WO2020082440A1 - 一种手持式水下飞行器 - Google Patents

一种手持式水下飞行器 Download PDF

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Publication number
WO2020082440A1
WO2020082440A1 PCT/CN2018/115065 CN2018115065W WO2020082440A1 WO 2020082440 A1 WO2020082440 A1 WO 2020082440A1 CN 2018115065 W CN2018115065 W CN 2018115065W WO 2020082440 A1 WO2020082440 A1 WO 2020082440A1
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WO
WIPO (PCT)
Prior art keywords
battery compartment
buoyancy
underwater vehicle
handle
propeller
Prior art date
Application number
PCT/CN2018/115065
Other languages
English (en)
French (fr)
Inventor
熊明磊
陈龙冬
陈亦珺
李海杰
王凯
Original Assignee
博雅工道（北京）机器人科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201821709853.2U external-priority patent/CN209060477U/zh
Priority claimed from CN201811229761.9A external-priority patent/CN109260675A/zh
Application filed by 博雅工道（北京）机器人科技有限公司 filed Critical 博雅工道（北京）机器人科技有限公司
Publication of WO2020082440A1 publication Critical patent/WO2020082440A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
    • B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/02—Divers' equipment
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B35/00—Swimming framework with driving mechanisms operated by the swimmer or by a motor
    • A63B35/08—Swimming framework with driving mechanisms operated by the swimmer or by a motor with propeller propulsion
    • A63B35/12—Swimming framework with driving mechanisms operated by the swimmer or by a motor with propeller propulsion operated by a motor
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/46—Divers' sleds or like craft, i.e. craft on which man in diving-suit rides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H1/00—Propulsive elements directly acting on water
    • B63H1/02—Propulsive elements directly acting on water of rotary type
    • B63H1/12—Propulsive elements directly acting on water of rotary type with rotation axis substantially in propulsive direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/08—Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/70—Measuring or simulating ambient conditions, e.g. weather, terrain or surface conditions
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
    • A63B2225/74—Miscellaneous features of sport apparatus, devices or equipment with powered illuminating means, e.g. lights
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/02—Divers' equipment
    • B63C2011/028—Devices for underwater towing of divers or divers' sleds

Definitions

  • the invention relates to the field of underwater propulsion equipment, in particular to a handheld underwater vehicle.
  • the axes of the propellers are parallel to each other, and the axis of the propellers is parallel to the moving direction of the underwater vehicle, and the volume of the underwater vehicle is relatively small.
  • the propeller of the propeller can easily splash and hit the user's face or body. The swimming beginner or the person with a wider body will be more obvious. On the one hand, a lot of thrust is lost, and the other In order to prevent water from hitting the face and affecting the sight, it is necessary to adjust the posture of the arm or body, which limits the freedom of the body to a certain extent and will reduce the overall experience.
  • the technical problem to be solved by the present invention is to provide a handheld underwater vehicle to solve at least one of the above technical problems in view of the deficiencies of the prior art.
  • a handheld underwater vehicle includes a battery compartment and a propeller; at least two propellers are symmetrically distributed on both sides of the battery compartment and connected to the battery compartment; The axis and the axis of the battery compartment have a special design with a non-parallel angle.
  • the propeller is symmetrically arranged with respect to the battery compartment, which can ensure the balance of the present invention and maintain the straight forward movement of the underwater vehicle; by setting the axis of the propeller and the axis of the battery compartment to have a certain angle, when When the underwater vehicle moves forward in the water, the water output of the propeller and the direction of motion of the underwater vehicle have an angular deviation, and the water output of the propeller will not spray against the user's face or body against the direction of motion of the underwater vehicle; Symmetrical setting, the component forces generated by each thruster in the direction of movement of the non-submarine vehicle cancel each other, so that the movement of the underwater vehicle remains balanced and can go straight; the axis of the thruster and the axis of the battery compartment have a certain clamp
  • the angle setting produces little natural loss, but avoids the greater power loss caused by the current impact on the human body, and improves the efficiency of the underwater vehicle moving forward in the water; at the same time, because the water does not impact the user
  • the present invention can also be improved as follows.
  • the water inlet end of the thruster is biased toward the battery compartment, and the included angle is greater than 0 ° and less than 45 °.
  • the beneficial effect of adopting the above further scheme is that the angle between the propeller and the battery compartment should not be too large. When the angle is too large, the component forces generated in the movement direction of the non-underwater vehicle will cancel each other out, which will produce a larger natural Loss, wasting energy.
  • the included angle is preferably 0-10 °, and the optimal included angle is 5 °.
  • the beneficial effect of adopting the above-mentioned further solution is that when the angle between the axis of the thruster and the axis of the battery compartment is 0-10 ° relative to the angle of greater than 10 ° and less than 45 °, when the present invention operates at the same speed, the propulsion
  • the energy consumption of the device is significantly reduced; when the angle between the propeller and the battery compartment is 5 °, the natural loss is reasonably reduced, but the more loss caused by the impact of the water flow on the human body is avoided, and the overall product forwardness during use is improved. thrust.
  • connection between the two propellers through the buoyancy block can reduce the resistance and increase the buoyancy without the need to increase the external buoyancy, to avoid the external buoyage equipment falling into the water and losing the sinking bottom.
  • the buoyancy block is arranged in front of the battery compartment, and the buoyancy block is an arc-shaped plate protruding forward in the middle.
  • the beneficial effect of adopting the above-mentioned further solution is that by placing the buoyancy block in front of the battery compartment and the buoyancy block being an arc-shaped plate protruding forward in the middle, the buoyancy block can play a role in protruding
  • the curved plate has the advantage of reducing the drag of the underwater vehicle.
  • the propeller and the battery compartment are connected by a buoyancy bridge, which is provided with a handle.
  • the beneficial effect of adopting the above further scheme is that the propeller and the battery compartment are connected by a buoyancy bridge, and the buoyancy bridge also plays a role in increasing buoyancy; the buoyancy bridge is provided with a handle, which is convenient for the user to hold the underwater vehicle and convenient to hold.
  • the buoyancy bridge includes an upper buoyancy plate and a lower buoyancy plate arranged in parallel, and both ends of the upper buoyancy plate and the lower buoyancy plate are respectively connected to two thrusters;
  • the upper end of the battery compartment is installed on the lower surface of the upper buoyancy plate
  • the middle part, the lower end is installed in the middle of the upper surface of the lower buoyancy plate;
  • the two sides of the battery compartment are symmetrically provided with handles, the upper end of the handle is connected to the upper buoyancy plate, the lower end of the handle is connected to the lower buoyancy plate;
  • one of the handles is provided with a pusher switch, There is a power switch on the other handle.
  • the beneficial effects of adopting the above further scheme are: the upper buoyancy plate and the lower buoyancy plate arranged in parallel not only improve the overall buoyancy of the underwater vehicle, but also have a beautiful appearance; the battery compartment is installed in the middle of the upper buoyancy plate and the lower buoyancy plate, ensuring that The balance of the underwater vehicle; the symmetrical handles on both sides of the battery compartment ensure the balance of the underwater vehicle; the upper end of the handle is connected to the upper buoyancy plate, the lower end of the handle is connected to the lower buoyancy plate, and the vertically arranged handle is convenient for the user Hand-held, more convenient and comfortable to hold; one of the handles is provided with a pusher switch, the other handle is provided with a power switch, and the pusher switch and power switch are provided on the handle to facilitate user operation.
  • buoyancy block, upper buoyancy plate, lower buoyancy plate and handle are all hollow structures.
  • the beneficial effect of adopting the above further scheme is that the buoyancy block, the upper buoyancy plate, the lower buoyancy plate and the handle are all hollow structures.
  • the hollow structure increases the buoyancy, and reduces the weight and cost of the underwater vehicle.
  • the thruster is a variable-speed thruster, and a gear adjustment switch for controlling the variable-speed thruster is provided on the handle or on the side wall of the battery compartment, and each variable-speed thruster is correspondingly provided with a gear adjustment switch .
  • the beneficial effect of adopting the above further scheme is that the user can control the movement speed and direction of the variable speed thruster by the gear adjustment switch.
  • a status display screen which is provided on the outer side wall of the battery compartment, and the power supply and thruster in the battery compartment are connected to the status display circuit; the status display screen is used to display the power supply and thruster in the battery compartment Parameter information;
  • It also includes a pressure sensor, which is installed on the lower front of the battery compartment; the pressure sensor is connected to the status display circuit, and the status display is used to display the detection data of the pressure sensor;
  • the pressure sensor can effectively measure the speed of movement and the depth of water entry, which can be displayed on the status display.
  • the indicator flashes to remind the user that the dangerous depth may be reached;
  • the status display can Real-time display of underwater vehicle information.
  • Figure 1 is a bottom view of the present invention
  • Figure 2 is a schematic perspective view of the present invention
  • FIG. 3 is a schematic diagram of the control of the present invention.
  • Example 4 is a schematic diagram of a simplified model used in the test experiment in Example 2.
  • Example 5 is a schematic diagram of the flow field model of the test experiment in Example 2.
  • Figure 6a is a schematic diagram of the simulation test results when the angle ⁇ is 0 °;
  • Figure 6b is a schematic diagram of the simulation test results when the angle ⁇ is 5 °;
  • Fig. 6c is a schematic diagram of the simulation test results when the angle ⁇ is 10 °.
  • 1- pusher switch, 2-power switch, 3-status display 4-right pusher body, 5-left pusher body, 6-buoyancy block, 7-right handle, 8-left handle, 9-right push Barrel, 10-left push barrel, 11-equipment external slot, 12-battery compartment, 13-position adjustment switch, 13-pressure sensor, 15-upper buoyancy plate, 16-lower buoyancy plate, 17-dynamic range, 18- Static area, 19-human body simulation, 20-water flow from the propeller.
  • a handheld underwater vehicle includes a battery compartment 12 and a propeller.
  • the propellers are at least two and are symmetrically arranged with respect to the battery compartment 12 and are connected to the battery compartment 12.
  • the axis of the propeller is The axis of the battery compartment 12 has an included angle.
  • the beneficial effect of this embodiment is that the propellers are symmetrically arranged about the battery compartment 12, which can ensure the balance of the underwater vehicle and maintain the straight forward movement of the underwater vehicle; by setting the axis of the propeller and the axis of the battery compartment 12 as non- Parallel angle, when the underwater vehicle moves forward in the water, there is a certain angle deviation between the water output of the thruster and the movement direction of the underwater vehicle, and the water output of the thruster will not spray on the user's face against the movement direction of the underwater vehicle Or on the body, obstructing sight or losing power, and due to the symmetrical setting of the thrusters, the component forces generated by each thruster in the direction of movement of the non-submarine vehicle cancel each other, so that the movement of the underwater vehicle remains balanced and can go straight
  • the setting of the angle between the axis of the propeller and the axis of the battery compartment 12 produces little natural loss, but avoids the greater power loss caused by the water flow impacting the human body, and improves the efficiency of the underwater vehicle moving
  • a handheld underwater vehicle includes a battery compartment 12 and a propeller.
  • the propellers are at least two and are symmetrically arranged with respect to the battery compartment 12 and are connected to the battery compartment 12.
  • the axis of the propeller is The axis of the battery compartment 12 has an included angle.
  • the battery compartment 12 has a power source, and the power source is connected to the thruster through a circuit to provide energy for the thruster.
  • the thrusters there are two thrusters, a left thruster and a right thruster, and the water inlet end of the thruster is biased toward the battery compartment 12, in other specific implementations, the thrusters may be three, three
  • the propellers are symmetrically arranged with the battery compartment 12 through connecting rods, and the water inlet ends of the propellers are all biased toward the battery compartment 12.
  • there are four propellers and both sides of the battery compartment 12 are respectively connected Two propellers, the water inlet end of the propellers are biased towards the battery compartment 12.
  • the thruster includes a thruster body and a thrust cylinder, the left thruster body 5 is installed in the left thrust cylinder 10, and the right thruster body 4 is installed in the right thrust cylinder 9.
  • the two pushers and the battery compartment 12 can be connected by a connecting rod.
  • the pusher and the battery compartment 12 are connected by a buoyancy bridge, and the buoyancy bridge is provided with a user-friendly grip
  • the handle is connected to the propeller and the battery compartment 12 through a buoyancy bridge, and the buoyancy bridge also plays a role in increasing buoyancy; the buoyancy bridge is provided with a handle, which is convenient for the user to hold the underwater vehicle and is convenient to hold.
  • the propellers are arranged symmetrically with respect to the battery compartment 12, which can ensure the balance of the present invention and maintain the straight forward movement of the underwater vehicle; by setting the axis of the propeller and the axis of the battery compartment 12 at an angle, when the underwater vehicle advances in water At this time, the water output of the thruster has a certain angle with the movement direction of the underwater vehicle.
  • the water output of the thruster will not spray against the user's face or body against the movement direction of the underwater vehicle, and due to the symmetrical setting of the thruster, The component forces generated by each thruster in the direction of motion of the non-submarine vehicle cancel each other, so that the motion of the underwater vehicle remains balanced and can go straight forward.
  • the axis of the thruster and the battery compartment 12 have an angle between them. Little natural loss, but avoids the greater power loss caused by the current impact on the human body, and improves the efficiency of the underwater vehicle moving forward in the water during use; at the same time, the water does not impact the user's face, effectively preventing the user Choking water makes users more comfortable and safe, and the overall experience is effectively improved.
  • the angle between the axis of the thruster and the axis of the battery compartment 12 is ⁇ , 0 ° ⁇ ⁇ 45 °, the optimal angle is 5 °, the angle between the thruster and the battery compartment 12 should not be too large, the angle is too large When it is large, when the component forces generated in the movement direction of the non-submarine vehicle cancel each other out, a large natural loss will occur, and energy will be wasted.
  • the angle ⁇ is preferably 0-10 °, and the optimal angle ⁇ is 5 °.
  • the angle between the axis of the thruster and the axis of the battery compartment is 0-10 °, the angle is greater than 10 ° and less than 45 At °, at the same operating speed of the present invention, the energy consumption of the thruster is significantly reduced; when the angle between the thruster and the battery compartment 12 is 5 °, the natural loss is reasonably reduced, but the water caused by hitting people is avoided More wear and tear improves the overall thrust of the person in use.
  • the two propellers are connected by a buoyancy block 6, which can reduce the resistance and increase the buoyancy without adding an external buoy, avoiding the external buoy equipment falling into the water and sinking to the bottom, lowering the equipment cost and reducing the operation steps In the prior art, it is generally necessary to add an external float to increase buoyancy.
  • the buoyancy block 6 is disposed in front of the battery compartment 12.
  • the buoyancy block 6 is an arc-shaped plate that protrudes forward in the middle.
  • the buoyancy block 6 is generally V-shaped, and the bending point faces forward.
  • the buoyancy bridge includes an upper buoyancy plate 15 and a lower buoyancy plate 16 arranged in parallel. Both ends of the upper buoyancy plate 15 and the lower buoyancy plate 16 are connected to two thrusters, respectively; the battery compartment The upper end of 12 is installed at the middle of the lower surface of the upper buoyancy plate 15 and the lower end is installed at the middle of the upper surface of the lower buoyancy plate 16; the battery compartment 12 is provided with handles symmetrically on both sides, specifically, this embodiment includes a left handle 8 and a right handle 7. The upper end of the handle is connected to the upper buoyancy plate 15 and the lower end of the handle is connected to the lower buoyancy plate 16; one of the handles is provided with a pusher switch 1 and the other handle is provided with a power switch 2.
  • the parallel arrangement of the upper buoyancy plate 15 and the lower buoyancy plate 16 not only improves the overall buoyancy of the underwater vehicle, but also has a beautiful appearance;
  • the battery compartment 12 is installed in the middle of the upper buoyancy plate 15 and the lower buoyancy plate 16, ensuring The balance of the underwater vehicle is provided;
  • the two sides of the battery compartment 12 are symmetrically provided with handles to ensure the balance of the underwater vehicle;
  • the upper end of the handle is connected to the upper buoyancy plate 15, the lower end of the handle is connected to the lower buoyancy plate 16, and the vertical
  • the handle is convenient for the user to hold, which is more convenient and comfortable to hold; one of the handles is provided with a pusher switch 1, the other handle is provided with a power switch 2, and the pusher switch 1 and the power switch 2 are provided on the handle for user convenience .
  • the buoyancy block 6, the upper buoyancy plate 15, the lower buoyancy plate 16 and the handle are all hollow structures.
  • the hollow structure increases buoyancy, reduces the weight of the underwater vehicle and reduces costs, and the hollow structure facilitates circuit routing.
  • the thruster is a variable speed thruster
  • the gear adjustment switch 13 for controlling the variable speed thruster is provided on the handle or on the side wall of the battery compartment 12, and each variable speed thruster is correspondingly provided with a gear Position adjustment switch 13.
  • the propeller is a variable-speed propeller propeller
  • the variable-speed adjustment of the propeller is the prior art.
  • Those skilled in the art can directly purchase the variable-speed propeller, or they can realize the variable-speed propeller according to common knowledge in the art.
  • FIG. 1 it also includes a status display screen 3, which is provided on the outer side wall of the battery compartment 12 for the convenience of users to observe.
  • the power supply and the thruster in the battery compartment 12 are both electrically connected to the status display screen 3;
  • the status display 3 is used to display the parameter information of the power supply and thruster in the battery compartment 12;
  • a pressure sensor 13 is also included.
  • the pressure sensor 13 is installed at the lower front of the battery compartment 12; the pressure sensor 13 is electrically connected to the status display 3, and the status display 3 is used to display the detection data of the pressure sensor 13;
  • the buoyancy block 6 is not installed in the underwater vehicle, and the pressure sensor 13 is directly installed on the lower front of the battery compartment 12; in other embodiments, the buoyancy block 6 and the battery compartment 12 are installed in the underwater vehicle
  • the front end of is connected to the buoyancy block 6, and the pressure sensor 13 is directly installed at the lower front of the battery compartment 12 and outside the buoyancy block 6 to facilitate the detection of the pressure sensor 13.
  • the pressure sensor 13 can effectively measure the speed of movement and the depth of water entry, which can be displayed on the status display 3.
  • the indicator flashes to remind the user that the dangerous depth may be reached; the status display 3 can be real-time Display information about underwater vehicles.
  • a device external groove 11 is installed on the lower side wall of the battery compartment for installing external devices on the battery compartment, so that the underwater vehicle can carry other equipment.
  • the pressure sensor 13 is connected with a micro control chip (hereinafter referred to as MCU) through a cable, which transmits power and data, and the MCU sends a read command to the sensor to read the internal data of the sensor and complete the relevant calculations. Obtain the required data;
  • MCU micro control chip
  • Status display 3 connected to the MCU of the control board through a cable, which takes into account the transmission of power and data, and the content displayed on the display is controlled by the MCU, including but not limited to the obtained sensor value (such as brand LOGO);
  • Propeller It is connected to the MCU through the propeller controller (the propeller controller is classified into the propeller category), and the power is directly supplied by the battery.
  • the propeller speed is directly controlled by the user input gear command obtained by the MCU (different gears can be generated Different speeds, which produce different thrusts);
  • Speed regulation and switch The switch and speed regulation are controlled by the different positions of the magnetic body outside the sealed compartment (battery compartment 12).
  • the magnetic sensing element in the sealed cabin (battery compartment 12) can sense different positions of the external magnetic body, thereby generating corresponding signals to the MCU, so as to achieve the purpose of the user inputting switches and speed regulation commands to the underwater vehicle.
  • the user controls the status and speed of the power switch 2 of the machine body through an external magnetic switch (this is the input between the man and machine), and the display screen can display (controlled by the MCU) the environment information during this operation (by the MCU) Control sensors are obtained) and body state information (this is the output between human and machine) to complete the interactive process between human and machine.
  • an external magnetic switch this is the input between the man and machine
  • the display screen can display (controlled by the MCU) the environment information during this operation (by the MCU) Control sensors are obtained) and body state information (this is the output between human and machine) to complete the interactive process between human and machine.
  • the underwater vehicle has waterproofness and sealability, and those skilled in the art can set the sealing and waterproofing according to actual needs without creative efforts, and will not be described here.
  • this embodiment has all the beneficial effects of embodiment 1, at the same time fully enclosed buoyancy design, between the two propelling cylinders are designed with a buoyancy block 6, upper buoyancy plate 15 and lower buoyancy plate 16, both Reduced resistance and increased buoyancy without the need to add external floats to prevent equipment from falling into the water and sinking to the bottom, reducing equipment costs and operating steps;
  • the speed of the thruster can be adjusted through the gear position, and the pressure sensor 13 is effective
  • Measurement of movement speed and water depth can be displayed on the status display 3, when the depth reaches a certain value, the indicator flashes to remind the user that the dangerous depth may be reached;
  • the status display 3 can display the working status of the device, including voltage, current, speed, Depth, power, etc., if there is an abnormality, an alarm will be issued according to the blinking of the indicator light.
  • the hand-held underwater vehicle described in the present invention has produced significant beneficial effects.
  • the structure of the present invention is described in detail above, and the effect of the angle ⁇ between the axis of the propeller and the axis of the battery compartment 12 on the present invention is described below through test data.
  • the angle ⁇ will have a certain influence on the working efficiency of the thruster. Therefore, in order to achieve a better working effect of the thruster, the relationship between the angle ⁇ and the working efficiency of the thruster needs to be tested.
  • the axial distance between the two thrusters is 471.06mm (the distance is the axial distance between the two thrusters). Since the simulation experiment uses a simplified model, in order to reduce the impact of the difference between the simplified model and the original model, the angle ⁇ of the experimental test is taken to be three values of 0 °, 5 °, and 10 °.
  • the flow field model is shown in Figure 5.
  • the two dynamic regions are taken from the areas in the shrouds of the two propellers, which are two circular truncated cones with a radius of 51.5mm and 48.5mm and a height of 102mm, which are adapted to the shape of the shroud.
  • the rotation speed of the dynamic range 18 is 3000 rpm, and the rotation axis is the axis of the dynamic range.
  • the static area 17 is a cylinder with a radius of 600 mm and a height of 2700 mm.
  • the simulated human body 19 simulates the human body holding the present invention with both hands in the static area 17.
  • the initial conditions of the simulation flow field are set as follows: the velocity of the inlet flow (inlet surface) is 1 m / s; the rotation speed of the dynamic domain is 3000 rpm, the rotation origin is the center coordinate of the dynamic domain, and the direction of the rotation axis is the same as the central axis of the dynamic domain.
  • test results are shown in Figures 6a, 6b, and 6c.
  • the test results are that, in Figure 6a, when the included angle is 0 °, the water flow 20 of the thruster coincides with the simulated human body 19, that is, the water flow emitted by the thruster It will hit the human body, which will affect the speed in the watershed; when the included angle is 5 ° or 10 °, the water flow emitted by the propeller will not hit the human body, but when the included angle is 10 °, the direction of travel The speed loss is too large, so it is most suitable when the propeller angle is 5 °.
  • the blade force data are as follows:
  • the optimal angle ⁇ between the axis of the thruster and the axis of the battery compartment 12 is 5 °.

Abstract

一种手持式水下飞行器，包括电池仓（12）和推进器。推进器为至少两个、对称分布于电池仓（12）两侧，并与电池仓（12）连接。推进器的轴线与电池仓（12）的轴线具有非平行的特殊设计，非平行的夹角使各个推进器在非水下飞行器的运动方向上产生的分力相互抵消，并使得水下飞行器的运动保持平衡、可直线前进。推进器的轴线与电池仓（12）轴线的非平行设计会产生极小的动力损耗，但是避免了水流冲击人体而造成的更大的动力损耗，整体提高了使用时水下飞行器在水中前进的推力；同时由于水不会冲击使用者面部，有效地防止了使用者呛水，令使用者更舒适且安全，整体使用体验有效提高。

Description

一种手持式水下飞行器 技术领域
本发明涉及水下推进设备领域，尤其涉及一种手持式水下飞行器。
背景技术
普通具有多个推进器的水下飞行器，推进器轴线相互平行，且推进器的轴线与水下飞行器运动的方向平行，而水下飞行器体积又比较小。此类产品使用时，推进器的螺旋桨喷水很容易喷射溅打到使用者的脸上或者身上，游泳初学者或者体型较宽的人，会更加明显，这样一方面损耗了很多推力，另一方面为了不让水冲击脸部、影响视线，就必须调整手臂或者身体的姿势，这样就一定程度的限制了身体的自由，会降低整体的体验。
发明内容
本发明所要解决的技术问题是针对现有技术的不足，提供一种手持式水下飞行器，以解决上述技术问题的至少一种。
本发明解决上述技术问题的技术方案如下：一种手持式水下飞行器，包括电池仓和推进器；推进器为至少两个、对称分布于电池仓两侧，并与电池仓连接；推进器的轴线与电池仓的轴线具有非平行夹角的特殊设计。
本发明的有益效果是：推进器关于电池仓对称设置，可以保证本发明的平衡，维持水下飞行器的直线前进运动；通过将推进器的轴线与电池仓的轴线设置为具有一定夹角，当水下飞行器在水中前进时，推进器的出水与水下飞行器的运动方向有角度偏差，推进器的出水不会逆着水下飞行器的运动方 向喷到使用者脸上或身上；且由于推进器的对称设置，各个推进器在非水下飞行器的运动方向上的产生的分力相互抵消，使得水下飞行器的运动保持平衡，且能直线前进；推进器的轴线与电池仓的轴线具一定夹角的设置产生很小的自然损耗，但是避免了水流冲击人体而造成的更大的动力损耗，提高了水下飞行器在水中前进的效率；同时由于水不会冲击使用者面部，有效地防止了使用者呛水，令使用者更舒适且安全，整体使用体验有效提高。
在上述技术方案的基础上，本发明还可以做如下改进。
进一步，推进器的进水端偏向电池仓，夹角大于0°且小于45°。
采用上述进一步方案的有益效果是：推进器与电池仓的夹角不宜太大，夹角过大时，在非水下飞行器的运动方向上的产生的分力相互抵消时会产生较大的自然损耗，浪费能源。
进一步，夹角角度优选为0-10°，且最佳夹角为5°。
采用上述进一步方案的有益效果是：当推进器的轴线与电池仓的轴线为0-10°的夹角时相对于夹角大于10°且小于45°时，在本发明相同运行速度时，推进器能耗明显降低；推进器与电池仓的夹角为5°时，合理的减少了自然损耗，但是避免了水流冲击到人体而造成的更多的损耗，整体提高了使用时产品向前的推力。
进一步，推进器为两个，两个推进器之间通过浮力块连接。
采用上述进一步方案的有益效果是：两个推进器之间通过浮力块连接，既能减小阻力，又能增加浮力，无需增加外部浮块，避免外部浮块设备坠入水中沉底丢失，降低设备成本，减少操作步骤。
进一步，浮力块设置在电池仓的前方，浮力块为中部向前凸出的弧形板。
采用上述进一步方案的有益效果是：通过将浮力块设置在电池仓的前方且浮力块为中部向前凸出的弧形板，浮力块可以起到在水下飞行器运动的过程中，凸出的弧形板有利用减小水下飞行器前进的阻力。
进一步，推进器和电池仓通过浮力桥连接，浮力桥上设有把手。
采用上述进一步方案的有益效果是：通过浮力桥连接推进器和电池仓，而且浮力桥也起到了增加浮力的作用；浮力桥上设有把手，把手便于使用者手持水下飞行器，握持方便。
进一步，浮力桥包括平行设置的上浮力板和下浮力板，上浮力板的两端和下浮力板的两端均分别与两个推进器连接；电池仓的上端安装在上浮力板的下表面中部，下端安装在下浮力板的上表面中部；电池仓的两侧对称设有把手，把手的上端与上浮力板连接，把手的下端与下浮力板连接；其中一个把手上设有推进器开关，另一个把手上设有电源开关。
采用上述进一步方案的有益效果是：平行设置的上浮力板和下浮力板，不仅整体提高了水下飞行器的浮力，而且外形美观；电池仓安装在上浮力板和下浮力板的中部，保证了水下飞行器的平衡；电池仓的两侧对称设有把手，保证了水下飞行器的平衡；把手的上端与上浮力板连接，把手的下端与下浮力板连接，竖直设置的把手便于使用者手持，握持更方便舒适；其中一个把手上设有推进器开关，另一个把手上设有电源开关，推进器开关、电源开关设置在把手上，方便使用者操作。
进一步，浮力块、上浮力板、下浮力板和把手均为中空结构。
采用上述进一步方案的有益效果是浮力块、上浮力板、下浮力板和把手均为中空结构,中空结构增加了浮力，而且降低了水下飞行器的重量，降低成本。
进一步，推进器为可变速推进器，用于控制可变速推进器的档位调节开关设置在把手上或设置在电池仓的侧壁上，每个可变速推进器对应设有一个档位调节开关。
采用上述进一步方案的有益效果是：通过档位调节开关，使用者可以自行控制可变速推进器的运动速度和方向。
进一步，还包括状态显示屏，状态显示屏设置在电池仓的外侧壁上，电池仓内的电源和推进器均与状态显示屏电路连接；状态显示屏用于显示电池仓内的电源和推进器的参数信息；
还包括压力传感器，压力传感器安装在电池仓的下侧前部；压力传感器与状态显示屏电路连接，状态显示屏用于显示压力传感器的检测数据；
还包括指示灯，指示灯设置在状态显示屏上。
采用上述进一步方案的有益效果是：通过压力传感器可有效测量运动速度及入水深度，可在状态显示屏上显示，当深度达到一定值是指示灯闪烁，提醒用户可能达到危险深度；状态显示屏可实时显示水下飞行器的信息。
附图说明
图1为本发明仰视图；
图2为本发明立体示意图；
图3为本发明控制示意图；
图4为实施例2中测试实验采用的简化模型示意图；
图5为实施例2中测试实验流场模型示意图；
图6a为夹角α为0°时模拟测试结果示意图；
图6b为夹角α为5°时模拟测试结果示意图；
图6c为夹角α为10°时模拟测试结果示意图。
附图中，各标号所代表的部件列表如下：
1-推进器开关，2-电源开关，3-状态显示屏，4-右推进器本体，5-左推进器本体，6-浮力块，7-右把手，8-左把手，9-右推进筒，10-左推进筒，11-设备外接槽，12-电池仓，13-档位调节开关，13-压力传感器，15-上浮力板，16-下浮力板,17-动域,18-静域,19-人体仿真,20-推进器出水水流。
具体实施方式
以下结合附图对本发明的原理和特征进行描述，所举实例只用于解释本发明，并非用于限定本发明的范围。
实施例1
如图1和2所示，一种手持式水下飞行器，包括电池仓12和推进器，推进器为至少两个且关于电池仓12对称设置，并与电池仓12连接，推进器的轴线与电池仓12的轴线具有夹角。
本实施例的有益效果是：推进器关于电池仓12对称设置，可以保证本水下飞行器的平衡，维持水下飞行器的直线前进运动；通过将推进器的轴线与电池仓12的轴线设置为非平行夹角，当水下飞行器在水中前进时，推进器的出水与水下飞行器的运动方向具有一定的角度偏差，推进器的出水不会逆着水下飞行器的运动方向喷到使用者脸上或身上、阻碍视线或损耗动力，且由于推进器的对称设置，各个推进器在非水下飞行器的运动方向上的产生的分力相互抵消，使得水下飞行器的运动保持平衡，且能直线前进，推进器的轴线与电池仓12的轴线具有夹角的设置产生很小的自然损耗，但是避免了水流冲击人体而造成的更大的动力损耗，提高了使用时水下飞行器在水中前进的效率；同时由于水不会冲击使用者面部，有效地防止了使用者呛水，令使用者更舒适且安全，整体使用体验有效提高。
实施例2
如图1和2所示，一种手持式水下飞行器，包括电池仓12和推进器，推进器为至少两个且关于电池仓12对称设置，并与电池仓12连接，推进器的轴线与电池仓12的轴线具有夹角。
电池仓12内具有电源，电源通过电路与推进器连接，为推进器提供能量。
具体的，本实施例中，推进器为两个，左推进器和右推进器，推进器的 进水端均偏向电池仓12，在另一些具体实施中，推进器可以为三个，三个推进器分别通过连接杆与电池仓12对称设置，推进器的进水端均偏向电池仓12，在还有一些具体实施例中，推进器为四个，电池仓12的两侧均分别连接有两个推进器，推进器的进水端均偏向电池仓12。
推进器包括推进器本体和推进筒，左推进器本体5安装在左推进筒10内，右推进器本体4安装在右推进筒9内。
具体的，两个推进器与电池仓12之间可以通过连接杆连接，本实施例中，优选的，推进器和电池仓12通过浮力桥连接，且在浮力桥上设有便于使用者握持的把手，通过浮力桥连接推进器和电池仓12，而且浮力桥也起到了增加浮力的作用；浮力桥上设有把手，把手便于使用者手持水下飞行器，握持方便。
推进器关于电池仓12对称设置，可以保证本发明的平衡，维持水下飞行器的直线前进运动；通过将推进器的轴线与电池仓12的轴线设置为具有夹角，当水下飞行器在水中前进时，推进器的出水与水下飞行器的运动方向具有一定的夹角，推进器的出水不会逆着水下飞行器的运动方向喷到使用者脸上或身上，且由于推进器的对称设置，各个推进器在非水下飞行器的运动方向上的产生的分力相互抵消，使得水下飞行器的运动保持平衡，且能直线前进，推进器的轴线与电池仓12的轴线具有夹角的设置产生很小的自然损耗，但是避免了水流冲击人体而造成的更大的动力损耗，提高了使用时水下飞行器在水中前进的效率；同时由于水不会冲击使用者面部，有效地防止了使用者呛水，令使用者更舒适且安全，整体使用体验有效提高。
具体的，推进器的轴线与电池仓12轴线的夹角为α，0°<α<45°，最佳夹角为5°，推进器与电池仓12的夹角不宜太大，夹角过大时，在非水下飞行器的运动方向上的产生的分力相互抵消时会产生较大的自然损耗，浪费能源。
夹角α角度优选为0-10°，且最佳夹角α为5°，当推进器的轴线与电池仓的轴线为0-10°的夹角时相对于夹角大于10°且小于45°时，在本发明相同运行速度时，推进器能耗明显降低；推进器与电池仓12的夹角为5°时，合理的减少了自然损耗，但是避免了水打到人身上而造成的更多的损耗，整体提高了人在使用的时候的推力。
进一步，两个推进器之间通过浮力块6连接，既能减小阻力，又能增加浮力，无需增加外部浮块，避免外部浮块设备坠入水中沉底丢失，降低设备成本，减少操作步骤，现有技术中，一般需要另行增加外部浮块来提高浮力。
优选的，如图1所示，浮力块6设置在电池仓12的前方，浮力块6为中部向前凸出的弧形板，浮力块6整体呈V形，弯折处朝前。通过将浮力块6设置在电池仓12的前方且浮力块6为中部向前凸出的弧形板，浮力块6可以起到在水下飞行器运动的过程中，凸出的弧形板有利用减小水下飞行器前进的阻力。
如图1和2所示，浮力桥包括平行设置的上浮力板15和下浮力板16，上浮力板15的两端和下浮力板16的两端均分别与两个推进器连接；电池仓12的上端安装在上浮力板15的下表面中部，下端安装在下浮力板16的上表面中部；电池仓12的两侧对称设有把手，具体的，本实施例中包括左把手8和右把手7，把手的上端与上浮力板15连接，把手的下端与下浮力板16连接；其中一个把手上设有推进器开关1，另一个把手上设有电源开关2。
可以理解的是，平行设置的上浮力板15和下浮力板16，不仅整体提高了水下飞行器的浮力，而且外形美观；电池仓12安装在上浮力板15和下浮力板16的中部，保证了水下飞行器的平衡；电池仓12的两侧对称设有把手，保证了水下飞行器的平衡；把手的上端与上浮力板15连接，把手的下端与下浮力板16连接，竖直设置的把手便于使用者手持，握持更方便舒适；其中一个把手上设有推进器开关1，另一个把手上设有电源开关2，推进器开 关1、电源开关2设置在把手上，方便使用者操作。
优选的，浮力块6、上浮力板15、下浮力板16和把手均为中空结构。中空结构增加了浮力，而且降低了水下飞行器的重量，降低成本,而且中空的结构便于电路的走线排布。
优选的，推进器为可变速推进器，用于控制可变速推进器的档位调节开关13设置在把手上或设置在电池仓12的侧壁上，每个可变速推进器对应设有一个档位调节开关13。
具体的，推进器为可变速螺旋桨推进器，推进器的可变速调节为现有技术，本领域技术人员可直接购买可变速推进器，也可以根据本领域的常识实现推进器的可变速。
可以理解的是，通过档位调节开关13，使用者可以自行控制可变速推进器的运动速度和方向。
如图1所示，还包括状态显示屏3，状态显示屏3设置在电池仓12的外侧壁上，便于使用者观察，电池仓12内的电源和推进器均与状态显示屏3电路连接；状态显示屏3用于显示电池仓12内的电源和推进器的参数信息；
如图2所示还包括压力传感器13，压力传感器13安装在电池仓12的下侧前部；压力传感器13与状态显示屏3电路连接，状态显示屏3用于显示压力传感器13的检测数据；在一些实施例中，水下飞行器没有安装浮力块6，则压力传感器13直接安装在电池仓12的下侧前部；在另一些实施例中，水下飞行器安装有浮力块6，电池仓12的前端与浮力块6连接，压力传感器13直接安装在电池仓12的下侧前部且在浮力块6的外部，便于压力传感器13的检测。
还包括指示灯，指示灯设置在状态显示屏3上。可以理解的是，通过压力传感器13可有效测量运动速度及入水深度，可在状态显示屏3上显示，当深度达到一定值是指示灯闪烁，提醒用户可能达到危险深度；状态显示屏 3可实时显示水下飞行器的信息。
电池仓下侧壁安装有设备外接槽11，用于将外部设备安装在电池仓上，使得水下飞行器可以搭载其它设备。
如图3所示，压力传感器13：与微控制芯片(以下简称MCU)通过排线连接，排线兼顾传输电力和数据，由MCU向传感器发送读指令来读取传感器内部数据，并完成相关运算得出所需数据；
其他传感器：水下飞行器机体内控制板上搭载，不需要外部线路连接，在MCU内完成数据的读取和运算(如电量)；
状态显示屏3：与控制板的MCU通过排线连接，排线兼顾传输电力和数据，由MCU控制显示屏上所显示的内容，包括但不限于所得到的传感器数值(如品牌LOGO)；
螺旋桨推进器：与MCU之间通过螺旋桨控制器来连接(螺旋桨控制器归至螺旋桨类别内)，由电池直接进行电力供应，螺旋桨转速直接受MCU所得用户输入档位指令控制(不同档位可产生不同转速，从而产生不同的推力)；
调速和开关:开关和调速均由密封舱(电池仓12)外磁性体所在不同位置来控制。密封舱(电池仓12)内的磁性感应元件可感应外部磁性体的不同位置，从而产生相应的信号给MCU，达到用户对水下飞行器输入开关和调速指令的目的。
整体：用户通过外部的磁性开关来控制机体的电源开关2状态和转速情况(此为人机之间的输入)，显示屏可显示(由MCU控制)本次运行时的所处环境信息(由MCU控制传感器获得)及机体状态信息(此为人机之间的输出)，完成人机之间的交互过程。
显然，水下飞行器具有防水性和密封性，本领域技术人员可以根据实际需要进行密封防水设置，不需要付出创造性劳动，在此就不再进行说明。
本实施例的有益效果是；本实施例具有实施例1的全部有益效果，同时 全封闭浮力设计，两个推进筒之间设计有浮力块6、上浮力板15和下浮力板16，既能减小阻力，又能增加浮力，无需增加外部浮块，避免设备坠入水中沉底丢失，降低设备成本，减少操作步骤；推进器的速度可通过档位调节，并设有压力传感器13可有效测量运动速度及入水深度，可在状态显示屏3上显示，当深度达到一定值是指示灯闪烁，提醒用户可能达到危险深度；状态显示屏3可显示设备工作状态，包括电压、电流、速度、深度、电量等，出现异常会根据指示灯闪烁发出警报。
本发明所述的手持式水下飞行器产生了显著的有益效果，上面详细说明了本发明的结构，下面通过试验数据说明推进器的轴线与电池仓12轴线的夹角α对本发明的影响。
夹角α对推进器的工作效率会有一定的影响，因此，为了使推进器达到更好的工作效果，需要测试夹角α与推进器工作效率之间的关系。
由于夹角α在大于10°且小于45°时，在本发明相同运行速度时，推进器能耗明显降低，本次实验主要测试0-10°的夹角的数据并进行分析。
以下测试时两推进器的轴心距离为471.06mm(该距离为两推进器轴心距离)。由于仿真实验采用简化模型，为减小简化模型与原模型之间的差别带来的影响，实验测试的夹角α取0°、5°、10°三个值。
实验采用的本发明简化模型示意图4所示。
流场模型图5所示。其中两个动域取两个推进器导流罩内的区域，为两个底面半径分别为51.5mm、48.5mm，高为102mm的圆台体，与导流罩形状相适应。动域18的转速为3000rpm，旋转轴为动域的轴线。静域17取半径为600mm，高为2700mm的圆柱，仿真人体19在静域17内模拟人体双手手持本发明。
仿真流场的初始条件设定为：inlet面(进水面)水流流速为1m/s；动域旋转速度为3000rpm，旋转原点为动域中心坐标，旋转轴方向与动域中 轴方向相同。
测试结果如图6a、图6b和图6c所示，测试结果为，图6a中，所成夹角为0°时，推进器出水水流20与仿真人体19有重合，即由推进器射出的水流会打到人体上，进而影响流域内的速度；而当所成夹角为5°或10°时，由推进器射出的水流不会打到人体上，但是当夹角为10°时行进方向上的速度损失则过大，因而当推进器角度为5°时是最合适的。
桨叶受力数据如下所示：
夹角α 0° 5° 10°
桨叶受力(左) 42.7126N 55.0803N 40.1476N
桨叶受力(右) 41.8660N 54.5863N 40.0178N
桨叶受力(左右均值) 42.2893N 54.8333N 40.0827N
从上述数据中可看出当夹角α为5°时，左右桨叶受力均为最大值，此时推进器能产生最大推力，此时的夹角为最优夹角。
仿真中得到的流场水流速度如下所示：
Figure PCTCN2018115065-appb-000001
由仿真结果可以看出，静域的平均y轴方向速度在5°时是最大的。
从上述数据可看出当夹角α为5°时，推进器在前进过程中的速度达到最大值，此时的夹角为最优夹角。
综上所述，推进器的轴线与电池仓12轴线的夹角α的最佳角度为5°。
在本说明书的描述中，参考术语“实施例一”、“实施例二”、“示 例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体方法、装置或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、方法、装置或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
以上所述仅为本发明的较佳实施例，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种手持式水下飞行器，其特征在于，包括电池仓和推进器，所述推进器为至少两个且关于所述电池仓对称设置，并与所述电池仓连接，所述推进器的轴线与所述电池仓的轴线具有夹角。
  2. 根据权利要求1所述一种手持式水下飞行器，其特征在于，所述推进器的进水端偏向所述电池仓，所述夹角大于0°且小于45°。
  3. 根据权利要求2所述一种手持式水下飞行器，其特征在于，所述夹角为5°。
  4. 根据权利要求1至3任一项所述一种手持式水下飞行器，其特征在于，所述推进器为两个，两个所述推进器之间通过浮力块连接。
  5. 根据权利要求4所述一种手持式水下飞行器，其特征在于，所述浮力块设置在所述电池仓的前方，所述浮力块为中部向前凸出的弧形板。
  6. 根据权利要求4所述一种手持式水下飞行器，其特征在于，所述推进器和所述电池仓通过浮力桥连接，所述浮力桥上设有把手。
  7. 根据权利要求6所述一种手持式水下飞行器，其特征在于，所述浮力桥包括平行设置的上浮力板和下浮力板，所述上浮力板的两端和所述下浮力板的两端均分别与两个所述推进器连接；所述电池仓的上端安装在所述上浮力板的下表面中部，下端安装在所述下浮力板的上表面中部；所述电池仓的两侧对称设有所述把手，所述把手的上端与所述上浮力板连接，所述把手的下端与所述下浮力板连接；其中一个所述把手上设有推进器开关，另一个所述把手上设有电源开关。
  8. 根据权利要求6所述一种手持式水下飞行器，其特征在于，所述浮力块、所述上浮力板、所述下浮力板和所述把手均为中空结构。
  9. 根据权利要求7所述一种手持式水下飞行器，其特征在于，所述推 进器为可变速推进器，用于控制所述可变速推进器的档位调节开关设置在所述把手上或设置在所述电池仓的侧壁上，每个所述可变速推进器对应设有一个所述档位调节开关。
  10. 根据权利要求1所述一种手持式水下飞行器，其特征在于，还包括状态显示屏，所述状态显示屏设置在所述电池仓的外侧壁上，所述电池仓内的电源和所述推进器均与所述状态显示屏电路连接；所述状态显示屏用于显示所述电池仓内的电源和所述推进器的参数信息；
    还包括压力传感器，所述压力传感器安装在所述电池仓的下侧前部；所述压力传感器与所述状态显示屏电路连接，所述状态显示屏用于显示所述压力传感器的检测数据；
    还包括指示灯，所述指示灯设置在所述状态显示屏上。
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