segment pivotally coupled to the first segment; It is preferable to have the following.

[0022] In an embodiment of the submersible propulsion device, the pair of embracing arms are preferably switchable between a locked state and a free state, and in the locked state, the first segment and the second segment are approximately collinear and the hook portion of the second segment engages with a corresponding notch of the female watertight fitting, and in the free state, the first segment and the second segment are rotatable around their respective rotation axes, and in the free state, when the male watertight fitting is mated with the female watertight fitting, if the hook portion of the second segment of the pair of embracing arms is connected to a corresponding notch of the female watertight fitting, the second segment of the pair of embracing arms is pressed inward so that the second segment rotates and engages with the notch, thereby switching the embracing arms from the free state to the locked state.

[0023] In the embodiment of the submersible propulsion device, it is preferable that one side of the male coupling body has a coupling protrusion that extends to the first base surface and has a T-shaped cross section.

[0024] In an embodiment of the submersible propulsion device, the female watertight fitting is for connecting with the male watertight fitting, the female watertight fitting comprising: a female fitting body having a second base surface at an end thereof; an annular recess formed in the second base surface and configured to accommodate an electrical connection terminal; a pair of notches provided on opposite sides of an end of the fitting body adjacent to the second base surface for receiving a pair of embracing arms of the male watertight fitting; It is preferable to have the following.

[0025] In an embodiment of the submersible propulsion device, the at least one propeller comprises: The propeller body, one or more intermediate battery modules; an end battery module or end cap; Preferably, the intermediate cell module has opposite ends provided as a male watertight joint and a female watertight joint, respectively.

[0026] On the other hand, a diving suit body that is worn by a diver and is configured to cover at least both legs and the body of the diver; at least one angle sensor assembly including a first sensing unit disposed on a portion of the diving suit body corresponding to the diver's thigh and a second sensing unit disposed on a portion of the diving suit body corresponding to the diver's shin on the same side, the angle sensor assembly being configured to sense the angle between the diver's thigh and shin on that side based on the relative positional relationship between the first sensing unit and the second sensing unit; a controller attached to the diving suit body at a position corresponding to the diver's waist or the front of the chest, and connected to the at least one angle sensor assembly wirelessly or via a cable fitted into the diving suit body; A diving suit is provided.

[0027] In the diving suit embodiment, the controller preferably further comprises a port, which may be a plug-in port or a wireless connection port, for connecting to at least one propeller, and the at least one angle sensor assembly preferably includes a left angle sensor assembly and a right angle sensor assembly. [Effects of the Invention]

[0028] Submersible propulsion devices according to embodiments are flexible in placement, easy to control, and free up both hands. [Brief explanation of the drawings]

[0029] The present application can be more easily understood by referring to the drawings. Those skilled in the art will readily understand that these drawings are provided for illustrative purposes only and are not intended to limit the scope of protection of the present application. Furthermore, in the drawings, similar elements are represented by similar reference numerals. [Figure 1] 1 shows a top view of a diver wearing a submersible propulsion device according to an embodiment. [Figure 2] 1 shows a side view of a diver wearing a submersible propulsion device according to an embodiment. [Figure 3] 1 shows a front view of a diver wearing a submersible propulsion device according to another embodiment. [Figure 4] 4 shows a side view of the diver wearing the submersible propulsion device in FIG. 3. [Figure 5] 4 shows a rear view of the diver wearing the diving propulsion device in FIG. 3. [Figure 6] 10 shows a rear view of a diver wearing a submersible propulsion device in another embodiment. [Figure 7] 10 shows a rear view of a diver wearing a submersible propulsion device in another embodiment. [Figure 8] 1 shows a side view of a submersible propulsion device according to an embodiment. [Figure 9] 9 shows a perspective view of the submersible propulsion device of FIG. 8. [Figure 10] 1A and 1B show three-dimensional views of a propeller body of a submersible propulsion device according to an embodiment, viewed from different angles. [Figure 11] 1A and 1B show three-dimensional views of a propeller body of a submersible propulsion device according to an embodiment, viewed from different angles. [Figure 12] 1A-1C show three-dimensional views of a battery module of a submersible propulsion device according to an embodiment, viewed from different angles. [Figure 13] 1A-1C show three-dimensional views of a battery module of a submersible propulsion device according to an embodiment, viewed from different angles. [Figure 14] 1 illustrates an exploded view of a male watertight coupling for a submersible propulsion device according to an embodiment. [Figure 15] 1 illustrates an end view of a male watertight coupling for a submersible propulsion device according to an embodiment. [Figure 16] 10 shows a perspective view of the battery module of the submersible propulsion device according to the embodiment, as viewed from another angle. FIG. [Figure 17] 1 is a side view of a submersible propulsion device according to an embodiment, showing a state in which a male watertight coupling and a female watertight coupling are connected together. FIG. [Figure 18] 1 shows a rear view of a diving suit according to an embodiment. [Figure 19] 1 shows a side view of a diving suit according to an embodiment. [Figure 20] 1 shows a front view of a diving suit according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0030] 1 and 2, a wearable submersible propulsion device according to an embodiment of the present application will be described. The wearable submersible propulsion device includes a battery module, at least one propeller connected to the battery module, including, for example, a left propeller and a right propeller 100 as in the illustrated embodiment, at least one angle sensor assembly including first sensing units 53, 51 disposed on the diver's thighs 93, 91 and second sensing units 54, 52 disposed on the diver's shins 94, 92 on the same side as in the illustrated embodiment, and configured to sense an angle α between the diver's thighs 93, 91 and shins 94, 92 on that side based on the relative positional relationship between the first sensing units 53, 51 and the second sensing units 54, 52, respectively, and a controller 60 connected to the at least one angle sensor assembly and the at least one propeller. Although the embodiments detailed below illustrate two propellers (one on each side) and two angle sensor assemblies (one on each side), alternative embodiments may include only a single propeller and a single angle sensor assembly. In this case, the propellers can be worn on the back, and the angle sensor assembly is attached to one thigh and shin. The controller is configured to control the operating state of the at least one propeller based on the angle between the thigh and shin on one or both sides of the diver.

[0031] As shown in the drawings, in some embodiments, the battery module may be integrated with the controller and secured to the diver's waist 9 by a belt. Each battery module may be connected to the left propeller 100 by a first cable 67 and to the right propeller 100 by a second cable 68. The left and right propellers 100 may be secured to the diver's thighs by belts 61 and 62, respectively. In some embodiments, the controller 60 may be integrated with the battery module and connected to the left and right propellers by a first cable 67 and a second cable 68, respectively. Alternatively, the controller may be mounted on a suitable location, such as the wrist or chest.

[0032] In some embodiments, the first sensing unit and / or the second sensing unit of at least one angle sensor assembly may be connected to the controller and the battery module by a cable. For example, the first sensing unit and / or the second sensing unit may be connected to the corresponding propeller by a cable and further connected to the controller and the battery module via the propeller. In alternative embodiments, the first sensing unit and / or the second sensing unit of at least one angle sensor assembly may include a battery and be configured to be wirelessly connected to the controller. Alternatively, the first sensing unit may be connected by a cable and the second sensing unit may be wirelessly connected.

[0033] In some embodiments, the first and / or second sensing units are secured to the diver's thighs and shins by belts 63, 64, 65, 66, respectively. In alternative embodiments, the first and / or second sensing units may be attached to the diver's thighs and shins or secured by other suitable means.

[0034] In some embodiments, the submersible propulsion device further includes a wearable suit, and the left propeller, right propeller, left angle sensor assembly, right angle sensor assembly, battery, and controller are attached to the diver via the wearable suit. The wearable suit may be an integrated unit, such as a dry suit or a wet suit. Alternatively, the wearable suit may be a separate unit, such as including multiple belts, as shown. Various cables and sensors may be embedded within the wearable suit, for example, for sealing, to prevent cable tangling, and / or for ease of donning.

[0035] In some embodiments, the at least one angle sensor assembly may be a high-performance 3D motion and attitude measurement system based on MEMS technology. In some embodiments, each of the at least one angle sensor assembly includes a 3-axis gyroscope, a 3-axis accelerometer, a 3-axis electronic compass, and a processor. In some embodiments, the at least one angle sensor assembly is commonly applied in the field of human attitude acquisition, and can output zero-drift 3D attitude and orientation data expressed in quaternion and Euler angles in real time by utilizing quaternion-based 3D algorithms and special data fusion techniques.

[0036] The diver first wears the left and right angle sensor assemblies and can calibrate them before entering the water. For example, the diver can set the origin position of the 3D coordinates by standing or lying flat. When the system is in operation, the control software can obtain 3D coordinate values ​​based on the origin position of each attitude sensor. Through calculations, angle data between the attitude sensors fixed to the thigh and shin can be obtained for each pair.

[0037] In some embodiments, the controller is configured to control the operating states of the left and right propellers 100, respectively, based on the angle between the diver's thighs and shins on both sides. In some embodiments, the left and right propellers 100 can each output a force in a forward or rearward direction. In some embodiments, the controller is configured to control the corresponding propeller to output forward thrust when the angle α is greater than a first angle, to control the corresponding propeller to stop when the angle α is less than the first angle and greater than a second angle, and to control the corresponding propeller to output reverse thrust when the angle α is less than the second angle. When the angle is greater than the first angle, the controller controls the magnitude of the forward thrust output by the corresponding propeller to increase as the angle increases. When both the left and right propellers output forward thrust, the diver moves forward. When one of the left and right propellers outputs reverse thrust and the other outputs forward thrust, the diver rotates in place. When one of the left and right propellers outputs reverse thrust and the other is stopped, the diver can turn. When both the left and right propellers output reverse thrust, the diver moves backward. Other conditions also exist. Therefore, by adjusting the angles between the thighs and shins of the left and right feet, the diver can easily control the left and right propellers independently, thereby performing various desired diving movements. In some embodiments, the first angle can be selected from 90 degrees to 150 degrees so that the diver's feet are in a nearly natural position when forward thrust is output. In some embodiments, the second angle can be selected from 75 degrees to 105 degrees, and the second angle can be smaller than the first angle.

[0038] Further embodiments will now be described with reference to Figures 3 to 17. In some embodiments, a submersible propulsion device includes at least one angle sensor assembly including a first sensing unit disposed on a diver's thigh and a second sensing unit disposed on the shin of the same side, the angle sensor assembly being configured to sense the angle between the diver's thigh and shin on that side based on the relative positions of the first and second sensing units, at least one propeller 100 including a propeller body 1 and at least one battery module 2, 3, 4, the propeller body 1 and the battery module being integrally formed or having a separable modular design as described in detail below, and a controller 7 connected to the at least one angle sensor assembly and the at least one propeller, respectively, to control the at least one propeller 100 based on an angle signal sensed by the at least one angle sensor.

[0039] In some embodiments, the at least one angle sensor, the at least one propeller, and the controller 7 may be wirelessly connected to one another. Alternatively, if a cable connects any two of the at least one angle sensor, the at least one propeller, and the controller, the cable may be embedded in the wearable suit 6 to facilitate mounting and cable concealment. In some embodiments, the propeller is switchable between a first state (FIGS. 5 and 6) in which the propeller body 1 is connected to the at least one battery module 2, 3, 4, and a second state (FIG. 7) in which the propeller body 1 is separated from the at least one battery module 2, 3, 4.

[0040] 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 donned by a diver, the first and second sensing units of the at least one angle sensor assembly are positioned on the diver's thighs and shins, and the controller 7 is positioned in front of the diver's waist or in front of the chest, facilitating operation of the controller 7 by the diver.

[0041] The submersible propulsion device according to the embodiment can be flexibly positioned. For example, as shown in FIG. 5 , the at least one propeller 100 in a first state includes a single propeller 100 attached to an oxygen tank 8 on the diver's back. The single propeller 100 can be attached to either side of the oxygen tank 8 by a belt, a hook, or the like. Correspondingly, the at least one angle sensor assembly may include only one set of angle sensor assemblies attached to the diver's left or right side. The controller 7 controls the single propeller to output thrust forward or backward based on the angle signal sensed by the set of angle sensor assemblies. In this mode, the submersible propulsion device is directly attached to the oxygen tank, making the diver wearing the submersible propulsion device suitable for diving activities in confined spaces, such as cave diving.

[0042] 6, the at least one propeller includes a left propeller and a right propeller mounted on the left and right sides of the diver, respectively, the at least one angle sensor assembly includes a left angle sensor assembly and a right angle sensor assembly mounted on the left and right sides of the diver, respectively, and the controller 7 controls the left propeller 102 based on a first angle signal sensed by the left angle sensor assembly and controls the right propeller 101 based on a second angle signal sensed by the right angle sensor assembly. This arrangement allows the left propeller 102 and the right propeller 101 to be controlled independently, thereby enabling a variety of operation modes to be realized in combination. For example, when both the left propeller 102 and the right propeller 101 simultaneously output forward thrust, the diver is driven forward; when both the left propeller 102 and the right propeller 101 simultaneously output reverse thrust, the diver is driven reverse; when the left propeller 102 and the right propeller 101 stop, the diver stops and one of the left propeller 102 and the right propeller 101 outputs forward thrust and the other outputs reverse thrust, the diver is driven to rotate clockwise or counterclockwise on the spot; when one of the left propeller 102 and the right propeller 101 outputs forward thrust and the other stops, the diver is driven to turn left or right. This control method frees up the diver's hands and allows him to perform various tasks underwater.

[0043] In some embodiments, the left and right propellers are mounted in the manner shown in FIG. 6, i.e., the left and right propellers 102 and 101 are mounted to the left and right sides of the oxygen tank on the diver's back in a first state. Alternatively, the left and right propellers are mounted to the left and right sides of the diver's body in a first state, e.g., on the left and right sides of the thighs as shown in FIG. 1. In some embodiments, the left and right propellers are in a second state as shown in FIG. 7. The propeller bodies 1011 and 1021 of the left and right propellers are mounted to the diver's body, e.g., on the left and right sides of the thighs, and at least one battery module 1012 and 1022 of the left and right propellers are mounted to the left and right sides of the oxygen tank on the diver's back.

[0044] In some embodiments, the controller 7 is configured to control the propeller on the corresponding side to output forward thrust when the first angle signal or the second angle signal is in the first interval, to control the propeller on the corresponding side to stop when the first angle signal or the second angle signal is in the second interval, and to control the propeller on the corresponding side to output reverse thrust when the first angle signal or the second angle signal is in the third interval. In some embodiments, the first interval, the second interval, and the third interval may be continuous or separate. In some embodiments, the controller 7 is configured such that when the first angle signal or the second angle signal is in the first interval or the third interval, the magnitude of the forward thrust and / or reverse thrust output by the corresponding propeller changes with changes in the first angle signal or the second angle signal, and the controller is configured such that the magnitude of the forward thrust or the reverse thrust output by the corresponding propeller increases with an increase in the first angle signal or the second angle signal, or decreases with an increase in the first angle signal or the second angle signal.

[0045] In some embodiments, the first sensing unit and / or the second sensing unit includes a battery and is configured to be wirelessly connected to the controller 7, and the controller 7 includes a battery and is configured to be wirelessly connected to at least one propeller 100. Alternatively, the first sensing unit, the second sensing unit, and the controller and / or the controller and at least one propeller are connected by cables.

[0046] 8 and 9, a diving propeller according to an embodiment is shown. The diving propeller is attached to, for example, a diver's body or an oxygen tank and used to provide propulsion underwater. In this embodiment, the diving propeller employs a modular design and includes a propeller body 1, middle battery modules 2 and 3, and end battery modules or end caps 4. The modular design of the diving propeller allows users to select an appropriate number of battery modules according to the target diving time, providing flexibility and convenience.

[0047] 10 and 11 , a propeller body 1 of a submersible propeller is shown. The propeller body 1 mainly includes a propeller portion 11 and a watertight joint 13, which in the illustrated embodiment is a male watertight joint, which will be described in detail below. The propeller portion 11 is generally cylindrical and houses a motor 110 and an impeller 12 connected to the motor 110. As shown in FIG. 11 , the propeller portion 11 has an open end and the other end connected to the watertight joint 13. The side of the propeller portion 11 has a lattice-like shape and a side opening 111. In some embodiments, one of the open end of the propeller portion 11 and the side opening 111 serves as a water inlet, and the other serves as a water outlet. This is determined by the rotation direction of the motor 110. Although not shown, the propeller body 1 may also include a control device, a receiver, or the like. This determines the thrust direction of the submersible propeller based on a control signal. For example, the end battery module or end cap 4 may have a connecting cable or wireless module for receiving control signals, etc. Also, the submersible propellers shown are exemplary only, and the specific structure of the submersible propellers can vary in alternative embodiments.

[0048] Next, referring to FIGS. 12 to 17, an intermediate battery module 2 according to an embodiment will be described. The intermediate battery module 2 has opposing first and second ends, where the first end can be a male watertight joint 23 and the second end can be a female watertight joint 24. The second end 24 of the intermediate battery module 2 can be connected to the male watertight joint 13 of the propeller body. The first end of the intermediate watertight module 2 can be connected to the second end of another intermediate battery module 3 or can be directly connected to an end battery module or end cap 4. Also, an assembled submersible propeller can have zero, one, two, or any suitable number of intermediate battery modules. Furthermore, the watertight joint 13 of the propeller body 1 can be a female watertight joint. The end battery module or end cap 4 at the end of the submersible propeller can have a watertight joint that faces the watertight joint of the propeller body 1.

[0049] The shape of a male watertight fitting will be described in detail below, taking the male watertight fitting 23 as an example. The male watertight fitting 23 according to this embodiment comprises a male fitting body having a first base surface 231 at its end, an annular boss 232 that protrudes from the first base surface 231 and is provided with at least one electrical connection terminal 234, and a pair of holding arms 235 that are provided on opposite sides of the end of the male fitting body that is close to the first base surface 231.

[0050] In some embodiments, the annular boss 232 has a racetrack shape, specifically, the annular boss 232 includes opposing straight portions 2321 and opposing arcuate portions 2322, and the annular boss 232 surrounds the portion 233 of the first base surface 231, and the pair of embracing arms 235 are provided on the opposing straight portions 2321 of the annular boss. In some embodiments, as clearly shown in FIG. 15 , the embracing arms include hook portions 2325, and the width e of the hook portions 2325 of the embracing arms corresponds to the width d of the straight portions 2321 of the annular boss 232. For example, the width e of the hook portions 2325 of the embracing arms is in the range of 80% to 100% of the width d of the straight portions 2321. The wider the width of the hook portions 2325 of the embracing arms, the larger the contact area, allowing for more uniform axial pressure.

[0051] In some embodiments, the at least one electrical connection terminal 234 includes a pair of power supply terminals 2341 and a pair of signal terminals 2342 provided on opposing arcuate portions of the annular boss. The power supply terminals 2341 and the signal terminals 2342 are respectively provided on opposing arcuate portions 2322, for example, recesses in the arcuate portion 2322 of the annular boss 232. Alternatively, the at least one electrical connection terminal 234 may include only the electrical terminals 2341.

[0052] In some embodiments, the annular boss further includes a protrusion or recess, which is a foolproof portion 236. More specifically, as shown in Fig. 13, the opposing linear portions 2321 are provided with a large circular recess 2361 and a small circular recess 2362, respectively, and the foolproof portion 236 can prevent incorrect installation of the watertight fitting.

[0053] In some embodiments, the male watertight fitting 23 may include a first seal 238 provided around the outer ring of the annular boss. In some embodiments, the first seal 238 is provided at the intersection of the outer ring of the annular boss 232 and the first base surface 231, thereby achieving sealing in both the axial and radial directions. Alternatively, two seals may be provided on the side of the annular boss 232 and the first base surface 231, respectively, to achieve sealing in both the axial and radial directions. In some embodiments, the seal may be provided on the female watertight fitting. In some embodiments, one side of the male fitting body has a connecting protrusion 237 that extends to the first base surface 231. In some embodiments, the connecting protrusion 237 has a T-shaped cross section.

[0054] 16, the female watertight fitting has corresponding features to the male watertight fitting so as to connect with the male watertight fitting. More specifically, taking the female watertight fitting 24 as an example, the female watertight fitting 24 has a female fitting body having a second base surface 241 at its end, an annular recess 242 recessed in the second base surface 241 and provided with electrical connection terminals 2441, 2442, and a pair of notches 245 provided on opposite sides of the end of the fitting body adjacent to the second base surface for receiving the pair of embracing arms 235 of the male watertight fitting. In some embodiments, when the male watertight fitting has corresponding features, the female watertight fitting may have, for example, two small and large cylindrical foolproof protrusions, i.e., foolproof portions 2461, 2462, a connecting protrusion 247 extending to the second base surface 241, and a central boss 243 in the center of the annular recess 242. In some embodiments, several air holes 249 may be lined on each side of the straight portion of the annular recess 242 .

[0055] 14 , each of the embracing arms 235 comprises a first segment 2352 rotatably coupled to the male fitting body and a second segment 2355 rotatably coupled to the first segment 2352 and provided with a hook portion 2356 at its end. A first end of the first segment 2352 is rotatably coupled to ears 2351 on both ends of the male fitting body by a first rotation axis 2353, and a second end of the first segment 2352 is rotatably coupled to the second segment 2355 by a second rotation axis 2354, with the first segment 2352 extending essentially away from the fitting from the first end to the second end, and the second segment 2355 extending from the coupling end to the hook portion 2356 in a direction towards the fitting.

[0056] The pair of holding arms 235 can be switched between a locked state and a free state. In the locked state, as shown by the solid lines in FIG. 17 , the first segment 2352 and the second segment 2355 are substantially collinear, and the hook portion 2356 of the second segment engages with a notch in a corresponding female watertight fitting. 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 for accommodating the first segment 2352. To increase strength, the first segment 2352 may include multiple parallel ribs. In the free state, the first segment 2352 and the second segment 2355 are rotatable about their respective rotation axes. As shown in Fig. 17, in the free state, when the male watertight fitting 13 is mated with the female watertight fitting 24, the first base surface is in close contact with the second base surface, and the annular boss and the annular recess are fitted together, with at least one terminal of the annular boss mating with at least one terminal of the annular recess, thereby transmitting power and / or control signals. Furthermore, as shown by the dotted lines in Fig. 17, when the hook portions 2356 of the second segments 1355 of the pair of embracing arms are engaged with the corresponding notches of the female watertight fitting, for example, by pressing the second segments 1355 of the pair of embracing arms inward with force F, the hook portions 1356 rotate and engage with the notches 245, switching the embracing arms from the free state to the locked state. The male watertight fitting 13 and the female watertight fitting 24 are then locked in the axial direction, and sufficient axial force is applied to press the seal member 238 in the locked state, ensuring underwater tightness. In some embodiments, notch 245 can have an outer edge to prevent hook portion 1356 from disengaging from notch 245 when second segment 1355 is rotated. As shown in Fig. 2, after assembly, the male watertight fitting engages with the connecting protrusion of the female watertight fitting, thereby connecting the submersible propeller to another member, such as an oxygen tank. The present application also provides submersible propellers and battery modules according to each embodiment.

[0057] 18 to 20, which illustrate diving suits according to various embodiments. The diving suits can be used in combination with diving propellers according to various embodiments to facilitate donning by divers. The diving suits include a diving suit body worn by a diver and configured to cover at least the diver's legs and torso; at least one angle sensor assembly including first sensing units 51, 53 disposed on the diving suit body in a portion corresponding to the diver's thighs and second sensing units 52, 54 disposed on a portion corresponding to the diver's shin on the same side, and configured to sense the angle between the diver's thigh and shin on that side based on the relative positional relationship between the first sensing units 51, 53 and the second sensing units 52, 54; and a controller 7 attached to the diving suit body in a position corresponding to the diver's waist or the front of the chest, and connected to the at least one angle sensor assembly wirelessly or via a cable fitted into the diving suit body. In some embodiments, the controller further includes a port, which is a plug-in port or a wireless connection port, for connecting to at least one propeller. In some embodiments, the at least one angle sensor assembly includes a left angle sensor assembly and a right angle sensor assembly. A diver first puts on a diving suit such as shown in FIGS. 18 to 20 , then puts on a jacket-type BCD, and finally puts on a diving propeller and gas cylinder (both of which may be pre-assembled or worn separately), and after the setup is complete, enters the water to engage in underwater activities.

[0058] The specific embodiments described above in the present application are merely for the purpose of more clearly illustrating the principles of the present application, and each component is clearly shown or described to facilitate understanding of the principles of the present invention. Without departing from the scope of the present application, those skilled in the art can easily make various modifications to the present application, and these modifications will also fall within the scope of protection of the present application.

Claims

1. at least one angle sensor assembly including a first sensing unit disposed on a thigh of a diver and a second sensing unit disposed on the shin of the same side, the angle sensor assembly being configured to sense an angle between the thigh and shin of the diver on that side based on a relative positional relationship between the first sensing unit and the second sensing unit; at least one propeller comprising a propeller body and at least one battery module; a controller connected to the at least one angle sensor assembly and the at least one propeller, respectively, to control the at least one propeller based on an angle signal sensed by the at least one angle sensor; A submersible propulsion device comprising:

2. 2. The submersible propulsion device of claim 1, wherein the at least one propeller is switchable between a first state in which the propeller body is connected to the at least one battery module and a second state in which the propeller body is disconnected from the at least one battery module.

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

4. 2. The submersible propulsion device of claim 1, further comprising a wearable suit, wherein 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 a diver, a first sensing unit and a second sensing unit of the at least one angle sensor assembly are positioned on the thigh and shin of the same side of the diver, and the controller is positioned in front of the diver's waist or in front of the chest.

5. 5. The submersible propulsion device of claim 2, wherein the at least one propeller comprises a single propeller attached to an oxygen tank dorsal to the diver in a first state, the at least one angle sensor assembly comprises a single angle sensor assembly attached to the left or right side of the diver, and the controller controls the single propeller to output thrust in a forward or rearward direction based on an angle signal sensed by the single angle sensor assembly, or the at least one propeller comprises a left propeller and a right propeller attached to the left and right sides of the diver, respectively, the at least one angle sensor assembly comprises a left angle sensor assembly and a right angle sensor assembly attached to the left and right sides of the diver, respectively, and the controller controls the left propeller based on a first angle signal sensed by the left angle sensor assembly and controls the right propeller based on a second angle signal sensed by the right angle sensor assembly.

6. The left and right propellers are: - the left and right propellers are attached in a first state to the left and right sides of the oxygen tank on the diver's back; the left and right propellers are attached to the left and right sides of the diver's body in the first state, or - the left and right propellers are in a second state, the propeller bodies of the left and right propellers are attached to the left and right sides of the diver's body, and at least one battery module of the left and right propellers is attached to the left and right sides of the oxygen tank on the diver's back, respectively; 6. The submersible propulsion device according to claim 5, wherein the submersible propulsion device is attached in one of the following ways:

7. the first sensing unit and / or the second sensing unit are configured to have a battery and be wirelessly connected to the controller, and the controller is configured to have a battery and be wirelessly connected to the at least one propeller; or 2. The submersible propulsion device according to claim 1, wherein the first sensing unit, the second sensing unit, and the controller and / or the controller and the at least one propeller are connected by cables.

8. When the at least one propeller is in a first state, the propeller body is connected to the at least one battery module via a watertight joint; and / or When the at least one propeller is in a second state, the propeller body is connected to the at least one battery module via an adapter, the adapter includes a cable, and a first end and a second end of the cable are connected to the propeller body and the at least one battery module via watertight joints, respectively; 3. The submersible propulsion device according to claim 2, wherein the watertight joint includes a male watertight joint and a female watertight joint provided at the ends of two members to be connected to each other.

9. The male watertight joint is a male fitting body having a first base surface at an end thereof; an annular boss protruding from the first base surface and having at least one electrical connection terminal; a pair of embracing arms provided on opposite sides of an end of the male coupling body adjacent to the first base surface; 9. The submersible propulsion device of claim 8, further comprising:

10. 10. The submersible propulsion device of claim 9, wherein the annular boss is racetrack-shaped, the pair of embracing arms are provided on opposing straight portions of the annular boss, and the embracing arms have hook portions whose widths are in the range of 80% to 100% of the widths of the straight portions.

11. 10. The submersible propulsion device according to claim 9, wherein the at least one electrical connection terminal includes a pair of power supply terminals and a pair of signal terminals respectively provided on opposing arcuate portions of the annular boss.

12. Each of the embracing arms comprises: a first segment pivotally coupled to the male fitting body; a second segment pivotally coupled to the first segment; 12. A submersible propulsion device according to any one of claims 9 to 11, characterized in that the pair of embracing arms are switchable between a locked state and a free state, and in the locked state, the first segment and the second segment are substantially collinear and a hook portion of the second segment engages with a corresponding notch of the female watertight fitting, and in the free state, the first segment and the second segment are rotatable about their respective rotation axes, and in the free state, when the male watertight fitting is mated with the female watertight fitting, if the hook portion of the second segment of the pair of embracing arms is connected to a corresponding notch of the female watertight fitting, the second segment of the pair of embracing arms is pressed inward so that the second segment rotates and engages with the notch, thereby switching the embracing arms from the free state to the locked state.

13. The at least one propeller The propeller body, one or more intermediate battery modules; an end battery module or end cap; 2. The submersible propulsion device of claim 1, wherein the intermediate battery module has opposing ends that are respectively configured as a male watertight joint and a female watertight joint.

14. a diving suit body worn by a diver and configured to cover at least both legs and the body of the diver; at least one angle sensor assembly including a first sensing unit disposed on a portion of the diving suit body corresponding to the diver's thigh and a second sensing unit disposed on a portion of the diving suit body corresponding to the diver's shin on the same side, the angle sensor assembly being configured to sense the angle between the diver's thigh and shin on that side based on the relative positional relationship between the first sensing unit and the second sensing unit; a controller attached to the diving suit body at a position corresponding to the diver's waist or the front of the chest, and connected to the at least one angle sensor assembly wirelessly or via a cable fitted into the diving suit body; A diving suit characterized by being equipped with:

15. 15. The diving suit of claim 14, wherein the controller further comprises a port, the port being a plug-in port or a wireless connection port, for connecting to at least one propeller, and the at least one angle sensor assembly includes a left angle sensor assembly and a right angle sensor assembly.

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