CN112093015A

CN112093015A - Underwater robot

Info

Publication number: CN112093015A
Application number: CN202011078985.1A
Authority: CN
Inventors: 陆培
Original assignee: Hangzhou Extreme Intelligent Control Ocean Engineering Technology Co ltd
Current assignee: Hangzhou Extreme Intelligent Control Ocean Engineering Technology Co ltd
Priority date: 2020-10-10
Filing date: 2020-10-10
Publication date: 2020-12-18

Abstract

The invention discloses an underwater robot, comprising: the shell is in a disc type; the first flow guide channels are uniformly arranged in the shell at intervals, two ends of each first flow guide channel respectively penetrate through the shell, each first flow guide channel extends along a first direction, and the first direction is a connecting line direction parallel to the top and the bottom of the shell; the second flow guide channels are uniformly arranged in the shell at intervals, two ends of each second flow guide channel respectively penetrate through the shell, and each second flow guide channel is vertical to the first direction; the first guide channels are respectively provided with a first propeller; a plurality of second propellers are respectively arranged in each second flow guide channel; and the electric control module is arranged in the shell and is respectively connected with the first propellers and the second propellers. The invention has the advantages of exquisite structure, high navigational speed, large range, long endurance time, strong attitude stability, strong expansibility and large load-carrying capacity.

Description

Underwater robot

Technical Field

The invention relates to the technical field of underwater submerging devices, in particular to an underwater robot.

Background

The underwater robot is a mechanized intelligent unmanned vehicle which has certain water pressure resistance and can flexibly move underwater. The underwater robot can replace manpower to work underwater for a long time in a high-risk environment, a polluted environment and a zero-visibility water area, and is widely applied to occasions such as marine fishery, underwater archaeology, hydrological monitoring and the like.

In the prior art, underwater robots can be classified into an Autonomous Underwater Vehicle (AUV) without a cable and an underwater Vehicle (ROV) with a cable. The AUV is a torpedo shape with an underactuated power layout, and attaches importance to low-power-consumption endurance and endurance mileage, but the stability of a low-speed motion state and load weight are limited by the power shape; the ROV mostly adopts a frame structure with over-driving power layout, the attitude controllability is emphasized, but the high range performance is sacrificed by a cable dragging mode, and the high-speed motion performance is sacrificed by the frame structure.

Disclosure of Invention

According to an embodiment of the present invention, there is provided an underwater robot including:

the shell is of a disc type;

the first flow guide channels are uniformly arranged in the shell at intervals, two ends of each first flow guide channel respectively penetrate through the shell, each first flow guide channel extends along a first direction, and the first direction is parallel to the direction of a connecting line of the top and the bottom of the shell;

the second flow guide channels are uniformly arranged in the shell at intervals, two ends of each second flow guide channel respectively penetrate through the shell, and each second flow guide channel is vertical to the first direction;

the first guide channels are respectively provided with a first propeller;

a plurality of second propellers are respectively arranged in each second flow guide channel;

and the electric control module is arranged in the shell and is respectively connected with the first propellers and the second propellers.

Further, the number of the first guide passages is an even number not less than 4.

Furthermore, the axes of the first flow guide channels are parallel pairwise, but the axes of any three first flow guide channels are not coplanar.

Furthermore, the center line of any first flow guide channel does not intersect with the center line of any second flow guide channel.

Further, the number of the second guide passages is an even number not less than 2.

Further, the center lines of any two second flow guide channels do not intersect.

Further, the method also comprises the following steps: the frame plate is arranged in the shell; the first propellers, the second propellers and the electric control module are respectively arranged on the frame plate.

Further, the casing contains epitheca and inferior valve, and the concatenation direction of epitheca and inferior valve is first direction.

Furthermore, each first guide channel comprises an upper guide cylinder and a lower guide cylinder which are communicated, the upper guide cylinder is arranged on the inner wall of the upper shell, the lower guide cylinder is arranged on the inner wall of the lower shell, and the upper guide cylinder and the lower guide cylinder respectively penetrate through the upper shell and the lower shell along the first direction.

Further, the method also comprises the following steps: the frame plate is arranged in the shell; the electric control modules are respectively arranged on the frame plates; the frame plate is vertical to the first direction, a plurality of flow guide through holes are formed in the frame plate and correspond to the first flow guide channels one by one, two ends of each flow guide through hole are respectively communicated with an upper flow guide cylinder and a lower flow guide cylinder of each first flow guide channel, and a first propeller is arranged in each flow guide through hole; the plurality of second propellers are respectively arranged on the frame plate through connecting pieces, and each second propeller extends into a second flow guide channel.

Further, the method also comprises the following steps: the pressure-resistant cabin is arranged on the frame plate, the electric control module is arranged in the pressure-resistant cabin, the bottom cover of the pressure-resistant cabin is provided with the optical ball cover, the bottom of the casing is provided with the observation window, and the optical ball cover is positioned at the observation window.

Furthermore, the pressure-resistant cabin is connected with the frame plate through a flexible connecting piece, the upper end of the flexible connecting piece is connected with the frame plate, and the lower end of the flexible connecting piece is connected with the pressure-resistant cabin.

Further, the method also comprises the following steps: the driving mechanism is connected with the camera to drive the camera to rotate, and the driving mechanism and the camera are respectively connected with the electronic control module.

Further, the method also comprises the following steps: the gravity center adjusting module is arranged on the frame plate; the gravity center adjusting module comprises a balancing weight and a sliding assembly, and the balancing weight can move on the frame plate along the direction parallel to or perpendicular to the second flow guide channel through the sliding assembly.

Furthermore, the plurality of second flow guide channels comprise a plurality of middle second flow guide channels;

each middle second flow guide channel comprises an upper groove and a lower groove, the upper groove is arranged in the upper shell, and the lower groove is arranged in the lower shell;

the two ends of the upper groove respectively penetrate through the upper shell along the direction vertical to the first direction, and the two ends of the lower groove respectively penetrate through the lower shell along the direction vertical to the first direction.

Furthermore, the second flow guide channels comprise a plurality of upper second flow guide channels and a plurality of lower second flow guide channels, two ends of each upper second flow guide channel penetrate through the upper shell along the direction perpendicular to the first direction, and two ends of each lower second flow guide channel penetrate through the lower shell along the direction perpendicular to the first direction.

The underwater robot provided by the embodiment of the invention has the advantages of exquisite structure, high navigational speed, large navigational range, long endurance time, strong attitude stability, strong expansibility and large load-carrying capacity.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and are intended to provide further explanation of the claimed technology.

Drawings

FIG. 1 is a front view of an assembly of an underwater robot in accordance with an embodiment of the present invention;

FIG. 2 is a perspective view of an assembly of an underwater robot in accordance with an embodiment of the present invention;

FIG. 3-1 is a top plan view of an assembly of an underwater robot in accordance with an embodiment of the present invention;

fig. 3-2 is a top view of an assembled housing of the underwater robot according to an embodiment of the present invention;

3 FIG. 3 3 3- 3 3 3 is 3 a 3 cross 3- 3 sectional 3 view 3 taken 3 along 3 line 3 A 3- 3 A 3 of 3 FIG. 3 3 3- 3 2 3; 3

3-4 are cross-sectional views taken along line B-B of FIG. 3-2;

FIG. 4-1 is a top view of an upper housing of an underwater robot in accordance with an embodiment of the present invention, the upper housing being formed of an upper housing and a lower housing;

FIG. 4-2 is a cross-sectional view taken along line B-B of FIG. 4-1;

FIG. 5-1 is a top view of a lower housing of an underwater robot according to an embodiment of the present invention, the lower housing being formed of an upper housing and a lower housing;

FIG. 5-2 is a cross-sectional view taken along line B-B of FIG. 5-1;

FIG. 6 is an exploded view of the underwater robot with its housing formed by upper and lower shells according to an embodiment of the present invention;

fig. 7 is an assembly view of a frame plate, a propeller and a center of gravity adjusting module of the underwater robot according to an embodiment of the present invention;

FIG. 8 is a schematic structural diagram of the center of gravity adjustment module of FIG. 7;

fig. 9 is an exploded view of the pressure-resistant cabin and the components inside the cabin of the underwater robot according to the embodiment of the invention.

Detailed Description

The present invention will be further explained by describing preferred embodiments of the present invention in detail with reference to the accompanying drawings.

First, an underwater robot according to an embodiment of the present invention will be described with reference to fig. 1 to 9, which is used for underwater unmanned operation, is adaptable to lakes and oceans, and has a wide application range.

As shown in fig. 1 to 3-4, 6 and 9, the underwater robot in the embodiment of the present invention includes a housing 1, a plurality of first diversion channels 2, a plurality of second diversion channels 3, a plurality of first propellers 4, a plurality of second propellers 5 and an electric control module 6. The casing 1 is disc-type, a plurality of first flow guide channels 2 are uniformly arranged in the disc-type casing 1 at intervals, two ends of each first flow guide channel 2 respectively penetrate through the casing 1, each first flow guide channel 2 extends along a first direction A, namely, along a connecting line direction parallel to the top and the bottom of the casing 1, and a first propeller 4 is respectively arranged in each first flow guide channel 2; the plurality of second diversion channels 3 are also uniformly arranged in the casing 1 at intervals, two ends of each second diversion channel 3 respectively penetrate through the casing 1, each second diversion channel 3 is respectively vertical to the first direction A, a second propeller 5 is respectively arranged in each second diversion channel 3, the electric control module 6 is arranged in the casing 1, and the electric control module 6 is respectively connected with the plurality of first propellers 4 and the plurality of second propellers 5.

The electric control module 6 controls the underwater robot to move in the vertical direction through the first propeller 4, can provide adjusting moment with rapid pitching and rolling dimensions under an Euler angle coordinate system, and maintains stable pitching angle and rolling angle under strong water flow interference; the moment is adjusted to the driftage dimension is gentler, can adjust the driftage moment of torsion accurately, reduces the driftage and shakes. In this embodiment, the electronic control module 6 may be controlled by a preprogrammed autonomous control, a high-power low-frequency radio remote control, a towed-buoy wireless remote control, or a towed zero-buoyancy cable remote control.

The second propeller 5 controls the underwater robot to move in the horizontal direction, so that advancing and retreating thrust is provided, advancing and retreating actions are completed, and meanwhile, a large yawing moment can be output under the condition of large deviation of a yaw angle, and yawing adjustment actions are accelerated.

In the present embodiment, the first propeller 4 and the second propeller 5 are powered by a combination of a dc brushless motor and a propeller, or a shaftless pump may be used as the power.

The disc type hydrodynamic appearance of the casing 1 can provide large damping of sinking, floating, rolling and pitching dimensions, large adaptation output and fast response, and small damping of yawing, advancing and retreating and transverse moving, small adaptation output and accurate adjustment, thereby being beneficial to fixed-depth navigation, stable hovering and vertical heaving and having strong attitude stability; meanwhile, the protrusion of the disc-type top similar to a bridge can generate a head-up moment due to resistance when the underwater robot moves forward, so that a diving moment of the horizontal propeller, namely the second propeller 5 attached to the center of mass of the underwater robot can be offset.

In the embodiment, the casing 1 is provided with a plurality of drain holes 14, so that rapid drainage can be realized; a plurality of enclosure mounting holes 15 are also provided for mounting a waterproof indicator light, a waterproof switch, a plug connector, and the like.

Specifically, as shown in fig. 1 to 3-4, the number of the first flow guide channels 2 and the first propellers 4 is an even number not less than 4, while the number of the second flow guide channels 3 and the second propellers 5 is an even number not less than 2, and the even number pair of propellers is beneficial to eliminating redundant self-rotation reactive torque of the propellers. Meanwhile, if the number of the propellers is insufficient, even if the shell 1 is of a disc type, the underwater robot is inclined, and the posture is difficult to control. Therefore, in this embodiment, the first propellers 4 are 4, the second propellers 5 are 2, and 6 propellers are explained in total, and the 6 propellers can ensure sufficient power, realize high navigational speed, ensure the vertical direction and the horizontal direction, exert the shape advantage of the disc-type underwater robot to the maximum extent, and effectively and accurately realize the control of the disc-type underwater robot.

In the embodiment, the center lines of all the first flow guide channels 2 and the second flow guide channels 3 do not intersect in the Euclidean geometric sense in the three-dimensional space; the axes of the first guide channels 2 are parallel to each other, but the axes of any 3 first guide channels 2 are not coplanar. Because the first guide channel 2 and the second guide channel 3 are arranged in the disc type casing 1 and mutually non-intersecting center lines, the jet water flows of all the propellers cannot be directly entangled together, thereby reducing the possibility that the jet water flows are entangled with each other to form turbulent flow, and further weakening the negative influence of the turbulent flow on the control effect and the efficiency.

Specifically, as shown in fig. 4-1, 4-2, 5-1, 5-2, and 6, in the present embodiment, for convenience of manufacturing and assembling, the casing 1 is assembled by an upper casing 11 and a lower casing 12, a splicing direction of the upper casing 11 and the lower casing 12 is a first direction a, a top of the upper casing 11 is a top of the casing 1, and a bottom of the lower casing 12 is a bottom of the casing 1.

Specifically, first water conservancy diversion passageway 2 can be whole section structure, wholly sets up in casing 1, also can be segmentation structure, and first water conservancy diversion passageway 2 can realize integrated into one piece through modes such as 3D printing or casting with casing 1, also can independently make, installs to in casing 1.

Further, in this embodiment, as shown in fig. 4-1, 4-2, 5-1, 5-2, and 6, according to the upper and lower shell structures of the casing 1, each first guide passage 2 has an upper guide cylinder 21 and a lower guide cylinder 22 communicated with each other, the upper guide cylinder 21 is disposed on the inner wall of the upper shell 11, the lower guide cylinder 22 is disposed on the inner wall of the lower shell 12, and the upper guide cylinder 21 and the lower guide cylinder 22 respectively penetrate through the upper shell 11 and the lower shell 12 along the first direction a, so that the upper guide cylinder 21 and the lower guide cylinder 22 are connected to each other to form the first guide passage 2 by assembling the upper shell 11 and the lower shell 12.

As above, the upper guide shell 21 and the lower guide shell 22 may be separately manufactured and mounted to the upper shell 11 and the lower shell 12, respectively; the upper guide shell 21 and the upper shell 11 may be integrally formed, and the lower guide shell 22 and the lower shell 12 may be integrally formed by 3D printing or casting.

Specifically, in this embodiment, as shown in fig. 6 and 7, the underwater robot in the embodiment of the present invention further includes a frame plate 7 for mounting the first propeller 4, the second propeller 5 and the electronic control module 6, the first propeller 4 and the second propeller 5 respectively extend into the first diversion channel 2 and the second diversion channel 3 from the frame plate 7, and the first propeller 4 and the second propeller 5 are placed in the disc-type casing 1, so that damage of the propellers to the disc-type whole body can be reduced as much as possible, and the whole underwater robot cannot be wound by long strips such as waterweeds.

Further, as shown in fig. 6 and 7, in combination with the upper and lower casing structures of the casing 1 and the upper and lower guide cylinder structures of the first guide passage 2, the frame plate 7 is perpendicular to the first direction a, that is, perpendicular to the upper guide cylinder 21 and the lower guide cylinder 22 of the first guide passage 2, a plurality of guide through holes 71 are provided on the frame plate 7, both ends of each guide through hole 71 are respectively communicated with the upper guide cylinder 21 and the lower guide cylinder 22 of the first guide passage 2, so as to realize one-to-one correspondence with the first guide passage 2 and the first propeller 4, and the first propeller 4 is provided in each guide through hole 71; a plurality of second propellers 5 are respectively installed on the frame plate 7 through connecting pieces 51, each second propeller 5 respectively extends into one second diversion channel 3, and in the embodiment, the connecting pieces 51 are detachably connected with the frame plate 7 and the second propellers 5.

Specifically, in this embodiment, as shown in fig. 6 and 9, the underwater robot in the embodiment of the present invention further includes a pressure-resistant cabin 8, the pressure-resistant cabin 8 is disposed on the frame plate 7, the electronic control module 6 is disposed in the pressure-resistant cabin 8, and an optical spherical cover 81 is covered at the bottom of the pressure-resistant cabin 8, in this embodiment, two ends of the pressure-resistant cabin 8 are sealed in a waterproof manner by an end cover 83, a flange 85, the optical spherical cover 81, and an O-ring seal 84, an upper layer of the flange 85 is connected to the frame plate 7, and a lower layer of the flange 85 fixes the optical spherical cover 81.

Further, as shown in fig. 6 and 9, the pressure-resistant chamber 8 is connected to the frame plate 7 through a flexible connecting member 86, the upper end of the flexible connecting member 86 is connected to the frame plate 7, and the lower end of the flexible connecting member 86 is connected to the pressure-resistant chamber 8. Compared with rigid connection, the flexible connection piece 86 can partially absorb the impact of the outside on the pressure-resistant cabin 8, so that the pressure-resistant waterproof effect of the pressure-resistant cabin 8 cannot be out of work due to too strong impact, and the vibration impact received by each module device in the pressure-resistant cabin 8 can also be reduced, so that each module device can stably and reliably work, for example, for vibration sensitive devices such as an Inertial Measurement Unit (IMU) and the like, the flexible connection can form a mechanical filter, high-frequency noise is filtered, and the measurement precision is improved. In this embodiment, the flexible connecting member 86 is a nylon column, a threaded hole penetrating along the axial direction of the nylon column is formed in the nylon column, the upper end of the threaded hole is connected with the frame plate 7 through a bolt, and the lower end of the threaded hole is connected with the flange 85 of the pressure-resistant cabin 8 through a bolt.

Further, as shown in fig. 1 and 5-1, the bottom of the casing 1 is provided with an observation window 13 for avoiding the optical dome 81 located at the observation window 13.

Further, as shown in fig. 9, the top of the pressure-resistant chamber 8 is provided with a plurality of pressure-resistant chamber mounting holes 82 for mounting threading screws, depth sensors, vent valves, backup devices and the like, and the pressure-resistant chamber has a compact and exquisite structure and saves space.

Further, as shown in fig. 9, the underwater robot according to the embodiment of the present invention further includes: the driving mechanism 91 and the camera 92, the camera 92 is located in the optical ball cover 81, the driving mechanism 91 is connected with the camera 92 to drive the camera 92 to rotate, and the driving mechanism 91 and the camera 92 are respectively connected with the electronic control module 6. Since the look-ahead distance of the camera 92 has a great influence on the optical navigation, a larger look-ahead distance of the camera is required; however, the underwater robot of the embodiment of the invention has the task requirement of fixed-point hovering, and the larger look-ahead distance is unfavorable for fixed-point hovering, so that the driving mechanism 91 is adopted to adjust the camera angle of the camera 92, and the vision requirement is considered. In this embodiment, the driving mechanism 91 is a steering engine/pan/tilt.

Further, in this embodiment, in addition to the camera 92 as an optical sensor, the underwater robot may be equipped with various sensors such as a laser radar, an altimeter, a depth meter, an electronic compass, an acoustic navigation unit, and an Inertial Measurement Unit (IMU) in the pressure-resistant cabin 8 according to the needs of the use scenario.

In this embodiment, the battery package also sets up in withstand voltage cabin 8, can be waterproof and the installation is stable again, and all is nearer apart from the distance of propeller, automatically controlled module 6 and various sensors, reduces and walks the line distance, has both saved the cost and has alleviateed unnecessary weight, promotes continuation of the journey mileage and time.

Further, as shown in fig. 7 to 8, the underwater robot according to the embodiment of the present invention further includes: the gravity center adjusting module 10 is arranged on the frame plate 7, and the gravity center adjusting module 10 is arranged on the frame plate 7; gravity center adjusting module 10 contains balancing weight 101 and sliding assembly 102, balancing weight 101 accessible sliding assembly 102 is along removing with second water conservancy diversion passageway 3 parallel or vertically direction on frame plate 7, realize horizontal/vertically dragging, in this embodiment, gravity center adjusting module 10 can add and hang the counter weight ring for change weight, barycenter position and height, adjust the buoyancy state through gravity center adjusting module 10 and be positive buoyancy, negative buoyancy, three kinds of states of suspension, the adjustment barycenter coincides with underwater robot's gyration central line.

Further, as shown in fig. 7 to 8, in the present embodiment, the sliding assembly 102 includes: a pair of parallel sliding grooves 1021 passing through the frame plate 7 and a sliding rail 1022 straddling the pair of sliding grooves 1021, the sliding rail 1022 can move along the pair of sliding grooves 1021, the counterweight block 101 can move along the sliding rail 1022, and the sliding rail 1022 can drive the counterweight block 101 to move along the sliding grooves 1021.

Specifically, the plurality of second flow guide channels 3 are 2 middle second flow guide channels 31, each middle second flow guide channel 31 includes an upper groove 311 and a lower groove 312, wherein the upper groove 311 is disposed inside the upper shell 11, the lower groove 312 is disposed inside the lower shell 12, two ends of the upper groove 311 penetrate through the upper shell 11 along a direction perpendicular to the first direction a, two ends of the lower groove 312 penetrate through the lower shell 12 along a direction perpendicular to the first direction a, and when the upper shell 11 and the lower shell 12 are spliced, the upper groove 311 and the lower groove 312 are spliced into the second flow guide channels 31.

In this embodiment, the upper groove 311 and the lower groove 312 may be separately manufactured and then assembled with the upper shell 11 and the lower shell 12, or may be integrally formed by 3D printing or casting, that is, the upper groove 311 is integrally formed with the upper shell 11, and the lower groove 312 is integrally formed with the lower shell 12.

Further, in other embodiments, the second flow guiding channel 3 may also be a plurality of upper second flow guiding channels (not shown) and a plurality of lower second flow guiding channels (not shown), that is, an upper second flow guiding channel located in the upper shell 11, and a lower second flow guiding channel located in the lower shell 12, rather than being limited to the middle second flow guiding channel 31 located at the connection portion of the upper shell 11 and the lower shell 12.

Two ends of each upper second flow guide channel penetrate through the upper shell 11 along the direction perpendicular to the first direction A, and two ends of each lower second flow guide channel penetrate through the lower shell 12 along the direction perpendicular to the first direction A, so that motion control in the horizontal direction is realized. Further, the upper second flow guide channel and the upper shell 11 are integrally formed, and the lower second flow guide channel and the lower shell 12 are integrally formed, or may be separately manufactured by means of 3D printing or casting, respectively.

When the underwater robot works, the underwater robot of the embodiment of the invention can adopt a disposable battery, a rechargeable battery or a wireless power transmission mode and the like as an energy source, utilize a disc-type hydrodynamic appearance, adjust sinking and floating thrust, rolling torque, pitching torque and yawing torque by controlling the rotating speed of each first propeller 4 through 4 vertically-deployed

first propellers

4 and 2 horizontally-deployed second propellers 5, not only can ensure the underwater attitude stability, but also can realize high navigational speed, large navigational range and high endurance time, is suitable for various hydrological conditions, can be used for underwater robot teaching, marine ranching, underwater observation, underwater archaeology, underwater search and rescue and the like, and can be applied to heavy underwater robots (more than 200 kg), medium-sized underwater robots (50-200 kg), small underwater robots (10-50 kg) and subminiature underwater robots (less than 10 kg), has extremely strong applicability.

The underwater robot according to the embodiment of the present invention is described above with reference to fig. 1 to 9, and has the advantages of delicate structure, high navigational speed, large range, long endurance time, strong attitude stability, strong expansibility, and large load-carrying capacity.

It should be noted that, in the present specification, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.

Claims

1. An underwater robot, comprising:

the shell is of a disc type;

the second flow guide channels are uniformly arranged in the shell at intervals, two ends of each second flow guide channel penetrate through the shell respectively, and each second flow guide channel is perpendicular to the first direction;

the first guide channels are respectively provided with a plurality of first propellers;

the second propellers are respectively arranged in each second flow guide channel;

and the electric control module is arranged in the shell and is respectively connected with the plurality of first propellers and the plurality of second propellers.

2. The underwater robot as claimed in claim 1, wherein the number of the first diversion passages is an even number not less than 4.

3. The underwater robot of claim 2, wherein the axes of the first diversion passages are parallel two by two, but the axes of any three of the first diversion passages are not coplanar.

4. An underwater robot as recited in claim 2, wherein a centerline of any of said first fluid directing channels does not intersect a centerline of any of said second fluid directing channels.

5. The underwater robot as claimed in claim 1, wherein the number of the second diversion passages is an even number not less than 2.

6. An underwater robot as in claim 5 wherein the centerlines of any two of said second flow channels do not intersect.

7. The underwater robot of claim 1, further comprising: the frame plate is arranged in the shell; the first thrusters, the second thrusters and the electric control module are respectively arranged on the frame plate.

8. The underwater robot of claim 1, wherein the housing comprises an upper shell and a lower shell, and a splicing direction of the upper shell and the lower shell is the first direction.

9. The underwater robot as claimed in claim 8, wherein each of the first guide passages includes an upper guide cylinder and a lower guide cylinder which are communicated with each other, the upper guide cylinder is disposed on an inner wall of the upper housing, the lower guide cylinder is disposed on an inner wall of the lower housing, and the upper guide cylinder and the lower guide cylinder penetrate the upper housing and the lower housing, respectively, in the first direction.

10. The underwater robot of claim 9, further comprising: the frame plate is arranged in the shell; the electric control modules are respectively arranged on the frame plates; the frame plate is perpendicular to the first direction, a plurality of flow guide through holes are formed in the frame plate, the flow guide through holes correspond to the first flow guide channels one by one, two ends of each flow guide through hole are respectively communicated with the upper flow guide cylinder and the lower flow guide cylinder of one first flow guide channel, and a first propeller is arranged in each flow guide through hole; the plurality of second propellers are respectively installed on the frame plate through connecting pieces, and each second propeller extends into one of the second diversion channels.

11. An underwater robot as claimed in claim 7 or 10, further comprising: the pressure-resistant cabin is arranged on the frame plate, the electric control module is arranged in the pressure-resistant cabin, an optical ball cover is covered at the bottom of the pressure-resistant cabin, an observation window is formed in the bottom of the casing, and the optical ball cover is located at the observation window.

12. The underwater robot of claim 11, wherein the pressure resistant tank is connected to the frame plate by a flexible connector, an upper end of the flexible connector is connected to the frame plate, and a lower end of the flexible connector is connected to the pressure resistant tank.

13. The underwater robot of claim 11, further comprising: the driving mechanism is connected with the camera to drive the camera to rotate, and the driving mechanism and the camera are respectively connected with the electronic control module.

14. An underwater robot as claimed in claim 7 or 10, further comprising: the gravity center adjusting module is arranged on the frame plate; the gravity center adjusting module comprises a balancing weight and a sliding assembly, and the balancing weight can move on the frame plate along a direction parallel to or perpendicular to the second flow guide channel through the sliding assembly.

15. The underwater robot of claim 8 wherein the second plurality of diversion channels comprises a second plurality of intermediate diversion channels;

each middle second flow guide channel comprises an upper groove and a lower groove, the upper groove is arranged inside the upper shell, and the lower groove is arranged inside the lower shell;

two ends of the upper groove respectively penetrate through the upper shell along a direction perpendicular to the first direction, and two ends of the lower groove respectively penetrate through the lower shell along a direction perpendicular to the first direction.

16. The underwater robot as claimed in claim 8 or 15, wherein the second flow guide passages include upper second flow guide passages and lower second flow guide passages, both ends of each of the upper second flow guide passages respectively penetrate the upper shell in a direction perpendicular to the first direction, and both ends of each of the lower second flow guide passages respectively penetrate the lower shell in a direction perpendicular to the first direction.