JP2013063702A - Underwater robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an underwater robot having superior pressure resistance and water resistance, and facilitating replacement of each module by composing the single function modules into an independent unit by achieving communication by radio.SOLUTION: The underwater robot includes: a plurality of independent units 2, and 7 that store single function modules containing at least a working device 2b and a control device 7b in pressure resistance waterproof cases 2a and 7a; chassis 5 and 6 that can detachably attach the independent units 2 and 7; and a non-conductive transmission medium 10 that is contacted and fixed to the outside of the pressure resistance waterproof cases 2a and 7a without boring holes on the cases. The independent units 2 and 7 house communication means 2c and 7c and batteries 2d and 7d, and the control device 7b communicates through the communication means 7c of the independent unit of the control device and the communication means 2c of an independent unit that stores other single function modules, and controls other single function modules, and controls the entire operation as the underwater robot.

Description

  The present invention relates to an underwater robot. In particular, single-function modules such as the underwater robot work unit, power supply unit and control unit are installed as independent units in a common chassis, and the non-waterproof parts of each independent unit are stored in a pressure-resistant waterproof case. The present invention relates to an underwater robot that communicates wirelessly and controls the operation of each independent unit by a control device.

  Various unmanned autonomous underwater robots that perform various tasks underwater have been proposed.

  Generally, devices such as batteries, control devices, and cameras have the property of causing functional failures when they get wet (non-water resistance). All non-water-resistant equipment was housed inside (the ship's body), and the working arm and propulsion device protruded from the required location.

  However, since it is necessary to arrange a plurality of propulsion devices at a distance, the common pressure-resistant water-resistant container that accommodates all devices must be enlarged, and a wasteful space must be included in the container. There was a problem of not getting.

  Therefore, the modularized underwater robot was next developed and proposed.

  This modularized underwater robot consists of single function modules such as work devices, power supply devices, and control devices as independent units as much as possible, and controls and controls the overall operation of the underwater robot by the control device. Met.

  The structure of the independent unit is that each single function module is stored in a small pressure and water resistant case and placed where it is needed, and each pressure and water resistant case can communicate by connecting a cable to the connector provided in the pressure and water resistant case It was configured as follows. Each single-function module communicates with each other through a cable so that each independent unit operates in a functional manner.

JP-A-8-202445 JP 11-249734 A

  In the conventional modularized underwater robot described above, the pressure-resistant and water-resistant cases are connected to each other by a cable via a connector provided in the pressure-resistant and waterproof case, but there are various problems in connection with the cable.

  First, providing a connector in a pressure-resistant waterproof case means that a hole must be made in the pressure-resistant waterproof case, which is an essential disadvantage for a pressure-resistant waterproof case that requires pressure resistance and water resistance.

  When the connector is provided, the pressure-resistant and waterproof case has a structural seam, so it has been necessary to take measures to prevent deterioration of the pressure-resistant performance and water-resistant performance. The same applies to the case where the cable is passed through without providing a connector. The structure of pressure and water resistance of the seam is complicated, and the work of those processes is also complicated.

  Moreover, since the conventional modularized underwater robot connects each independent unit with a cable, it was difficult to replace the single function module. The necessity of replacing the single function module is as follows.

  It is preferable that the underwater robot can perform various operations with one underwater robot.

  The “work” of the underwater robot referred to in this specification is not only the case of changing the state by exerting an external action on other things, but also the data without exerting an external action on other things. Including both collecting only.

  If various tools that perform various tasks are permanently installed in one underwater robot, the underwater robot becomes larger and its motion performance decreases.

  Therefore, in a modularized underwater robot, taking advantage of being modularized, it is conceivable to replace the tool according to the work purpose to prevent an increase in size and a decrease in motion performance.

  However, in the conventional modularized underwater robot, the independent units are connected to each other by a cable, so that the replacement work is complicated, and it is difficult to quickly replace the unit, for example, a tool.

  As for the power supply device, conventionally, since the power supply device is connected to each independent unit by a power cable, it is difficult to replace the power supply device.

  It is relatively frequent that the power supply device is reloaded according to the underwater robot's working time in water or for charging. For this reason, it is preferable that the power supply device can be easily replaced. Of course, the wiring of the power supply device is considered so that it can be easily replaced, but it is difficult to replace it because it dislikes moisture, and further improvement has been awaited.

  On the other hand, considering the shortcomings of connection using the cable, communication between modules by radio can be considered.

  However, radio waves have the property of being significantly attenuated in water. According to the experiments by the inventors, if the distance of about 30 mm is separated, wireless communication between modules becomes impossible.

  For this reason, many communication systems using ultrasonic waves and light instead of radio waves have been proposed in water. However, since the control is generally performed by an electric signal, telecommunication without media conversion is preferable.

  Therefore, the object of the present invention is to solve the above-mentioned problems of the conventional underwater robot and realize a wireless communication, so that a complete independent unit without connection can be configured, and is excellent in pressure resistance and water resistance. Another object is to provide an underwater robot in which each module can be easily replaced.

The underwater robot of the present invention is
A plurality of independent units each storing at least a single function module including a work device and a control device in a pressure-resistant waterproof case;
A chassis capable of detachably attaching the independent unit;
A non-conductive transmission medium that connects a plurality of independent units by contact fixing to the outside of the pressure resistant waterproof case without opening a hole in the pressure resistant waterproof case of the independent unit;
In addition to each single function module, the independent unit contains communication means capable of transmitting and receiving, and a battery.
By communicating via the communication means of the independent unit storing the control device and the communication means of the independent unit storing another single function module, the control device controls the other single function module to control the underwater robot. It controls the whole operation as a feature.

Other underwater robots of the present invention are:
Having an independent unit containing the power supply,
Each independent unit includes a communication means capable of transmitting and receiving, a power transmission receiver, and a rechargeable battery in addition to each single function module.
The power supply device may generate a variable magnetic field, and the power transmission receiver of the independent unit may convert the variable magnetic field into electric power and supply electric power to each single function module directly or via the battery.

  The power supply device may be configured in a plurality of units so as to be able to be stacked according to the working time and load of the underwater robot.

  The chassis itself is made of a non-conductive material, and can also function as the transmission medium to transmit an electric signal between the independent units.

  The chassis may be made of a resin or rubber containing polyvinyl chloride, polyethylene, or polypropylene.

  The independent unit storing the control device can be replaced with another independent unit having a control program for a different work purpose, and other single function modules can be replaced according to the work purpose. be able to.

  The transmission medium or the chassis may have relay means for receiving, amplifying and transmitting an electrical signal.

  The transmission medium is any of natural rubber, styrene-butadiene rubber, acrylonitrile butadiene rubber, chlorobrene rubber, ethylene propylene rubber, methyl vinyl silicone rubber, polyvinyl chloride, polyethylene, polypropylene, or any of them. It can be made up of combinations.

  According to the underwater robot of the present invention, each single function module is housed in a pressure-resistant waterproof case to form a plurality of independent units. Each independent unit is detachably attached to a common chassis. Each independent unit is connected to another independent unit by a non-conductive transmission medium fixed in contact with the outside of the pressure-proof waterproof case without making a hole in the wall of the pressure-proof waterproof case.

  Further, the independent unit has a communication means and a battery capable of transmitting and receiving, and the control device wirelessly communicates with other single function modules by the communication means and performs control so as to operate as an underwater robot as a whole.

  Thus, according to the underwater robot of the present invention, each single function module can communicate with other single function modules wirelessly by the transmission medium. For this reason, the pressure-proof waterproof case for storing the single function module can realize communication between the single function modules wirelessly without forming a hole for the telecommunication cable.

  The waterproof case does not require a structural seam for the telecommunication cable. For this reason, according to the present invention, each independent unit can maintain high pressure resistance and water resistance. For an underwater robot designed to hold a non-water resistant device and operate under the surface of the water, suitable functions and characteristics can be obtained.

  Further, according to the present invention, the exchangeability of each independent unit is remarkably improved by performing communication by radio.

  According to the underwater robot of the present invention, since each independent unit is not connected by an electric communication cable, when replacing each independent unit, the cable is not disconnected or reconnected, and the replacement of the independent unit becomes extremely easy.

  In this case, it is needless to say that replacement is easy when a battery for power is built in each independent unit. Even when each independent unit has a rechargeable battery built therein, according to one aspect of the present invention, power can be supplied between the power supply device and each independent unit wirelessly.

  The underwater robot of this aspect has an independent unit storing a power supply device, and each independent unit incorporates a power transmission receiver and a rechargeable battery in addition to each single function module and communication means. .

  In the above configuration, when the power supply unit generates a fluctuating magnetic field, the power transmission receiver of another independent unit converts the fluctuating magnetic field into electric power, charges the battery, or directly supplies power to each single function module To do.

  Conventionally, since the power supply device is connected to each independent unit by a power cable, it is difficult to replace the power supply device or the independent unit.

  According to the aspect of the present invention for supplying power wirelessly, it is easy to replace the independent unit because it is not connected by the power cable, and it is also very easy to replace the independent unit storing the power supply device. It is.

  According to this aspect of the present invention, the independent unit of the power supply device can be easily transposed according to the working time and work load of the underwater robot in water.

  Further, by providing a plurality of power supply units that can supply power for a certain period of time, it is possible to increase the number of power supply apparatuses according to the working time and load of the underwater robot.

  Since the power supply device dislikes moisture, it is possible to obtain an underwater robot in which the power supply device is extremely easy to handle by storing it in a completely sealed pressure-proof waterproof case.

  Furthermore, according to the present invention, in a modularized underwater robot, each independent unit can be easily replaced. Therefore, the controller can be replaced with a control device equipped with a different control program depending on the work purpose, and other units can be used depending on the work purpose. The single function module can be replaced. Thereby, one underwater robot can be used as an underwater robot for a completely different work purpose.

  In the present invention, the chassis can also serve as a transmission medium by forming the chassis with a non-conductive material.

  In this case, the electrical signal is not significantly attenuated by water, and the electrical signal is exchanged between the single function modules through the chassis, so that an underwater robot having a very simple structure can be obtained.

  By providing relay means for receiving, amplifying and transmitting electrical signals at various locations in the chassis and transmission medium, the communication function of each single function module is more reliable.

1 is a perspective view of an underwater robot according to an embodiment of the present invention. The perspective view which decomposed | disassembled and showed the underwater robot of FIG. 1 is a block diagram of an underwater robot according to an embodiment of the present invention. Explanatory drawing which showed the example of a connection of a transmission medium. Explanatory drawing which shows the experimental result by which a received radio wave intensity is improved in water with a nonelectroconductive transmission medium. The block block diagram of the underwater robot which has a power supply device which supplies electric power by radio | wireless. The block block diagram of the underwater robot with which a chassis acts as a transmission medium.

  Embodiments of the present invention will be described below with reference to the accompanying drawings.

  FIG. 1 shows an underwater robot according to an embodiment of the present invention.

  The underwater robot 1 of this embodiment includes an independent unit 2 for a working device, an independent unit 3 for a horizontal propulsion device, an independent unit 4 for a vertical propulsion device, and a chassis that can be detachably attached to these independent units. And have. In the present embodiment, the chassis is configured to be divided into a lower chassis 5 and an upper chassis 6.

  As described above, “work” of a work device is a case of changing the state by applying an external action to another, and collecting only data without affecting the other. Including both cases. For this reason, the independent unit 2 of the work apparatus is equipped with a camera for the purpose of obtaining visual images, for example, with various sensors for the purpose of acquiring specific data, and for the purpose of collecting things. A manipulator can be mounted.

  The independent unit 3 of the horizontal direction propulsion device has four units, and is divided into left and right and up and down so that it can be propelled in the horizontal direction and propelled at an angle.

  The independent units 3 of the horizontal direction propulsion device are each formed in a columnar shape and are formed so as to be fitted to a cylindrical portion at the rear of the lower chassis 5.

  The independent unit 4 of the vertical propulsion device is formed by a screw provided in a cylindrical casing, and is formed so as to be fitted inside the cylindrical portion of the upper chassis 6.

  The propulsion device is included in the moving means of the superordinate concept, and the moving means may be a wheel, a caterpillar or the like instead of the screw as necessary, but may be omitted as in a stationary underwater robot.

  FIG. 2 is an exploded view of the underwater robot 1 of FIG. In FIG. 2, the upper chassis 6 is shown disassembled and positioned above.

  As shown in FIG. 2, the upper chassis 6 partially connects the independent units 4 of the vertical propulsion device, but the lower chassis 5 connects all the independent units.

  As shown in the figure, the underwater robot 1 has an independent unit 7 of a control device inside.

  The independent unit 2 of the working device is formed in a cylindrical shape as a whole, and is detachably fitted in the ring 8 at the front portion of the lower chassis 5.

  The independent unit 7 of the control device is formed in a flat cylindrical shape as a whole, and is detachably fitted into the recess 9 in the central portion of the lower chassis 5.

  The above-described working device, propulsion device, and control device are component devices that exhibit specific functions and are grouped into one component, and are referred to as “single function modules” in this specification.

  The single function module is housed in a pressure-resistant waterproof case and is configured as a physically independent unit. In the present specification, this physically independent unit is referred to as an “independent unit”.

  FIG. 3 shows a block configuration of the underwater robot 1. In FIG. 3, the independent units 3 and 4 of the propulsion device are shown as two blocks for conceptual illustration.

  As shown in FIG. 3, the independent unit 2 of the working device stores a communication means 2 c capable of transmitting and receiving, and a battery 2 d in addition to the working device 2 b in a pressure-resistant waterproof case 2 a.

  Similarly, the independent units 3 and 4 of the propulsion device store communication means 3c and 4c capable of transmitting and receiving, and batteries 3d and 4d, in addition to the propulsion devices 3b and 4b, in the pressure-proof waterproof cases 3a and 4a.

  Similarly, the independent unit 7 of the control device stores the communication means 7c and the battery 7d in addition to the control device 7b in the pressure resistant waterproof case 7a.

  These independent units 2, 3, 4, 7 are attached to the lower chassis 5 and the upper chassis 6, and each independent unit 2, 3, 4, 7 is connected by a non-conductive transmission medium 10.

  The transmission medium 10 can be appropriately laid on the lower chassis 5 and the upper chassis 6.

  The material of the transmission medium 10 is any of natural rubber, styrene / butadiene rubber, acrylonitrile / butadiene rubber, chlorobrene rubber, ethylene / propylene rubber, methyl / vinyl / silicone rubber, polyvinyl chloride, polyethylene, and polypropylene. Or a combination thereof.

  The transmission medium 10 is connected and fixed to the outside of the pressure-proof waterproof cases 2a, 3a, 4a, 7a without making holes in the pressure-proof waterproof cases 2a, 3a, 4a, 7a.

  FIG. 4 shows an example of fixing the transmission medium 10.

  In the example of FIG. 4, one end portion of the transmission medium 10 is formed on the suction cup 10a, and the suction cup 10a is fixed to the pressure-proof waterproof cases 2a, 3a, 4a, and 7a from the outside.

  According to such a fixing method, the pressure-proof waterproof cases 2a, 3a, 4a, and 7a are not punched. That is, the pressure-proof waterproof cases 2a, 3a, 4a, and 7a can be made to have no structural seam at the connection portion of the transmission medium 10.

  Note that the communication means 2c, 3c, 4c, and 7c may not be in contact with the pressure-proof waterproof cases 2a, 3a, 4a, and 7a as shown in FIG.

  In use, the underwater robot 1 is placed underwater as a whole, and electrical signals are transmitted and received wirelessly from the communication means 2c, 3c, 4c, and 7c inside the independent unit, and the electrical signals are pressure-resistant waterproof cases 2a, 3a, and 4a. , 7a and the transmission medium 10, transmitted to the pressure-resistant waterproof cases 2a, 3a, 4a, 7a of the other independent units and wirelessly transmitted to the inside, and transmitted by the communication means 2c, 3c, 4c, 7c of the other independent units Intercepted.

  Here, the attenuation of the radio wave intensity according to the present invention is compared with the attenuation of the radio wave intensity in water.

  FIG. 5 shows an experimental result of how attenuation of the radio wave intensity transmitted in seawater is improved by a transmission medium made of a non-conductive material.

  A small personal computer is used as a transmission source, a resin waterproof case is used as a pressure-resistant waterproof case, and radio waves of a certain strength are transmitted using the wireless LAN communication means attached to the computer. Stored the computer.

  First, when it was received in the air at a distance of 500 [mm] without providing a transmission medium, the received radio wave intensity was -30 [dB]. Next, when immersed in seawater for 30 [mm] without providing a transmission medium, radio waves could not be received.

  Next, using various non-conductive material transmission media, as shown in FIG. 5, the container and the computer were submerged 100 [mm] below the water surface, and the received radio wave intensity was measured on the water surface. Here, a transmission medium having a cross-sectional area of 200 [mm] * 20 [mm] was used.

  As shown in FIG. 5, the experiment showed that the transmission medium was natural rubber, styrene / butadiene rubber, acrylonitrile / butadiene rubber, chlorobrene rubber, ethylene / propylene rubber, methyl / vinyl / silicone rubber. In some cases, when the container and computer were submerged 100 [mm] below the surface of the water, both received radio field strengths of about -60 [dB] could be measured. In the case of polyvinyl chloride, polyethylene, and polypropylene, the received radio field intensity of about -77 [dB] could be measured.

  Received radio wave strength exceeds -88 [dB] and the reception success rate exceeds 85%, and it has been confirmed by other experiments that it can withstand practical use, so use a non-conductive transmission medium as in the present invention. This shows that the attenuation is remarkably reduced.

  As shown in the experimental results of FIG. 5, according to the present invention, communication between independent units is prevented from being attenuated by the water by the transmission medium 10, and communication is performed between independent units in a practical underwater robot size. Can do.

  As shown in FIG. 3, the underwater robot 1 of the present invention is configured such that the communication means 7c of the independent unit 7 of the control device and the communication means 2c, 3c, 4c of the other independent units 2, 3, 4 communicate with each other. The control device 7b can control the entire operation of the underwater robot 1 by controlling the other single-function modules 2b, 3b, 4b.

  Since the underwater robot 1 of FIG. 3 does not have a telecommunication cable, each pressure-resistant waterproof case does not have a hole for the cable, and is excellent in pressure-resistant water resistance. Further, the suction cup 10a has an advantage that the transmission medium 10 can be easily attached and detached.

  However, according to the present invention, each independent unit can be made completely independent. “Completely independent” means that there is no connection cable for the transmission medium and no power cable for supplying power.

  FIG. 6 shows a block diagram of an underwater robot in which each independent unit is completely independent.

  In FIG. 6, for ease of understanding, the same parts as those in FIG.

  The underwater robot 11 shown in FIG. 6 does not have a transmission medium connection cable (the transmission medium 10 in FIG. 3), but the chassis 5 and 6 are made of a non-conductive material such as a resin material or rubber.

  In addition, the underwater robot 11 shown in FIG. 6 has an independent unit 12 that is a power supply device in which each independent unit has a rechargeable battery instead of a battery and supplies power to the independent unit.

  The underwater robot 11 can operate for a long time by using a large-capacity power supply device, and does not have a power cable for supplying power.

  Specifically, the independent unit 12 of the power supply device stores a power supply device 12b, a communication means 12c, and a variable magnetic field generation means 12d that generates a variable magnetic field in a pressure-proof waterproof case 12a.

  On the other hand, the independent unit 2 of the working device has a rechargeable battery 2d 'and a power transmission receiver 2e.

  The independent units 3 and 4 of the propulsion device include rechargeable batteries 3d 'and 4d' and power transmission receivers 3e and 4e.

  The independent unit 7 of the control device has a rechargeable battery 7d 'and a power transmission receiver 7e.

  According to the underwater robot 11 of the present embodiment, the electrical signals of the communication means 2c, 3c, 4c, 7c, and 12c of each independent unit are exchanged via the chassis 5 and 6 made of a non-conductive material. The connection cable for the medium can be omitted.

  Moreover, electric power can be supplied to each single function module without requiring a power cable as follows.

  That is, the independent unit 12 of the power supply device generates a magnetic field that fluctuates by the fluctuating magnetic field generating unit 12d according to a command from the control device 7b via the communication unit 12c.

  On the other hand, the power transmission receivers 2e, 3e, 4e, and 7e of each independent unit convert the fluctuating magnetic field into power and supply power directly or indirectly to each single function module.

  To indirectly supply power to each single function module, the rechargeable batteries 2d ′, 3d ′, 4d ′, and 7d ′ are charged with the power acquired by the power transmission receiver, and the rechargeable batteries 2d ′, 3d ′, 4d ′, and 7d are charged. 'Is to supply power to each single function module.

  According to the underwater robot 11 of the present embodiment, each independent unit can simply communicate with the chassis 5 and 6 and receive power supply.

  This makes it very easy to replace each independent unit. That is, since each independent unit is not connected by a telecommunication cable, a connection cable for a transmission medium, or a power cable, the independent unit may be simply replaced.

  Also, since the power supply device is not connected to each independent unit by a power cable, the independent unit 12 of the power supply device can be easily replaced.

  Thereby, according to the underwater robot 11, the independent unit 12 of a power supply device can be simply transposed according to the working time and work load in water.

  Furthermore, if the independent unit 12 of the power supply unit is a unit that can supply power for a certain period of time and a plurality of such power supply units are provided, the power supply units can be increased or decreased according to the working time and load of the underwater robot. can do.

  In addition, since each independent unit is not connected and can be easily replaced, the underwater robot 11 of the present embodiment can replace the independent unit 7 of the control device for different work purposes.

  That is, the independent unit 7 of the control device can be easily replaced with an independent unit of another control device equipped with a different control program according to the work purpose. Of course, independent units of other single-function modules can be easily replaced according to the purpose of the work.

  Thereby, one underwater robot can be appropriately used for a plurality of work purposes.

  FIG. 7 shows a modification of the underwater robot 11 of FIG.

  The underwater robot shown in FIG. 7 is different from the underwater robot 11 shown in FIG.

  The relay unit 13 has a function of receiving, amplifying and transmitting an electric signal.

  According to the underwater robot 11 of this modified example, the communication function of each single-function module is more reliable by providing the relay means 13 in places in the chassis.

  In the example of FIG. 7, the relay unit 13 is provided in the chassis 5 and 6, but a connection cable for a transmission medium may be used, and the relay unit 13 may be provided at various points in the transmission medium.

DESCRIPTION OF SYMBOLS 1 Underwater robot 2 Work unit independent unit 2a Pressure-resistant waterproof case 2b Work device 2c Communication means 2d Battery 2d 'Rechargeable battery 2e Power transfer receiver 3 Horizontal direction propulsion device independent unit 3a Pressure-resistant waterproof case 3b Propulsion device 3c Communication means 3d Battery 3d 'Rechargeable battery 3e Power transmission receiver 4 Vertical propulsion unit independent unit 4a Pressure-resistant waterproof case 4b Propulsion device 4c Communication means 4d Battery 4d' Rechargeable battery 4e Power transmission receiver 5 Lower chassis 6 Upper chassis 7 Control unit independent unit 7a Case 7b Control device 7c Communication means 7d Battery 7d 'Rechargeable battery 7e Power transmission receiver 8 Ring 9 Recess 10 Transmission medium 10a Suction cup 11 Underwater robot 12 Power supply independent unit 12a Pressure resistant waterproof case 12b Power supply device 12c Communication means 12d Fluctuating magnetic field generation means 13 medium Connection means

Claims (8)

A plurality of independent units each storing at least a single function module including a work device and a control device in a pressure-resistant waterproof case;
A chassis capable of detachably attaching the independent unit;
A non-conductive transmission medium that connects a plurality of independent units by contact fixing to the outside of the pressure resistant waterproof case without opening a hole in the pressure resistant waterproof case of the independent unit;
In addition to each single-function module, the independent unit includes a communication means capable of transmitting and receiving, and a battery.
By communicating via the communication means of the independent unit storing the control device and the communication means of the independent unit storing another single function module, the control device controls the other single function module to control the underwater robot. An underwater robot characterized by controlling the overall operation of the robot. Having an independent unit containing the power supply,
The other independent unit having the single function module includes, in addition to each single function module, a communication means capable of transmitting and receiving, a power transmission receiver, and a rechargeable battery.
The power supply device generates a variable magnetic field, and the power transmission receiver of the independent unit converts the variable magnetic field into electric power, and supplies power to each single function module directly or via the battery. The underwater robot according to 1.   The underwater robot according to claim 2, wherein the power supply device is configured in a plurality of units so as to be able to be stacked according to a working time and a load of the underwater robot.   The underwater robot according to any one of claims 1 to 3, wherein the chassis itself is made of a non-conductive material, and functions as the transmission medium to transmit an electric signal between the independent units.   The underwater robot according to claim 4, wherein the chassis is made of resin or rubber including polyvinyl chloride, polyethylene, and polypropylene.   The independent unit storing the control device can be replaced with another independent unit having a control program for a different work purpose, and other single function modules can be replaced according to the work purpose. The underwater robot according to any one of 1 to 5.   The underwater robot according to claim 1, wherein the transmission medium or the chassis includes a relay unit that receives, amplifies, and transmits an electric signal.   The transmission medium is any of natural rubber, styrene-butadiene rubber, acrylonitrile butadiene rubber, chlorobrene rubber, ethylene propylene rubber, methyl vinyl silicone rubber, polyvinyl chloride, polyethylene, polypropylene, or any of them. The underwater robot according to any one of claims 1 to 7, comprising a combination.

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