An underwater robot with underwater pipeline cleaning and leakage detection

Abstract

This invention discloses an underwater robot capable of underwater pipe cleaning and leak detection, belonging to the field of robotics. It solves the problem of low efficiency in existing technologies that use cameras to capture pipe images for leak analysis after cleaning, requiring the water to become clear before ideal images can be acquired. Furthermore, if the leak point contains colored liquid, useful image information may not be obtained. This invention includes a frame, a control system mounted on the frame, a thruster, a buoyancy chamber, and a camera mounted on the frame and connected to the control system. It also includes a cleaning component connected to the control system for cleaning the pipe and a leak detection component for pressure sensing and leak detection of the cleaned pipe. It is used for pipe cleaning and leak detection.

Description

TECHNICAL FIELD

[0001] The underwater robot with underwater pipeline cleaning and leakage detection is used for pipeline cleaning and pipeline leakage detection and belongs to the technical field of robots. BACKGROUND

[0002] In the prior art, an auxiliary pipeline is often arranged underwater, and the pipeline located underwater needs to be periodically detected or detected in a specified area in the case of leakage. During detection, there are many impurities on the pipeline. If the pipeline is not cleaned before management detection, there will be problems such as missed detection or inaccurate detection.

[0003] CN202011184262.X, an underwater pipeline detection robot with cleaning function, relates to the field of underwater robots, and comprises a protective frame, a sealed cabin, an equipment cabin, a propeller, a sealing assembly, a cleaning assembly, and a camera. The present application changes the traditional detection method, synchronizes the cleaning process with the detection process, that is, can take pictures while cleaning the pipeline, and can obtain relatively clear images, thereby improving the detection efficiency and ensuring the detection effect. Although the above-mentioned scheme effectively cleans the impurities on the pipeline, it has the following technical problems when detecting the leakage points (gas or liquid leakage points) of the pipeline:

[0004] 1. After cleaning the pipeline, the camera is used to collect the pipeline image for leakage analysis (gas or liquid leakage), which needs to be collected after the water is clear to obtain an ideal pipeline image, thereby causing the problem of low efficiency. If the leakage point has colored liquid, it is also easy to cause the problem of not being able to collect useful image information;

[0005] 2. Too many images require high processing requirements for hardware resources, and are easy to cause the problem of slow analysis rate;

[0006] 3. It is impossible to realize accurate detection of the leakage points in the circumferential direction of the pipeline;

[0007] 4. The high-pressure water pump sprays water to the pipeline, which is easy to cause damage to the pipeline or increase the damage area due to excessive water pressure. SUMMARY

[0008] The purpose of the present application is to provide an underwater robot with underwater pipeline cleaning and leakage detection, which solves the problem of low efficiency caused by the need to collect ideal pipeline images after cleaning the pipeline in the prior art, and the problem of not being able to collect useful image information caused by the leakage point having colored liquid.

[0009] In order to achieve the above-mentioned purpose, the technical scheme adopted by the present application is:

[0010] An underwater robot with underwater pipeline cleaning and leakage detection function, comprising a frame, a control system arranged on the frame, a propeller, a buoyancy tank and a camera arranged on the frame and connected with the control system, a cleaning assembly connected with the control system and arranged on the frame for cleaning the pipeline, and a leakage detection assembly arranged on the frame for detecting the leakage of the cleaned pipeline.

[0011] Further, the leakage detection assembly comprises a horizontal slide rail arranged on the frame, a left moving mechanism and a right moving mechanism arranged on the horizontal slide rail, a left sealing piece and a right sealing piece arranged on the left moving mechanism and the right moving mechanism respectively for sealing the pipeline, and a pressure detection assembly arranged on the left sealing piece and the right sealing piece for emptying or draining part of the liquid in the sealed pipeline and then detecting the pressure.

[0012] Further, the pressure detection assembly comprises a plurality of pressure sensors with marks arranged on the left sealing piece and the right sealing piece, connected with the control system and arranged at equal intervals, a liquid pumping pump arranged on the frame, the horizontal slide rail, the left moving mechanism or the right moving mechanism, and a liquid pumping pipe connected with the liquid pumping pump at one end and connected with the left sealing piece and / or the right sealing piece at the other end.

[0013] Further, the left sealing piece and the right sealing piece respectively comprise an upper arc-shaped baffle and a lower arc-shaped baffle, and a sealing gasket arranged on both ends of the upper arc-shaped baffle and the lower arc-shaped baffle and on the lower end of the upper arc-shaped baffle.

[0014] The lower arc-shaped baffle and the upper arc-shaped baffle are separated or sealed by a rotating assembly or an extension assembly.

[0015] Further, the liquid pumping pipe comprises a first liquid pumping pipe and a second liquid pumping pipe connected with the upper arc-shaped baffles and the lower arc-shaped baffles of the left sealing piece and / or the right sealing piece respectively.

[0016] The liquid pumping pump comprises a first liquid pumping pump and a second liquid pumping pump connected with the first liquid pumping pipe and the second liquid pumping pipe respectively.

[0017] Further, the cleaning assembly comprises a cleaning piece arranged on the front end of the upper arc-shaped baffle and the lower arc-shaped baffle in the moving direction.

[0018] Further, the cleaning piece comprises a mounting plate arranged on the upper arc-shaped baffle and the lower arc-shaped baffle, and a scraping piece arranged on the mounting plate for scraping off the dirt on the pipeline.

[0019] Further, the scraping piece comprises at least two scraping plates, the distance between the scraping plates and the pipeline gradually increases in the opposite direction of the upper arc-shaped baffle and the lower arc-shaped baffle, the first scraping plate adjacent to the upper arc-shaped baffle and the lower arc-shaped baffle is in contact with the pipeline, and the first scraping plate is made of soft material.

[0020] Furthermore, the scrapers are spaced apart from each other;

[0021] The frame, horizontal slide rail, left moving mechanism or right moving mechanism are equipped with a sewage pump, a main sewage pipe connected to the sewage pump, a connecting pipe connected to the main sewage pipe, and a branch sewage pipe connected to the connecting pipe for sucking up the dirt scraped off by each scraper.

[0022] Furthermore, the four mounting plates, when fitted together, form a trumpet shape, with the smaller end located at one end of the leakage detection component;

[0023] The rotating component and / or telescopic component are mounted on the cleaning component and / or the leakage detection component.

[0024] Compared with the prior art, the advantages of the present invention are as follows:

[0025] I. This invention cleans the pipeline using a cleaning component and then performs pressure testing on the pipeline using a leakage detection component. It does not rely on image analysis. By detecting whether there is a pressure change or whether the pressure value exceeds a given range in the pipeline, it can determine whether there is a leakage problem. The detection time at each point is short, thereby improving the detection efficiency. The data collected by pressure sensing is much smaller than the image data, thereby greatly reducing the requirements for hardware resources and significantly reducing the number of analysis steps, thus improving the analysis speed in one step.

[0026] II. The leakage detection component of this invention includes a horizontal slide rail, a left sealing element, a right sealing element, and a pressure detection component. The left and right sealing elements seal the pipe in the detection area. After sealing, the pressure detection component drains or removes part of the liquid in the area formed by the pipe and the left and right sealing elements. After drainage, the leakage point will spray out liquid or gas, causing a large impact force at the location corresponding to the leakage point. The impact force will cause a pressure change. At this time, the pressure change after the liquid is drained or partially drained can be quickly analyzed to determine whether there is a leakage in this area, thus achieving accurate and rapid leakage detection.

[0027] 3. The pressure detection component in this invention includes multiple pressure sensors with markings arranged at equal intervals, which facilitates accurate detection of leakage points in the circumferential direction of the pipeline. That is, the position of the pressure sensors with different markings and the pressure value data returned are analyzed and judged.

[0028] IV. The left and right sealing components in this invention include an upper arc-shaped baffle and a lower arc-shaped baffle, which are separated or contacted by a rotating component or a telescopic component. The purpose is to facilitate the detection of pipes when only the upper part is exposed or when the lower part is supported.

[0029] Fifth, in this invention, the cleaning component and the leakage detection component are integrated into one unit. The purpose is to facilitate the simultaneous use of the cleaning component and the leakage detection component with the pipeline to achieve cleaning and leakage detection, thereby avoiding the problem of too many control components.

[0030] VI. The cleaning component in this invention, by setting a scraper on the mounting plate to cooperate with the pipe, avoids the damage to the pipe or the increase of the damaged area caused by spraying water onto the pipe with a high-pressure water pump, and can quickly and thoroughly scrape off the dirt on the pipe.

[0031] VII. The scraper in this invention includes at least two scrapers, and the distance between the scrapers and the pipe increases sequentially. The first scraper adjacent to the upper arc-shaped baffle and the lower arc-shaped baffle is in contact with the pipe and is made of soft material. This is to prevent the scraper in contact with the pipe from being made of hard material, which could easily scratch the pipe. The purpose of limiting the distance between the scrapers and the pipe to increase sequentially is to facilitate the layered scraping of dirt and prevent the dirt from being too thick, making it difficult to clean after scraping, causing the scraper to get stuck, or causing the scraper to be easily damaged.

[0032] 8. This invention limits the spacing between two scrapers and includes a sewage pump, main sewage pipe, connecting pipe and branch sewage pipe for sewage discharge, which facilitates the discharge of sewage to other areas of the water body or the collection of sewage.

[0033] 9. The present invention limits the four mounting plates to a trumpet shape when they are put together, so as to facilitate the limiting of the scraped dirt. The sewage pump, main sewage pipe, connecting pipe and branch sewage pipe suck up the dirt so that it can be discharged to other areas or collected, and prevent the dirt from spreading in the detection area. Attached Figure Description

[0034] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of the structure of the present invention;

[0036] Figure 2 This is a schematic diagram of the structure of the horizontal slide rail cooperating with the left and right moving mechanisms in this invention;

[0037] Figure 3 This is a schematic diagram of the structure of the cleaning component provided on the left seal in this invention;

[0038] Figure 4 This is a schematic diagram of the structure of the cleaning component provided on the right seal in this invention;

[0039] Figure 5 This is a schematic diagram of the structure in this invention where the upper arc-shaped baffle with cleaning components and the lower arc-shaped baffle with cleaning components are separated by rotation via a rotating component; and a schematic diagram of the cleaning assembly and the leakage detection assembly cooperating with the upper part of the pipeline.

[0040] Figure 6 This is a schematic diagram of the cleaning component and leakage detection component in this invention working in conjunction with a pipeline;

[0041] In the diagram: 1-Frame, 2-Control system, 3-Thruster, 4-Buoyancy chamber, 5-Cleaning assembly, 6-Leakage detection assembly, 7-Horizontal slide rail, 8-Left moving mechanism, 9-Right moving mechanism, 10-Left seal, 11-Right seal, 12-Pressure sensor, 13-Upper arc-shaped baffle, 14-Lower arc-shaped baffle, 15-Sealing gasket, 16-First suction pipe, 17-Second suction pipe, 18-First suction pump, 19-Second suction pump, 20-Cleaning component, 21-Mounting plate, 22-Scraper, 23-Scraper blade, 24-Sewage pump, 25-Main sewage pipe, 26-Connecting pipe, 27-Branch sewage pipe. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0044] In the description of this invention, it should be noted that if terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0045] Furthermore, the terms "first," "second," and "third" are used only for distinguishing descriptions and should not be interpreted as indicating or implying relative importance.

[0046] Furthermore, the use of terms such as "horizontal," "vertical," and "suspended" does not imply that the component must be absolutely horizontal or suspended, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0047] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0048] Because the robot in this case operates underwater, all components must be waterproof to prevent water ingress and malfunctions.

[0049] Example 1

[0050] To address the issue that current technologies for analyzing leaks (gas or liquid leaks) using cameras after pipe cleaning require the water to become clear before ideal images can be captured, resulting in low efficiency, and the inability to obtain useful image information if the leak point contains colored liquid, such technologies may also lead to problems. Figures 1-6 As shown, an underwater robot capable of underwater pipe cleaning and leakage detection is provided, including a frame 1, a control system 2 mounted on the frame 1, a thruster 3, a buoyancy chamber 4, and a camera (not shown) mounted on the frame 1 and connected to the control system 2, a cleaning component 5 connected to the control system 2 for cleaning the pipe, and a leakage detection component 6 for detecting leakage by pressure sensing of the cleaned pipe.

[0051] In practice, the robot is placed in water and controlled by a remote controller to reach a designated location on the pipeline. Real-time observation is achieved via a camera. Once the designated location is reached, the remote control system 2 controls the cleaning component 5 to clean the pipeline. After cleaning, the leakage detection component 6 performs pipeline pressure detection and feeds the detected pressure back to the control system for pressure change analysis over a given time period. This analysis determines whether the pressure value remains unchanged or whether the change is within a reasonable range. If so, it indicates no leakage in this section of the pipeline; otherwise, leakage is detected. The location of the leakage anomaly can be reported to the inspection personnel in conjunction with the positioning module. After inspecting one section, the robot continues along the pipeline path to clean and inspect the next section. This embodiment cleans the pipeline using the cleaning component and then performs pressure detection using the leakage detection component. It does not rely on image analysis; by detecting pressure changes or whether the pressure value exceeds a given range, it can determine if there is a leakage problem. The detection time at each point is short, thus improving detection efficiency. The data collected by pressure sensing is much smaller than image data, greatly reducing the requirements for hardware resources and significantly reducing the number of analysis steps, thereby improving the analysis speed.

[0052] Example 2

[0053] Based on Embodiment 1, the leakage detection assembly 6 includes a horizontal slide rail 7 mounted on the frame 1, a left moving mechanism 8 and a right moving mechanism 9 mounted on the horizontal slide rail 7, a left sealing element 10 and a right sealing element 11 mounted on the left moving mechanism 8 and the right moving mechanism 9 respectively for sealing the detection section of the pipeline, and a pressure detection assembly mounted on the left sealing element 10 and the right sealing element 11 for purging or partially draining the sealed pipeline area before pressure detection.

[0054] In practice, the robot is placed in water and controlled by a remote controller to reach a designated position in the pipeline. Real-time observation is achieved via a camera. Once the designated position is reached, the remote control system 2 controls the cleaning component 5 to clean the pipeline. After cleaning, the pipeline pressure is detected by the leakage detection component 6. The left moving mechanism 8 and right moving mechanism 9 are located at opposite ends of the horizontal slide rail 7. Control commands are sent from the remote controller to the control system, which then controls the robot to descend to the designated position. The left moving mechanism 8 then moves the left seal 10 to the right, and the right moving mechanism 9 moves the right seal 11 to the left, ensuring a seal between the left and right seals (in coordination). The side can be sealed with sealing materials, such as rubber gaskets or other structures used in conjunction with rubber gaskets for sealing. The detection section of the pipeline forms a sealed cavity. After the sealed cavity is formed, the pressure detection component empties or drains part of the liquid from the sealed pipeline area. After the liquid is drained, the leak point will spray out liquid or gas, causing a large impact force at the location corresponding to the leak point. The impact force will cause a pressure change. At this time, the pressure change after the liquid is emptied or partially drained can be quickly analyzed to determine whether there is a leak in this area. This achieves accurate and rapid leak detection (avoiding the problem that the pressure sensing value does not change or changes only slightly when the cavity is full of liquid and there is a leak).

[0055] Example 3

[0056] Based on Embodiment 2, the pressure detection assembly includes multiple labeled pressure sensors 12 arranged at equal intervals on the left and right seals 10 and 11, connected to the control system 2; a water pump mounted on the frame 1, horizontal slide rail 7, left moving mechanism 8, or right moving mechanism 9; and a suction pipe with one end connected to the suction pump and the other end connected to the left seal 10 and / or the right seal 11. This facilitates accurate detection of leaks along the circumference of the pipeline, i.e., by analyzing the positions of the pressure sensors with different labels and the returned pressure data. In practice, the pressure sensor can be activated for the first test after the left seal 10 and right seal 11 seal the outer wall of the detection section of the pipeline. The second test can be activated after the liquid is drained or partially drained. This way, less data can be collected, but it is also convenient to determine whether there is a pressure change at the corresponding location. That is, the difference between the two values ​​at the corresponding location is calculated, and the latter is subtracted from the former (by judging whether this difference is due to the amount of liquid reduction or the pressure increase caused by the impact force, and other corresponding situations, based on the liquid discharge situation). Of course, it is possible that multiple data collections may be required for analysis depending on different situations, such as collecting data once before draining, once when a portion is drained, and once when the pipeline is emptied.

[0057] Example 4

[0058] Based on Embodiment 3, the left sealing element 10 and the right sealing element 11 respectively include an upper arc-shaped baffle 13 and a lower arc-shaped baffle 14, and sealing gaskets 15 are disposed at both ends of the upper arc-shaped baffle 13 and the lower arc-shaped baffle 14, as well as at the lower end of the upper arc-shaped baffle 13; the lower arc-shaped baffle 14 and the upper arc-shaped baffle 13 are separated or sealed together by a rotating assembly and / or a telescopic assembly. The left and right sealing elements respectively include an upper arc-shaped baffle and a lower arc-shaped baffle, which are separated or contacted together by a rotating assembly or a telescopic assembly. This is to facilitate the detection of pipelines when only the upper part is exposed or when the lower part is supported. The pipeline installation status can be viewed through a camera or obtained from pre-stored installation information. The rotating assembly includes a support member disposed on the upper arc-shaped baffle 13, a rotating shaft disposed on the support member, a motor driving the rotating shaft to rotate, and a connecting member disposed on the rotating shaft and connected to the lower arc-shaped baffle 14. The telescopic assembly includes a horizontal telescopic mechanism and a vertical telescopic mechanism to enable the lower arc-shaped baffle 14 to move to both sides and upwards. Only the upper parts of the left seal 10 and right seal 11 can perform a seal test on the upper part of the pipeline.

[0059] Example 5

[0060] Based on Embodiment 4, the extraction pipe includes a first extraction pipe 16 and a second extraction pipe 17 that are respectively connected to the upper arc-shaped baffle 13 and the lower arc-shaped baffle 14 in the left seal 10 and / or the right seal 11; the extraction pump includes a first extraction pump 18 and a second extraction pump 19 that are respectively connected to the first extraction pipe 16 and the second extraction pipe 17. In practice, other configuration methods are not excluded to facilitate corresponding handling in different situations.

[0061] Example 6

[0062] Based on embodiment 5, the cleaning assembly 5 includes cleaning components 20 respectively disposed on the front ends of the upper arc-shaped baffle 13 and the lower arc-shaped baffle 14 along the moving direction. The cleaning assembly and the leakage detection assembly are integrated to facilitate simultaneous cleaning and leakage detection with the pipeline, thus avoiding the problem of too many control components. By slightly loosening the left seal 10 and the right seal 11, the robot can drive the left seal 10 and the right seal 11 to move forward along the pipeline. During the movement, the cleaning assembly can clean the outer wall of the pipeline section to be inspected.

[0063] Example 7

[0064] Based on Embodiment 6, the cleaning component 20 includes a mounting plate 21 disposed on the upper arc-shaped baffle 13 and the lower arc-shaped baffle 14, and a scraper 22 disposed on the mounting plate 21 to scrape away dirt from the pipe. By using a scraper on the mounting plate to cooperate with the pipe, the cleaning component avoids damage to the pipe or increased damage area caused by spraying water onto the pipe with a high-pressure water pump, and can quickly and thoroughly remove dirt from the pipe. The scraper 22 includes at least two scraper blades 23 (or possibly three or four). Along the relative direction of the upper arc-shaped baffle 13 and the lower arc-shaped baffle 14, the distance between the scraper blades 23 and the pipe increases sequentially. The first scraper blade 23 adjacent to the upper arc-shaped baffle 13 and the lower arc-shaped baffle 14 contacts the pipe and is made of a soft material, such as rubber on the side in contact with the pipe or the entire piece being made of rubber. Its height can be the same as the height of the sealing gasket, or it can be adjusted according to practical conditions. Simultaneously, to ensure that the left sealing component 10 and the right sealing component 11 seal the detection section of the pipe, they can be compressed to avoid sealing failure. In this embodiment, the scraper includes at least two scrapers, and the distance between the scrapers and the pipe increases sequentially. The first scraper adjacent to the upper and lower arc-shaped baffles contacts the pipe and is made of soft material. This serves two purposes: first, to prevent the scraper in contact with the pipe from being made of hard material, which could easily scratch the pipe; and second, to ensure that the distance between the scrapers and the pipe increases sequentially, which facilitates the layered scraping of dirt and prevents the dirt from being too thick, making it difficult to clean after scraping, causing the scraper to get stuck, or making the scraper easily damaged.

[0065] Example 8

[0066] Based on embodiment 7, the scrapers 23 are spaced apart. A sewage pump 24 is mounted on the frame 1, horizontal slide rail 7, left moving mechanism 8, or right moving mechanism 9. A main sewage pipe 25 is connected to the sewage pump 24, a connecting pipe 26 is connected to the main sewage pipe 25, and a branch sewage pipe 27, connected to the connecting pipe 26, is used to suck up the waste scraped by each scraper. The spaced arrangement of the scrapers and the installation of the sewage pump, main sewage pipe, connecting pipe, and branch sewage pipe facilitate the discharge of waste to other areas of the water body or waste collection, such as by installing a net at the outlet of the sewage pump.

[0067] Example 8

[0068] Based on Embodiment 7, the four mounting plates 21, when fitted together, form a trumpet shape, with the smaller end located at one end of the leakage detection component 6; the rotating component and / or telescopic component are mounted on the cleaning component 5 and / or the leakage detection component 6. The purpose of limiting the four mounting plates to a trumpet shape is to facilitate the containment of scraped dirt, allowing the sewage pump, main sewage pipe, connecting pipe, and branch sewage pipe to suck up the dirt, facilitating its discharge to other areas or collection, and preventing dirt from scattering in the detection area.

[0069] In practice, cameras can also be installed on the left seal 10 and / or the right seal 11 for auxiliary judgment.

Claims

1. An underwater robot capable of underwater pipe cleaning and leakage detection, comprising a frame (1), a control system (2) mounted on the frame (1), a thruster (3), a buoyancy chamber (4), and a camera mounted on the frame (1) and connected to the control system (2), characterized in that: It includes a cleaning component (5) that is connected to the control system (2) to clean the pipeline and a leakage detection component (6) that uses pressure sensing to detect leakage in the cleaned pipeline. The leakage detection assembly (6) includes a horizontal slide rail (7) on the frame (1), a left moving mechanism (8) and a right moving mechanism (9) on the horizontal slide rail (7), a left seal (10) and a right seal (11) on the left moving mechanism (8) and the right moving mechanism (9) respectively, and a pressure detection assembly on the left seal (10) and the right seal (11) to empty or drain part of the liquid from the sealed pipe area before pressure detection; The left sealing element (10) includes an upper arc-shaped baffle (13) and a lower arc-shaped baffle (14), and the right sealing element (11) includes an upper arc-shaped baffle (13) and a lower arc-shaped baffle (14), and a sealing gasket (15) is provided at both ends of the upper arc-shaped baffle (13) and the lower arc-shaped baffle (14), as well as at the lower end of the upper arc-shaped baffle (13). The lower arc-shaped baffle (14) and the upper arc-shaped baffle (13) are separated or sealed together by a rotating assembly and / or a telescopic assembly.

2. The underwater robot capable of underwater pipeline cleaning and leakage detection according to claim 1, characterized in that: The pressure detection assembly includes multiple labeled pressure sensors (12) arranged at equal intervals on the left seal (10) and right seal (11), connected to the control system (2), a pump mounted on the frame (1), horizontal slide rail (7), left moving mechanism (8) or right moving mechanism (9), and a pumping pipe connected at one end to the pump and at the other end to the left seal (10) or / and right seal (11).

3. The underwater robot for underwater pipeline cleaning and leakage detection according to claim 2, characterized in that: The extraction tube includes a first extraction tube (16) and a second extraction tube (17) that are respectively connected to the upper arc-shaped baffle (13) and the lower arc-shaped baffle (14) in the left seal (10) and / or the right seal (11). The pumping system includes a first pumping pump (18) and a second pumping pump (19) that are respectively connected to the first pumping pipe (16) and the second pumping pipe (17).

4. An underwater robot capable of underwater pipeline cleaning and leakage detection according to claim 3, characterized in that: The cleaning assembly (5) includes cleaning components (20) respectively disposed on the front ends of the upper arc-shaped baffle (13) and the lower arc-shaped baffle (14) along the moving direction.

5. An underwater robot capable of underwater pipeline cleaning and leakage detection according to claim 4, characterized in that: The cleaning component (20) includes a mounting plate (21) disposed on the upper arc-shaped baffle (13) and the lower arc-shaped baffle (14), and a scraper (22) disposed on the mounting plate (21) for scraping dirt off the pipe.

6. An underwater robot capable of underwater pipeline cleaning and leakage detection according to claim 5, characterized in that: The scraper (22) includes at least two scraper blades (23). Along the relative direction of the upper arc-shaped baffle (13) and the lower arc-shaped baffle (14), the distance between the scraper blade (23) and the pipe increases sequentially. The first scraper blade (23) adjacent to the upper arc-shaped baffle (13) and the lower arc-shaped baffle (14) is in contact with the pipe and is made of soft material.

7. An underwater robot capable of underwater pipeline cleaning and leakage detection according to claim 6, characterized in that: The scrapers (23) are spaced apart; The frame (1), horizontal slide rail (7), left moving mechanism (8) or right moving mechanism (9) are equipped with a sewage pump (24), a main sewage pipe (25) connected to the sewage pump (24), a connecting pipe (26) connected to the main sewage pipe (25), and a branch sewage pipe (27) connected to the connecting pipe (26) for sucking up the dirt scraped by each scraper.

8. An underwater robot capable of underwater pipeline cleaning and leakage detection according to claim 7, characterized in that: The four mounting plates (21) fit together to form a trumpet shape, with the smaller end located at one end of the leakage detection component (6); The rotating component and / or telescopic component are disposed on the cleaning component (5) and / or the leakage detection component (6).

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