Underwater video robot detection device and method

Abstract

The invention discloses an underwater video robot detection device and method, and relates to the technical field of diving equipment manufacturing. The underwater video robot detection device comprises an underwater robot, the outer wall of the underwater robot is movably connected with detection equipment, the bottom of the underwater robot is fixedly connected with a base, the bottom of the underwater robot is fixedly connected with a driving mechanism, and the inner wall of the underwater robot is fixedly connected with a guide fan. According to the underwater video robot detection device and method, when water flow passes through the transverse pipe, the Bernoulli principle is combined, irritant medicine powder in the storage bag is squeezed into the transverse pipe under squeezing of pressure intensity, the medicine powder is driven to move by means of pressure intensity difference generated by flowing of the water flow, fish and shrimps are repelled, and the effect of preventing and treating the fish and shrimps is achieved. The influence of fishes and shrimps on the device is avoided, and the other port of the transverse pipe is arranged at the position of the underwater robot, so that the medicine powder mixed water flow can flow through the underwater robot.

Description

Technical Field

[0001] The present invention relates to the technical field of diving equipment manufacturing, and in particular to an underwater video robot detection device and method. Background Art

[0002] The underwater video robot detection device is an advanced underwater detection equipment, usually composed of a solid shell, a high-definition camera, a propulsion system, a lighting system and a control system. The device can penetrate deep into the underwater environment and provide people with clear video images. Its propulsion system can move flexibly in the water to reach different locations for detection. The lighting system ensures a good view even in dim water. Through the control system, the operator can remotely control the robot on the water surface for all-round observation. The Chinese publication number cited is CN112722219A. This patent discloses an underwater detection robot, which relates to the technical field of diving equipment manufacturing. It includes a main cabin module, a dorsal fin, a signal transmitting and receiving device, a motor and an acrylic glass cover. A searchlight is installed on the rear side of the main cabin module, and a dorsal fin is arranged on the left side of the searchlight, and one end of the dorsal fin is connected to the main cabin module. A signal transmitting and receiving device is arranged on the left side of the dorsal fin, and one end of the signal transmitting and receiving device is connected to the main cabin module. The motor is fixed inside the tail cabin, and the front and rear sides of the main cabin module are both installed with a second three-propulsion device, and the second three-propulsion device is composed of a second propeller, a second blade cover, a second fixed bracket and a rotating connecting rod, and the second propeller is connected to the motor through a rotating shaft; During underwater detection, lighting needs to be turned on for clear detection. Some specific species of fish and shrimp and larvae in the water are phototactic, so they will approach the detection equipment. After being attached to the detection equipment, it will affect the clarity of the lighting. In addition, fish and shrimp entering various devices will also affect the normal operation of the device. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present invention provides an underwater video robot detection device and method to solve the problems raised in the above background technology.

[0004] To achieve the above objectives, the present invention is implemented through the following technical solutions: an underwater video robot detection device, comprising an underwater robot, the outer wall of the underwater robot is movably connected to a detection device, the bottom of the underwater robot is fixedly connected to a base, the bottom of the underwater robot is fixedly connected to a driving mechanism, and the inner wall of the underwater robot is fixedly connected to a guide fan; The driving mechanism comprises: A first bracket, wherein the first bracket is fixedly connected to the bottom of the underwater robot; A transverse tube, the outer wall of which is fixedly connected to the outer wall of the first bracket; A vertical pipe, the vertical pipe is fixedly connected to the bottom of the horizontal pipe, and the two are internally communicated; A guide block is fixedly connected to the inner wall of the horizontal tube at the position of the vertical tube.

[0005] Preferably, a storage bag is fixedly connected to the bottom of the vertical pipe, and a water inlet is formed on the outer wall of the storage bag.

[0006] Preferably, a first spring is fixedly connected to an outer wall of the water inlet, a baffle is fixedly connected to an outer wall of the first spring, and the baffle is located in the water inlet.

[0007] Preferably, one end of an elastic wire is fixedly connected to the inner wall of the horizontal tube, and the elastic wire runs through the vertical tube, the storage bag and the water inlet. The elastic wire is fixedly connected to the baffle, and the other end of the elastic wire is fixedly connected to an elliptical plate.

[0008] Preferably, both sides of the underwater robot are fixedly connected with a stimulation mechanism, and the stimulation mechanism includes a placement bin, and the placement bin is fixedly connected to both sides of the underwater robot, and the outer wall of the placement bin is fixedly connected with a tortuous tube.

[0009] Preferably, a first buckle is fixedly connected to the outer wall of the zigzag tube, a second buckle is fixedly connected to the side of the underwater robot adjacent to the first buckle, and the first buckle is in active contact with the second buckle.

[0010] Preferably, the inner wall of the placement bin is fixedly connected to a first piezoelectric ceramic, the inner wall of the zigzag tube is fixedly connected to a second spring, the outer wall of the second spring is fixedly connected to a second piezoelectric ceramic, one end of a conductive wire is plugged into the outer wall of the placement bin, and the other end of the conductive wire is fixedly connected to an impact cover.

[0011] Preferably, a swing mechanism is fixedly connected to the side of the underwater robot, and the swing mechanism includes a second bracket, the second bracket is fixedly connected to the side of the underwater robot, the outer wall of the second bracket is fixedly connected to a telescopic machine, the outer wall of the telescopic machine is movably connected to a telescopic rod, the end of the telescopic rod is fixedly connected to a limit ring, and the conductive wire runs through the limit ring.

[0012] Preferably, the outer wall of the telescopic rod is sleeved with a ring, a third spring is fixedly connected between the ring and the telescopic rod, the bottom of the ring is rotatably connected to a bearing, the outer wall of the bearing is fixedly connected to a cross bar and an extrusion rod, the extrusion rod is in movably contact with the tortuous tube, a fourth spring is fixedly connected between the outer wall of the ring and the outer wall of the bearing, the outer wall of the ring is fixedly connected to a limit rod, and the limit rod is in movably contact with the cross bar.

[0013] A method for an underwater video robot detection device, the steps are: S1. The underwater robot is operated in the water, and then detection is performed through detection equipment. A lighting device is set on the underwater robot to provide illumination; S2. During the movement of the underwater robot, the port of the horizontal tube is set at a position facing the water flow. Then, when the water flows through the horizontal tube, the water flows through the guide block and then flows out from the other end of the horizontal tube. According to Bernoulli's principle, the greater the flow speed, the smaller the pressure. Therefore, the pressure at the top of the vertical tube is small. Under the pressure, the irritant powder in the storage bag is squeezed into the horizontal tube. The other end of the horizontal tube is set at the position of the underwater robot, so the powder mixed with the water will flow through the underwater robot. S3. Under the pressure difference caused by the water flowing through the horizontal pipe, the low pressure in the storage bag will drive the baffle in the water inlet to move, so that the external water enters the storage bag and mixes the powder. The elasticity of the first spring will also drive the baffle to reset; S4. When the underwater robot is moving in the water, the elastic wire is made of elastic material. The water flows on both sides of the elliptical plate, and the amount of water flows is different, which makes the pressure on both sides of the elliptical plate different, which drives the elliptical plate to swing. The elliptical plate swings and the elastic wire moves, so that the elastic wire stirs the powder in the storage bag. The elastic wire also moves and stirs in the vertical pipe to prevent the vertical pipe from being blocked. S5, the telescopic machine is powered on to start the telescopic rod to move telescopically. When the telescopic rod drives the ring to move toward the zigzag tube, the limit rod intercepts the cross bar, thereby preventing the rotation of the extrusion rod. At this time, the continuous advancement of the telescopic rod will drive the extrusion rod to continue to squeeze the zigzag tube, and the ring will continue to squeeze the third spring. When the squeezing force on the zigzag tube is greater than the friction between the second buckle and the first buckle, the first buckle falls off from the second buckle, and then the second piezoelectric ceramic collides with the stimulation mechanism to generate a high voltage that is transmitted through the conductive wire. The conductive wire is in the water, which will generate electrical stimulation to the water flow near the underwater robot to drive away fish and shrimps; S6. The conductive wire is passed through the limiting ring. During the extension and retraction process of the telescopic rod, the conductive wire will be pulled by the limiting ring. In addition, the arc of the impact cover can be impacted by the water flow. The movement of the telescopic rod changes the position of the conductive wire, thereby driving away fish and shrimps in more positions.

[0014] The present invention provides an underwater video robot detection device and method, which have the following beneficial effects: 1. The underwater video robot detection device and method, when water flows through the transverse tube, combines the Bernoulli principle, and squeezes the irritating powder in the storage bag into the transverse tube under the pressure. The pressure difference generated by the flow of water is used to drive the movement of the powder, which plays a role in driving fish and shrimp and avoiding the influence of fish and shrimp on the device. The other end of the transverse tube is set at the position of the underwater robot, so the powder mixed with the water will flow through the underwater robot. The flow of water is used to guide the powder through the underwater robot, thereby enhancing the effect of driving fish and shrimp. Under the pressure difference caused by the water flow passing through the transverse tube, the low pressure in the storage bag will drive the baffle in the water inlet to move, thereby allowing external water to enter the storage bag and mix the powder. Under the action of the pressure difference, water will enter the storage bag, which has the effect of mixing water and powder, improving the subsequent utilization of the powder and ensuring the driving away of fish and shrimp.

[0015] 2. The underwater video robot detection device and method, through the passage of water on both sides of the elliptical plate, the pressure on both sides of the elliptical plate is different, which will drive the elliptical plate to swing, and the swing of the elliptical plate drives the elastic wire to move, so that the elastic wire stirs the medicine powder in the storage bag, and the elastic wire can also be located in the vertical pipe to stir, preventing the vertical pipe from being blocked, thereby achieving the stirring of the medicine powder in the storage bag, improving the full utilization of the medicine powder, ensuring that the medicine powder effectively drives away fish and shrimp, and the shaking of the elastic wire also prevents the medicine powder from being blocked in the vertical pipe, ensuring the passage of the medicine powder.

[0016] 3. The underwater video robot detection device and method, when the squeezing force on the zigzag tube is greater than the friction force between the second buckle and the first buckle, the first buckle falls off the second buckle, and then the second piezoelectric ceramic collides with the stimulation mechanism, generating current that is transmitted through the conductive wire, generating electrical stimulation to the water flow near the underwater robot, driving away fish and shrimp, and utilizing the stimulation generated by the current to achieve the effect of driving away fish and shrimp.

[0017] 4. The underwater video robot detection device and method pass the conductive wire through the limit ring. During the extension and retraction of the telescopic rod, the conductive wire will be pulled by the limit ring. The arc of the impact cover can be impacted by the water flow. The movement of the telescopic rod changes the position of the conductive wire, thereby driving away fish and shrimp in more positions, ensuring that more positions near the underwater robot are stimulated by electric current. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the axial side stereoscopic structure of the present invention; Figure 2 For the present invention Figure 1 A schematic diagram of the enlarged structure of the middle part A; Figure 3 It is a schematic diagram of the back three-dimensional structure of the present invention; Figure 4It is a schematic diagram of the partial structure of the storage bag of the present invention; Figure 5 For the present invention Figure 4 Schematic diagram of the cross-section structure; Figure 6 It is a schematic diagram of the partial structure of the stimulation mechanism of the present invention; Figure 7 For the present invention Figure 6 Schematic diagram of the cross-section structure; Figure 8 It is a schematic diagram of the local structure of the telescopic machine of the present invention; Fig. 9 For the present invention Figure 8 Schematic diagram of the enlarged structure of part B in the middle.

[0019] In the figure: 1. underwater robot; 2. detection equipment; 3. base; 4. driving mechanism; 41. first bracket; 42. horizontal tube; 43. vertical tube; 44. storage bag; 45. guide block; 46. water inlet; 47. first spring; 48. elliptical plate; 49. elastic wire; 5. stimulation mechanism; 51. placement bin; 52. zigzag tube; 53. first buckle; 54. second buckle; 55. first piezoelectric ceramic; 56. second piezoelectric ceramic; 57. second spring; 58. conductive wire; 59. impact cover; 6. swing mechanism; 61. telescopic machine; 62. second bracket; 63. telescopic rod; 64. collar; 65. third spring; 66. limit ring; 67. limit rod; 68. bearing; 69. fourth spring; 610. horizontal rod; 611. extrusion rod; 7. guide fan. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0021] Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0022] For example, see Figure 1-5 The present invention provides a technical solution: an underwater video robot detection device, comprising an underwater robot 1, a detection device 2 is movably connected to the outer wall of the underwater robot 1, a base 3 is fixedly connected to the bottom of the underwater robot 1, a driving mechanism 4 is fixedly connected to the bottom of the underwater robot 1, and a guide fan 7 is fixedly connected to the inner wall of the underwater robot 1; The driving mechanism 4 includes: A first bracket 41, the first bracket 41 is fixedly connected to the bottom of the underwater robot 1; A transverse tube 42, the outer wall of which is fixedly connected to the outer wall of the first bracket 41; A vertical pipe 43, which is fixedly connected to the bottom of the horizontal pipe 42, and the two are internally communicated; The guide block 45 is fixedly connected to the inner wall of the horizontal pipe 42 at the position of the vertical pipe 43 .

[0023] A storage bag 44 is fixedly connected to the bottom of the vertical pipe 43 , and a water inlet 46 is formed on the outer wall of the storage bag 44 .

[0024] A first spring 47 is fixedly connected to the outer wall of the water inlet 46 , a baffle is fixedly connected to the outer wall of the first spring 47 , and the baffle is located in the water inlet 46 .

[0025] One end of an elastic wire 49 is fixedly connected to the inner wall of the horizontal tube 42 , and the elastic wire 49 passes through the vertical tube 43 , the storage bag 44 and the water inlet 46 . The elastic wire 49 is fixedly connected to the baffle, and the other end of the elastic wire 49 is fixedly connected to the elliptical plate 48 .

[0026] When in use, the underwater robot 1 is located in the water and is operated, and then the detection device 2 is used for detection. The underwater robot 1 is provided with a lighting device for illumination. During the movement of the underwater robot 1, the port of the transverse tube 42 is set at a position facing the water flow. Then, when the water flows through the transverse tube 42, the water flows through the guide block 45 and then flows out from the other end of the transverse tube 42. According to the Bernoulli principle, the greater the flow speed of the water flow, the smaller the pressure. Therefore, the pressure at the top of the vertical tube 43 is small. Under the pressure, the irritating powder in the storage bag 44 is squeezed into the transverse tube 42. The other port of the transverse tube 42 is set at the position of the underwater robot 1, so the powder mixed with the water flow will flow through the underwater robot 1. The irritating powder is placed in the storage bag 44 before entering the water. Combined with Figure 5 and 4 As shown, under the pressure difference caused by the water flowing through the horizontal pipe 42, the low pressure in the storage bag 44 will drive the baffle in the water inlet 46 to move, so that the external water enters the storage bag 44 and mixes the medicine powder. The elasticity of the first spring 47 will also drive the baffle to reset. When the underwater robot 1 is moving in the water, the elastic wire 49 is made of elastic material. The water flows through the two sides of the elliptical plate 48 in different amounts, which makes the pressure on the two sides of the elliptical plate 48 different, which drives the elliptical plate 48 to swing. The swing of the elliptical plate 48 moves the elastic wire 49, and the elastic wire 49 stirs the medicine powder in the storage bag 44. The elastic wire 49 also moves and stirs in the vertical pipe 43 to prevent the vertical pipe 43 from being blocked.

[0027] For example 2, please refer to Figure 1-9 Based on the first embodiment, the present invention provides a technical solution: Both sides of the underwater robot 1 are fixedly connected with a stimulation mechanism 5 , which includes a placement bin 51 . The placement bin 51 is fixedly connected to both sides of the underwater robot 1 , and a tortuous tube 52 is fixedly connected to the outer wall of the placement bin 51 .

[0028] A first buckle 53 is fixedly connected to the outer wall of the zigzag tube 52 , and a second buckle 54 is fixedly connected to the side of the underwater robot 1 adjacent to the first buckle 53 , and the first buckle 53 is in active contact with the second buckle 54 .

[0029] The inner wall of the placement bin 51 is fixedly connected to the first piezoelectric ceramic 55, the inner wall of the zigzag tube 52 is fixedly connected to the second spring 57, the outer wall of the second spring 57 is fixedly connected to the second piezoelectric ceramic 56, one end of the conductive wire 58 is plugged into the outer wall of the placement bin 51, and the other end of the conductive wire 58 is fixedly connected to the impact cover 59.

[0030] A swing mechanism 6 is fixedly connected to the side of the underwater robot 1, and the swing mechanism 6 includes a second bracket 62. The second bracket 62 is fixedly connected to the side of the underwater robot 1. The outer wall of the second bracket 62 is fixedly connected to a telescopic machine 61. The outer wall of the telescopic machine 61 is movably connected to a telescopic rod 63. The end of the telescopic rod 63 is fixedly connected to a limit ring 66, and the conductive wire 58 runs through the limit ring 66.

[0031] The outer wall of the telescopic rod 63 is sleeved with a ring 64, and a third spring 65 is fixedly connected between the ring 64 and the telescopic rod 63. The bottom of the ring 64 is rotatably connected to a bearing 68. The outer wall of the bearing 68 is fixedly connected to a cross bar 610 and an extrusion rod 611. The extrusion rod 611 is in active contact with the zigzag tube 52. A fourth spring 69 is fixedly connected between the outer wall of the ring 64 and the outer wall of the bearing 68. The outer wall of the ring 64 is fixedly connected to a limit rod 67, and the limit rod 67 is in active contact with the cross bar 610.

[0032] When in use, the telescopic machine 61 is powered on and started to drive the telescopic rod 63 to telescope. When the telescopic rod 63 drives the ring 64 to move toward the zigzag tube 52, the limit rod 67 intercepts the cross bar 610, thereby preventing the rotation of the squeezing rod 611. At this time, the telescopic rod 63 continues to move forward, which will drive the squeezing rod 611 to continuously squeeze the zigzag tube 52, and the ring 64 continues to squeeze the third spring 65. When the squeezing force on the zigzag tube 52 is greater than the friction force between the second buckle 54 and the first buckle 53, the first buckle 53 falls off the second buckle 54, and then the second piezoelectric ceramic 56 collides with the stimulation mechanism 5, which is similar to the ignition in a "lighter". When the button of the lighter is pressed, the first piezoelectric ceramic 55 and the second piezoelectric ceramic 56 are deformed by mechanical force, thereby generating a high voltage, which is then transmitted through the conductive wire 58. The conductive wire 58 is located in the water, and at this time, it will generate electrical stimulation to the water flow near the underwater robot 1, driving away fish and shrimps. Then the telescopic machine 61 drives the telescopic rod 63 to contract, and at this time the third spring 65 drives the ring 64 to reset, and the second spring 57 drives the first buckle 53 to reset. The first buckle 53 and the second buckle 54 are both arranged in an arc shape, and the friction force is reduced when the arcs of the two are in contact; Combined with Figure 6 As shown, the conductive wire 58 is passed through the limiting ring 66. During the extension and retraction process of the telescopic rod 63, the conductive wire 58 will be pulled by the limiting ring 66. In addition, the arc of the impact cover 59 can be impacted by the water flow. The movement of the telescopic rod 63 changes the position of the conductive wire 58, thereby driving away fish and shrimps in more positions.

[0033] For example 3, please refer to Figure 1-9 Based on the first and second embodiments, the present invention provides a technical solution: A method for an underwater video robot detection device, comprising the steps of: s1. The underwater robot 1 is located in the water and is operated. Then, detection is performed through the detection device 2. A lighting device is provided on the underwater robot 1 to provide illumination. s2. During the movement of the underwater robot 1, the port of the transverse tube 42 is set at a position facing the water flow. Then, when the water flows through the transverse tube 42, the water flows through the guide block 45 and then flows out from the other end of the transverse tube 42. According to the Bernoulli principle, the greater the flow speed of the water flow, the smaller the pressure. Therefore, the pressure at the top of the vertical tube 43 is small. Under the pressure, the irritant powder in the storage bag 44 is squeezed into the transverse tube 42. The other port of the transverse tube 42 is set at the position of the underwater robot 1, so the powder mixed with the water flow will flow through the underwater robot 1. s3. Under the pressure difference caused by the water flowing through the horizontal pipe 42, the low pressure in the storage bag 44 will drive the baffle in the water inlet 46 to move, so that the external water enters the storage bag 44 and mixes the medicine powder. The elasticity of the first spring 47 will also drive the baffle to reset; s4. When the underwater robot 1 is moving in the water, the elastic wire 49 is made of elastic material. The water flows on both sides of the elliptical plate 48, and the amount of water flows is different, which makes the pressure on both sides of the elliptical plate 48 different, which drives the elliptical plate 48 to swing. The elliptical plate 48 swings and the elastic wire 49 moves, so that the elastic wire 49 stirs the medicine powder in the storage bag 44. In addition, the elastic wire 49 moves and stirs in the vertical pipe 43 to prevent the vertical pipe 43 from being blocked. s5. The telescopic machine 61 is powered on to start and drive the telescopic rod 63 to telescope. When the telescopic rod 63 drives the ring 64 to move toward the zigzag tube 52, the limit rod 67 intercepts the cross bar 610, thereby preventing the rotation of the squeezing rod 611. At this time, the telescopic rod 63 continues to move forward and drives the squeezing rod 611 to continue to squeeze the zigzag tube 52. The ring 64 continues to squeeze the third spring 65. When the squeezing force on the zigzag tube 52 is greater than the friction between the second buckle 54 and the first buckle 53, the first buckle 53 falls off from the second buckle 54, and then the second piezoelectric ceramic 56 collides with the stimulation mechanism 5 to generate a high voltage that is transmitted through the conductive wire 58. The conductive wire 58 is located in the water, and at this time, it will generate electrical stimulation to the water flow near the underwater robot 1 to drive away fish and shrimps. s6. The conductive wire 58 is passed through the limiting ring 66. During the extension and retraction process of the telescopic rod 63, the conductive wire 58 will be pulled by the limiting ring 66. In addition, the arc of the impact cover 59 can be impacted by the water flow. The movement of the telescopic rod 63 changes the position of the conductive wire 58, thereby driving away fish and shrimps in more positions.

[0034] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An underwater video robot detection device, comprising an underwater robot (1), wherein the outer wall of the underwater robot (1) is movably connected to a detection device (2), and the bottom of the underwater robot (1) is fixedly connected to a base (3), characterized in that: The bottom of the underwater robot (1) is fixedly connected to a driving mechanism (4), and the inner wall of the underwater robot (1) is fixedly connected to a guide fan (7); The driving mechanism (4) comprises: A first bracket (41), the first bracket (41) being fixedly connected to the bottom of the underwater robot (1); A transverse tube (42), wherein an outer wall of the transverse tube (42) is fixedly connected to an outer wall of the first bracket (41); A vertical pipe (43), wherein the vertical pipe (43) is fixedly connected to the bottom of the horizontal pipe (42), and the two are internally communicated; A guide block (45) is fixedly connected to the inner wall of the horizontal tube (42) at a position of the vertical tube (43).

2. An underwater video robot detection device according to claim 1, characterized in that: A storage bag (44) is fixedly connected to the bottom of the vertical pipe (43), and a water inlet (46) is provided on the outer wall of the storage bag (44).

3. An underwater video robot detection device according to claim 2, characterized in that: A first spring (47) is fixedly connected to the outer wall of the water inlet (46), a baffle is fixedly connected to the outer wall of the first spring (47), and the baffle is located in the water inlet (46).

4. The underwater video robot detection device according to claim 3, characterized in that: One end of an elastic thread (49) is fixedly connected to the inner wall of the horizontal tube (42), and the elastic thread (49) passes through the vertical tube (43), the storage bag (44) and the water inlet (46). The elastic thread (49) is fixedly connected to the baffle plate, and the other end of the elastic thread (49) is fixedly connected to the elliptical plate (48).

5. The underwater video robot detection device according to claim 1, characterized in that: Both sides of the underwater robot (1) are fixedly connected to a stimulation mechanism (5), the stimulation mechanism (5) comprising a placement bin (51), the placement bin (51) being fixedly connected to both sides of the underwater robot (1), the outer wall of the placement bin (51) being fixedly connected to a zigzag tube (52).

6. The underwater video robot detection device according to claim 5, characterized in that: A first buckle (53) is fixedly connected to the outer wall of the zigzag tube (52), and a second buckle (54) is fixedly connected to a position adjacent to the first buckle (53) on the side of the underwater robot (1), and the first buckle (53) is in active contact with the second buckle (54).

7. The underwater video robot detection device according to claim 6, characterized in that: The inner wall of the placement bin (51) is fixedly connected to a first piezoelectric ceramic (55), the inner wall of the zigzag tube (52) is fixedly connected to a second spring (57), the outer wall of the second spring (57) is fixedly connected to a second piezoelectric ceramic (56), one end of a conductive wire (58) is plugged into the outer wall of the placement bin (51), and the other end of the conductive wire (58) is fixedly connected to an impact cover (59).

8. The underwater video robot detection device according to claim 7, characterized in that: A swing mechanism (6) is fixedly connected to the side of the underwater robot (1), the swing mechanism (6) comprising a second bracket (62), the second bracket (62) being fixedly connected to the side of the underwater robot (1), the outer wall of the second bracket (62) being fixedly connected to a telescopic machine (61), the outer wall of the telescopic machine (61) being movably connected to a telescopic rod (63), the end of the telescopic rod (63) being fixedly connected to a limit ring (66), and the conductive wire (58) passing through the limit ring (66).

9. The underwater video robot detection device according to claim 8, characterized in that: The outer wall of the telescopic rod (63) is sleeved with a collar (64); a third spring (65) is fixedly connected between the collar (64) and the telescopic rod (63); the bottom of the collar (64) is rotatably connected to a bearing (68); the outer wall of the bearing (68) is fixedly connected to a cross bar (610) and an extrusion rod (611); the extrusion rod (611) is in movably contact with the zigzag tube (52); a fourth spring (69) is fixedly connected between the outer wall of the collar (64) and the outer wall of the bearing (68); the outer wall of the collar (64) is fixedly connected to a limit rod (67); the limit rod (67) is in movably contact with the cross bar (610).

10. A method for underwater video robot detection device, characterized in that: The steps are, s1. The underwater robot (1) is located in the water and is operated. The underwater robot (1) is then detected by the detection device (2). A lighting device is provided on the underwater robot (1) to provide illumination. s2. During the movement of the underwater robot (1), the port of the horizontal tube (42) is set at a position facing the water flow. Then, when the water flows through the horizontal tube (42), the water flows through the guide block (45) and then flows out from the other end of the horizontal tube (42). According to the Bernoulli principle, the greater the flow speed of the water flow, the smaller the pressure. Therefore, the pressure at the top of the vertical tube (43) is small. Under the pressure, the irritant powder in the storage bag (44) is squeezed into the horizontal tube (42). The other port of the horizontal tube (42) is set at the position of the underwater robot (1), so the powder mixed with the water flow will flow through the underwater robot (1); s3. Under the pressure difference caused by the water flowing through the horizontal pipe (42), the low pressure in the storage bag (44) drives the baffle in the water inlet (46) to move, thereby allowing external water to enter the storage bag (44) and mix with the medicine powder. The elasticity of the first spring (47) also drives the baffle to reset; s4. When the underwater robot (1) is moving in the water, the elastic wire (49) is made of an elastic material. The water flows through the two sides of the elliptical plate (48). The amount of water flows through is different, which makes the pressure on the two sides of the elliptical plate (48) different. This drives the elliptical plate (48) to swing. The elliptical plate (48) swings and the elastic wire (49) moves, so that the elastic wire (49) stirs the medicine powder in the storage bag (44). In addition, the elastic wire (49) moves and stirs in the vertical pipe (43), thereby preventing the vertical pipe (43) from being blocked. s5, the telescopic machine (61) is powered on to start and drive the telescopic rod (63) to telescope. When the telescopic rod (63) drives the ring (64) to move toward the zigzag tube (52), the limit rod (67) intercepts the cross bar (610), thereby preventing the extrusion rod (611) from rotating. At this time, the continuous advancement of the telescopic rod (63) drives the extrusion rod (611) to continuously squeeze the zigzag tube (52), and the ring (64) continuously squeezes the third spring (65). When the squeezing force on the zigzag tube (52) is greater than the friction force between the second buckle (54) and the first buckle (53), the first buckle (53) falls off from the second buckle (54), and then the second piezoelectric ceramic (56) and the stimulation mechanism (5) collide with each other, generating a high voltage that is transmitted through the conductive wire (58). The conductive wire (58) is located in the water, and at this time, it will generate electrical stimulation to the water flow near the underwater robot (1), thereby driving away fish and shrimps; s6. The conductive wire (58) is inserted into the limiting ring (66). During the extension and retraction process of the telescopic rod (63), the conductive wire (58) is pulled by the limiting ring (66). In addition, the arc of the impact cover (59) can be impacted by the water flow. The movement of the telescopic rod (63) changes the position of the conductive wire (58), thereby driving away fish and shrimps in more positions.

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