CN211223801U

CN211223801U - Robot device for underwater observation and salvage rescue

Info

Publication number: CN211223801U
Application number: CN201921725750.XU
Authority: CN
Inventors: 祝海涛; 袁利毫; 昝英飞; 贾辉
Original assignee: Harbin Engineering University
Current assignee: Harbin Engineering University
Priority date: 2019-10-15
Filing date: 2019-10-15
Publication date: 2020-08-11
Anticipated expiration: 2029-10-15

Abstract

The utility model belongs to underwater robot field discloses a robot device for surveing rescue under water, include: the system comprises a left outer plate, a right outer plate, an upper web plate, a lower web plate, a left propeller module, a right propeller module, a control bin support, a manipulator support, a water controller, a towing cable, a left buoyancy material, a right buoyancy material, a sonar, an illumination sensor and an image transmission device; the left outer plate is respectively connected with the upper web plate and the lower web plate, and the right outer plate is respectively connected with the upper web plate and the lower web plate; the left propeller module is fixed on the inner side of the left outer plate, and the right propeller module is fixed on the inner side of the right outer plate; the control bin is fixed on the inner side of the lower web plate through the control bin support, and the manipulator is fixed on the inner side of the lower web plate through the manipulator support. The utility model has large submergence depth, strong adaptability and strong anti-interference capability, and can adapt to complex and various seabed environments; the multifunctional underwater observation device has various functions, integrates underwater observation, rescue and salvage, and can be widely applied to the military and civil fields.

Description

Robot device for underwater observation and salvage rescue

Technical Field

The utility model belongs to underwater robot field especially relates to a robot device for surveing rescue under water.

Background

With the development of industrial technology, human activities have been restricted to land. The underwater world has become a reliable choice in order to acquire more resources and more space. The underwater environment is generally complex, and factors such as dark current, temperature difference, pressure, reef, biology, definition, space and the like can limit a series of activities of divers. With the development of industrial technology, the powerful underwater robot can be further developed and can replace a diver to enter a dangerous water area to work for a long time.

The existing underwater observation, salvage, rescue and the like are all finished by professional divers, and in actual operation, the unknown water conditions, the complex environment, the pressure, the time, the temperature difference and the like bring unknown life safety threats to underwater operation of the divers. Therefore, to the above-mentioned problem, the utility model provides an underwater robot device for surveing, salvaging, rescuing under water utilizes the ROV fungible diver of robotechnology design to carry out underwater operation, improves work efficiency and ensures diver's life safety.

One type of ROV, Remote Operated Vehicle, unmanned underwater Vehicle, system components generally include: the device comprises a power propeller, a remote control electronic communication device, a black-white or color camera, a camera pitching tripod head, a user peripheral sensor interface, a real-time online display unit, a navigation positioning device, an automatic rudder navigation unit, an auxiliary illuminating lamp, a Kevlar zero-buoyancy towing cable and other unit components. The ROV has various functions, different types of ROVs are used for executing different tasks, and the ROV is widely applied to various fields of army, coast guard, maritime affairs, customs, nuclear power, water and electricity, marine oil, fishery, marine rescue, pipeline detection, marine scientific research and the like.

At present, the submergence depth of the domestic ROV device for underwater observation, rescue and salvage is mostly within the range of 0-50 meters underwater, the ROV device is simple in structure, single in operation posture, incapable of realizing high-precision obstacle avoidance, greatly limited in working capacity when facing complex terrains, especially incapable of providing stable positioning capacity at a water flow turbulent place, extremely limited in operability and often limited in development condition of underwater ROV. The existing ROV has very poor structural function, cannot meet and adapt to underwater work under various conditions, has a plurality of defects in submergence depth and posture control, and cannot effectively realize the underwater observation, rescue, salvage, exploration and other works under complex environments.

The patent with the application number of CN201710691377.X discloses an underwater fishing robot, wherein a composite optical cable is connected with a composite optical cable head and an upper computer which are arranged on the underwater robot, and a lower computer is arranged in the underwater robot; the underwater robot comprises a mechanical claw, a mechanical arm, a storage basket, a crawler chassis, a floating air bag, a high-pressure air bottle, an emergency buoy, a composite optical cable wire head, a rotary platform and a camera waterproof cover; the mechanical arm is connected with the rotating platform and the mechanical claw; the floating air bag and the high-pressure air bottle are arranged at the bottom end of the rotary platform; the emergency buoy and the composite optical cable wire head are both arranged on a base of the supporting rotary platform; the underwater fishing robot has multiple functions of underwater fishing and underwater monitoring, is flexible in movement, strong in practicability and maneuverability, and wide in application range; the utility model discloses but the carrier pivot is turned to, and it is rotatory to utilize rotary platform to do, receives the rivers influence for a short time, and is little to the environmental impact under water, adapts to the operation in constrictive waters. But the device has weak maneuvering characteristics, is only suitable for short-distance and shallow water areas, and has poor water flow interference resistance.

Disclosure of Invention

An object of the utility model is to disclose a strong adaptability, manifold a robot device that is used for surveing rescue under water of function.

The purpose of the utility model is realized like this:

a robotic device for underwater observation of salvage rescue comprising: the system comprises a left outer plate 25, a right outer plate 15, an upper web 11, a lower web 18, a left propeller module, a right propeller module, a control cabin 17, a control cabin support 19, a manipulator 21, a manipulator support 22, a water controller 1, a towing cable 2, a left buoyancy material 6, a right buoyancy material 9, a sonar 8, an illumination sensor 10 and an image transmission device 23;

the left outer plate 25 is connected with the upper web 11 and the lower web 18 respectively, and the right outer plate 15 is connected with the upper web 11 and the lower web 18 respectively; the left thruster module is fixed at the inner side of the left outer plate 25, and the right thruster module is fixed at the inner side of the right outer plate 15; control storehouse 17 is fixed at web 18 inboard down through control storehouse support 19, and manipulator 21 is fixed at web 18 inboard down through manipulator support 22, and controller 1 and control storehouse 17 on water are connected to tow-cable 2, and left buoyancy material 6 and right buoyancy material 9 are fixed in the upper web 11 outside, and sonar 8 is fixed in the upper web 11 outside, and light sensor 10 is fixed in the upper web 11 inboard, and image transmission device 23 is fixed at web 18 inboard down.

Further, the left thruster module comprises: a left horizontal thruster fixing bracket 3, a left oblique thruster fixing bracket 4, a left oblique thruster 5 and a left horizontal thruster 24; the left oblique propeller 5 is fixed on the inner side of the left outer plate 25 through the left oblique propeller fixing bracket 4, and the left horizontal propeller 24 is fixed on the inner side of the left outer plate 25 through the left horizontal propeller fixing bracket 3.

Further, the right thruster module comprises: a right horizontal thruster fixing bracket 14, a right oblique thruster fixing bracket 13, a right oblique thruster 12, and a right horizontal thruster 16; the right oblique propeller 12 is fixed inside the right outer panel 15 by a right oblique propeller fixing bracket 13, and the right horizontal propeller 16 is fixed inside the right outer panel 15 by a right horizontal propeller fixing bracket 14.

Further, the control cabin 17 includes: the device comprises a rear sealing flange 26, a bolt 27, a cylinder wall 28, an acrylic observation window 34, an O-shaped sealing ring 32, a gland 33, a sealing flat gasket 35, a front sealing flange 36, a power supply 29, an integrated circuit board 30 and an image sensor 31;

the rear sealing flange 26 is fixed on the opening at one end of the cylinder wall 28 through a bolt 27, and the acrylic observation window 34 is connected on the opening at the other end of the cylinder wall 28 through an O-shaped sealing ring 32, a gland 33, a sealing flat gasket 35 and a front sealing flange 36; the power supply 29, the integrated circuit board 30 and the image sensor 31 are located in the cylinder wall 28, the power supply 29 is connected with the integrated circuit board 30, and the image sensor 31 is connected with the integrated circuit board 30.

Further, a lower web reinforcing strip 20 is secured to the outside of the lower web 18.

Furthermore, a lifting handle 7 is fixed on the outer side of the upper web 11.

The utility model has the advantages that: the utility model has large submergence depth, strong adaptability and strong anti-interference capability, and can adapt to complex and various seabed environments; the multifunctional underwater observation device has various functions, integrates underwater observation, rescue and salvage, and can be widely applied to the military and civil fields.

At present, the submergence depth of the domestic ROV device for underwater observation, rescue and salvage is mostly within the range of 0-50 meters underwater, the ROV device is simple in structure, single in operation posture, incapable of realizing high-precision obstacle avoidance, greatly limited in working capacity when facing complex terrains, especially incapable of providing stable positioning capacity at a water flow turbulent place, extremely limited in operability and often limited in development condition of underwater ROV. The existing ROV has a very chicken rib with structural functions and cannot meet and adapt to underwater work under various conditions, and the existing ROV has many defects in submergence depth and posture control, and cannot effectively realize underwater observation, rescue, salvage, exploration and other works in complex environments. The utility model discloses a ROV's technique under water divide into the device part on water and the device part under water, and two parts are connected through the cable and are used for signal transmission and power supply. The underwater device mainly comprises a submersible frame, a control cabin, light, sonar, a propeller, a manipulator and the like. The device can normally work in the pressure range of 0-1500m underwater, can realize various complex actions underwater, can efficiently realize power compensation and positioning compensation in a complex underwater environment, and has no function of any underwater ROV in China at present. The working principle of the utility model is that the device is provided with a floating material at the top, and the device floats on the water surface when the power supply is cut off. After the power is on, a built-in program of the device checks the hardware and the operating environment of the whole device, and if the device is abnormal, the device needs to be rapidly recovered, particularly the humidity parameter of the control cabin is abnormal. When all the detection results are normal, the oblique propeller is started to submerge the device according to working requirements, the cruising depth is determined and maintained according to numerical values of sonar, a pressure sensor, a camera and the like, and underwater images are transmitted to the water surface in time. The horizontal propeller is started according to the working requirement, and the device can realize controllable navigation in water at the moment. When one horizontal propeller rotates forwards or reversely, the in-situ rotation and the forward direction change of the device can be realized. When the device needs to be tilted or rotated in a posture under water, the tilting propeller needs to rotate forwards and backwards one by one, so that the posture of the device can be changed. The device needs to detect and feed back the working state and the operating environment of each electrical component in real time in the whole working process. When the device finds a target during underwater cruising, the device quickly determines a motion path and a running posture to reach a specified position according to an image transmitted by the camera, so that the position is changed instantly due to the influence of factors such as turbulence and waves, the device can timely compensate the position by adjusting the rotating speed of the propeller, and the stable operation state of the arm is ensured. After the device finishes the instruction, the return route and the residence time of each water layer can be determined according to the submergence depth and the working environment. Avoid the damage to the device and the target object caused by the sharp change of the pressure. The device integrates various underwater operation modes, and has no working capability of any domestic underwater ROV. The underwater observation device can be used for underwater work such as observation, rescue and salvage in the environments such as mine holes, rapids, sunken ships, pipelines, coral groups, drilling platforms, submarines, coral groups, culture platforms and the like. The underwater vehicle can replace divers and other ROVs to enter a more complicated underwater world to perform more complicated work, and provides scientific and technological guarantee for human beings to enter the ocean.

Drawings

FIG. 1 is a schematic view of a robotic device for underwater observation of salvage rescue;

FIG. 2 is a schematic view of a control pod;

fig. 3 is a control method diagram.

In the figure: 1. a water controller, 2, a towing cable, 3, a left horizontal propeller fixing bracket, 4, a left oblique propeller regulation bracket, 5, a left oblique propeller, 6, a left buoyancy material, 7, a hoisting handle, 8, a sonar, 9, a right buoyancy material, 10, a light sensor, 11, an upper web, 12, a right oblique propeller, 13, a right oblique propeller fixing bracket, 14, a right horizontal propeller fixing bracket, 15, a right outer plate, 16, a right horizontal propeller, 17, a control cabin, 18, a lower web, 19, a control cabin support, 20, a lower web reinforcing strip, 21, a manipulator, 22, a manipulator support, 23, an image transmission device, 24, a left horizontal propeller, 25, a left outer plate, a rear sealing flange, 27, a bolt, 28, a cylinder wall, 29, a power supply, 30, an integrated circuit board, 31, an image sensor, 32, an O-shaped sealing ring, 33, a gland, 34, an acrylic observation window, 35. sealing flat gasket, 36, front sealing flange.

Detailed Description

The invention is further described below with reference to the accompanying drawings:

referring to fig. 1, a robot device for underwater observation and salvage rescue, the submersible vehicle is a specific gravity buoyancy frame, has good impact resistance and corrosion resistance, carries a base platform of various sensors, and is connected with a control unit through an umbilical cord. Thrust from the vehicle is provided by sets of thrusters which enable the ROV to perform a variety of precise movements in the water. Each ROV has at least one pressure-resistant chamber, in which various control elements, power distribution circuits, etc. are generally sealed, and all external commands are processed through the electronic chamber to perform designated work. The robot device for underwater observation, salvage and rescue comprises a left outer plate 25, a right outer plate 15, an upper web plate 11, a lower web plate 18, a left propeller module, a right propeller module, a control bin 17, a control bin support 19, a manipulator 21, a manipulator support 22, a water controller 1, a towing cable 2, a left buoyancy material 6, a right buoyancy material 9, a sonar 8, an illumination sensor 10 and an image transmission device 23; the control cabin 17 includes: the device comprises a rear sealing flange 26, a bolt 27, a cylinder wall 28, an acrylic observation window 34, an O-shaped sealing ring 32, a gland 33, a sealing flat gasket 35, a front sealing flange 36, a power supply 29, an integrated circuit board 30 and an image sensor 31.

As shown in fig. 2, the rear sealing flange 26 is fixed on the opening at one end of the cylinder wall 28 by bolts 27, and the acrylic observation window 34 is connected on the opening at the other end of the cylinder wall 28 by an O-ring 32, a gland 33, a sealing flat gasket 35 and a front sealing flange 36; the power supply 29, the integrated circuit board 30 and the image sensor 31 are located in the cylinder wall 28, the power supply 29 is connected with the integrated circuit board 30, and the image sensor 31 is connected with the integrated circuit board 30.

The ROV is square and is formed into a buoyancy frame by a web plate and an outer plate. The upper layer of the buoyancy frame is provided with a left buoyancy material, a right buoyancy material, a hoisting handle and a sonar; the middle layer of the buoyancy frame is provided with a plurality of groups of propellers, propeller supports, control cabin supports, control cabins, illumination sensors, image sensors, manipulators and manipulator fixing supports; the bottom layer of the frame is provided with a bottom web plate reinforcing strip.

The utility model discloses a submersible is provided with left and right web and is connected respectively with last web, lower web, is provided with two blocks of buoyancy material in left and right sides on last web and makes it constitute specific ratio buoyancy frame. A sonar is arranged on the upper side of the upper web plate. The upper web plate is provided with a lifting handle. The middle part of the buoyancy frame is provided with a control cabin which is connected with the lower web plate through a control cabin support. The middle part of the buoyancy frame is provided with 1-3 left propellers which are fixed on the left outer plate through a left horizontal propeller fixing bracket. The middle part of the buoyancy frame is provided with 1-3 right propellers and is fixed on the right outer plate through a right horizontal propeller bracket. The middle part of the buoyancy frame is provided with 1-3 left oblique propellers and is fixed on the left outer plate through a left oblique propeller fixing bracket. The middle part of the buoyancy frame is provided with 1-3 right oblique propellers and is fixed on the right outer plate through a right oblique propeller fixing bracket. An image sensor is arranged on the upper side of the lower web. The middle part of the buoyancy frame is provided with a manipulator and is connected with the lower web plate through a manipulator fixing support. The middle part of the buoyancy frame is provided with an illumination sensor and is connected with the upper web plate. The bottom of the lower web plate is provided with a lower web plate reinforcing strip.

The utility model discloses a ROV's technique under water divide into the device part on water and the device part under water, and two parts are connected through the cable and are used for signal transmission and power supply. The underwater device mainly comprises a submersible frame, a control cabin, light, sonar, a propeller, a manipulator and the like.

The device can normally work in the pressure range of 0-1500m underwater, can realize various complex actions underwater, can efficiently realize power compensation and positioning compensation in a complex underwater environment, and has no function of any underwater ROV in China at present. The working principle of the utility model is that the device is provided with a floating material at the top, and the device floats on the water surface when the power supply is cut off. After the power is on, a built-in program of the device checks the hardware and the operating environment of the whole device, and if the device is abnormal, the device needs to be rapidly recovered, particularly the humidity parameter of the control cabin is abnormal. When all the detection results are normal, the oblique propeller is started to submerge the device according to working requirements, the cruising depth is determined and maintained according to numerical values of sonar, a pressure sensor, a camera and the like, and underwater images are transmitted to the water surface in time. The horizontal propeller is started according to the working requirement, and the device can realize controllable navigation in water at the moment. When one horizontal propeller rotates forwards or reversely, the in-situ rotation and the forward direction change of the device can be realized. When the device needs to be tilted or rotated in a posture under water, the tilting propeller needs to rotate forwards and backwards one by one, so that the posture of the device can be changed. The device needs to detect and feed back the working state and the operating environment of each electrical component in real time in the whole working process. When the device finds a target during underwater cruising, the device quickly determines a motion path and a running posture to reach a specified position according to an image transmitted by the camera, so that the position is changed instantly due to the influence of factors such as turbulence and waves, the device can timely compensate the position by adjusting the rotating speed of the propeller, and the stable operation state of the arm is ensured. After the device finishes the instruction, the return route and the residence time of each water layer can be determined according to the submergence depth and the working environment. Avoid the damage to the device and the target object caused by the sharp change of the pressure. The device integrates various underwater operation modes, and has no working capability of any domestic underwater ROV. The underwater observation device can be used for underwater work such as observation, rescue and salvage in the environments such as mine holes, rapids, sunken ships, pipelines, coral groups, drilling platforms, submarines, coral groups, culture platforms and the like. The underwater vehicle can replace divers and other ROVs to enter a more complicated underwater world to perform more complicated work, and provides scientific and technological guarantee for human beings to enter the ocean. The underwater robot technology is utilized to improve the working efficiency, reduce the labor cost and improve the life safety of divers.

As shown in fig. 3, the control method is as follows: and initially operating, and performing operating environment detection, wherein the environment detection comprises the following steps: detecting an oblique propeller, detecting a horizontal propeller, detecting humidity and temperature of a control cabin, detecting a mechanical arm, detecting sonar, detecting light and detecting video equipment, manually removing faults if the environmental detection is unqualified, monitoring ground personnel, providing thrust for the oblique propeller to dive and starting all sensors if the environmental detection is qualified; wherein all sensors are turned on and run until recovery; then, when the preset depth is reached, the thrust is kept unchanged, then the horizontal propeller is started to enable the device to move forward/backward, obstacle avoidance can be carried out on the way, namely, one horizontal propeller is controlled to rotate forward and backward, one oblique propeller is controlled to rotate forward and backward, the obstacle avoidance is successfully carried out through light and a camera to find a target object, then the thrust of the oblique propeller and the thrust of the horizontal propeller are adjusted to be close to the target object, then the manipulator is controlled to grab, and the propeller is controlled to return to the original position; when a rapid stream occurs, the sonar is used for position compensation, the position compensation information is used for adjusting a propeller in the process of approaching the target object and controlling the mechanical arm to grab, and when the sonar judges that the preset depth is exceeded, the warning is given.

Example 1:

the automatic robot device for observation, salvage and rescue comprises a water controller, a towing cable, a left horizontal propeller fixing support, a left oblique propeller, a left buoyancy material, a hoisting handle, a sonar, a right buoyancy material, an illumination sensor, an upper web plate, a right oblique propeller fixing support, a right horizontal propeller fixing support, a right outer plate, a right horizontal propeller, a control cabin, a lower web plate, a control cabin fixing support, a lower web plate reinforcing strip, a mechanical arm fixing support, an image transmission device, a left horizontal propeller and a left outer plate; the ROV is square and is formed into a buoyancy frame by a web plate and an outer plate. The upper layer of the buoyancy frame is provided with a left buoyancy material, a right buoyancy material, a hoisting handle and a sonar; the middle layer of the buoyancy frame is provided with a plurality of groups of propellers, propeller supports, control cabin supports, control cabins, lighting sensors, image sensors, manipulators and manipulator fixing supports; the bottom layer of the buoyancy frame is provided with a bottom web plate reinforcing strip. The device is provided with a left web plate and a right web plate which are respectively connected with an upper web plate and a lower web plate, and the upper web plate is provided with a left buoyancy material and a right buoyancy material which form a specific ratio buoyancy frame. The device is provided with a left web plate and a right web plate which are respectively connected with an upper web plate and a lower web plate, and the upper web plate is provided with a left buoyancy material and a right buoyancy material which form a specific ratio buoyancy frame. The submersible is provided with a left web plate and a right web plate which are respectively connected with an upper web plate and a lower web plate, and the upper web plate is provided with a left buoyancy material and a right buoyancy material which form a specific buoyancy frame. A sonar is arranged on the upper side of the upper web plate. And a lifting handle is arranged on the upper web plate in a book. The middle part of the buoyancy frame is provided with a control cabin which is connected with the lower web plate through a control cabin support. The middle part of the buoyancy frame is provided with 1 left propeller and fixed on the left outer plate through a left horizontal propeller fixing bracket. The middle part of the buoyancy frame is provided with 1 right propeller and is fixed on the right outer plate through a right horizontal propeller bracket. The middle part of the buoyancy frame is provided with 1 left oblique propeller and fixed on the left outer plate through a left oblique propeller fixing bracket. The middle part of the buoyancy frame is provided with 1 right oblique propeller and is fixed on the right outer plate through a right oblique propeller fixing bracket. And an image sensor is arranged on the upper side of the bottom web. The middle part of the buoyancy frame is provided with a manipulator and is connected with the lower web plate through a manipulator fixing support. And the middle part of the buoyancy frame is provided with an illumination sensor and is connected with the upper web plate. And a lower web plate reinforcing strip is arranged at the bottom of the lower web plate.

To sum up, the utility model provides a robot device for surveing, salvaging, rescuing under water, a Robot (ROV) device for surveing, salvaging, rescuing under water includes controller on water, tow-cable, left horizontal propeller fixed bolster, left oblique propeller, left buoyancy material, hoist and mount handle, sonar, right buoyancy material, light sensor, upper web, right oblique propeller fixed bolster, right horizontal propeller fixed bolster, right planking, right horizontal propeller, control storehouse, lower web, control storehouse support, lower web reinforcing bar, manipulator fixed bolster, image sensor, left horizontal propeller, left planking; the underwater robot technology is utilized to improve the working efficiency, reduce the labor cost and improve the life safety of divers.

Claims

1. The utility model provides a robot device for surveing rescue is salvaged under water which characterized in that: the method comprises the following steps: the system comprises a left outer plate (25), a right outer plate (15), an upper web (11), a lower web (18), a left propeller module, a right propeller module, a control bin (17), a control bin support (19), a manipulator (21), a manipulator support (22), a water controller (1), a towing cable (2), a left buoyancy material (6), a right buoyancy material (9), a sonar (8), an illumination sensor (10) and an image transmission device (23);

the left outer plate (25) is respectively connected with the upper web plate (11) and the lower web plate (18), and the right outer plate (15) is respectively connected with the upper web plate (11) and the lower web plate (18); the left thruster module is fixed at the inner side of the left outer plate (25), and the right thruster module is fixed at the inner side of the right outer plate (15); control storehouse (17) are fixed at web (18) inboard down through control storehouse support (19), manipulator (21) are fixed at web (18) inboard down through manipulator support (22), controller (1) and control storehouse (17) on water are connected to tow-cable (2), left buoyancy material (6) and right buoyancy material (9) are fixed in last web (11) outside, sonar (8) are fixed in last web (11) outside, light sensor (10) are fixed in last web (11) inboard, image transmission device (23) are fixed in web (18) inboard down.

2. A robotic device for underwater observation rescue of fishing according to claim 1, characterised in that: the left thruster module comprises: a left horizontal propeller fixing bracket (3), a left oblique propeller fixing bracket (4), a left oblique propeller (5) and a left horizontal propeller (24); the left oblique propeller (5) is fixed on the inner side of the left outer plate (25) through a left oblique propeller fixing support (4), and the left horizontal propeller (24) is fixed on the inner side of the left outer plate (25) through a left horizontal propeller fixing support (3).

3. A robotic device for underwater observation rescue of fishing according to claim 2, characterised in that: the right thruster module comprises: a right horizontal thruster fixing bracket (14), a right oblique thruster fixing bracket (13), a right oblique thruster (12) and a right horizontal thruster (16); the right oblique propeller (12) is fixed on the inner side of the right outer plate (15) through a right oblique propeller fixing bracket (13), and the right horizontal propeller (16) is fixed on the inner side of the right outer plate (15) through a right horizontal propeller fixing bracket (14).

4. A robotic device for underwater observation rescue of fishing according to claim 3, characterized in that: the control cabin (17) comprises: the device comprises a rear sealing flange (26), a bolt (27), a cylinder wall (28), an acrylic observation window (34), an O-shaped sealing ring (32), a gland (33), a sealing flat gasket (35), a front sealing flange (36), a power supply (29), an integrated circuit board (30) and an image sensor (31);

the rear sealing flange (26) is fixed on an opening at one end of the cylinder wall (28) through a bolt (27), and the acrylic observation window (34) is connected on the opening at the other end of the cylinder wall (28) through an O-shaped sealing ring (32), a gland (33), a sealing flat gasket (35) and a front sealing flange (36); the power supply (29), the integrated circuit board (30) and the image sensor (31) are located in the cylinder wall (28), the power supply (29) is connected with the integrated circuit board (30), and the image sensor (31) is connected with the integrated circuit board (30).

5. A robotic device for underwater observation rescue and fishing as claimed in any of claims 1, 2, 3 or 4, wherein: and a lower web reinforcing strip (20) is fixed on the outer side of the lower web (18).

6. A robotic device for underwater observation rescue and fishing as claimed in any of claims 1, 2, 3 or 4, wherein: and a hoisting handle (7) is fixed on the outer side of the upper web plate (11).

7. A robotic device for underwater observation rescue of fishing according to claim 5, characterized in that: and a hoisting handle (7) is fixed on the outer side of the upper web plate (11).