Underwater bridge pier detection robot device, control method, medium and program

Abstract

The application relates to the technical field of robot detection, and provides underwater bridge pier detection robot equipment, which comprises a floating body, a square groove and a mounting groove are arranged at the top of the floating body, a steel frame body is fixedly arranged at the bottom of the floating body, a plurality of propeller fixing frames are fixedly arranged on the inner wall of the steel frame body, underwater propellers one and two are fixedly arranged at the ends of the plurality of propeller fixing frames away from the steel frame body. A load wheel mounting plate is fixedly arranged on the outer edge of the load wheel connecting pipe, and a tow wheel is fixedly arranged on the two sides of the load wheel mounting plate through a load wheel shaft. The track body is directly connected with the driven wheel body, the driving wheel and the tow wheel, so that the track body can expose the maximum area in water, and the silt in water can fall off from the outer surface of the track body when the equipment moves, thereby solving the problem that the silt is blocked when the equipment moves in water through the traditional track walking mechanism.

Description

Technical Field

[0001] This invention relates to the field of robot inspection technology, specifically to underwater bridge pier inspection robot equipment, control methods, media, and programs. Background Technology

[0002] Bridge piers are substructures that support the bridge span structure and transfer dead loads and vehicle live loads to the foundation. Abutments are located on both sides of the bridge. The piers are situated between the two abutments. The function of the piers is to support the bridge span structure. In addition to supporting the bridge span structure, the abutments also connect to the embankment and prevent embankment landslides. To protect the abutments and embankment fill, some protective and diversion works are often constructed on both sides of the abutments.

[0003] As the supporting structure of a bridge, the safety of bridge piers needs to be guaranteed. The parts of the bridge pier exposed to the air can be directly observed by the human eye, but the parts located in the water cannot be directly observed by the human eye. Therefore, underwater bridge pier inspection robots are needed for observation. However, existing bridge pier inspection robots are simply devices that can move in water and add cameras to achieve monitoring. Such devices have low flexibility in water movement, making it difficult for them to move flexibly to the location that needs to be inspected. Summary of the Invention

[0004] This invention provides an underwater bridge pier inspection robot device, control method, medium, and program, which solves the problems mentioned in the background art.

[0005] This invention provides the following technical solution: an underwater bridge pier inspection robot device, comprising a floating body, the top of which has a square groove and an installation groove; a steel frame body is fixedly assembled at the bottom of the floating body; several thruster mounting brackets are fixedly assembled on the inner wall of the steel frame body; underwater thruster one and underwater thruster two are fixedly assembled at the ends of the thruster mounting brackets away from the steel frame body; an underwater camera is fixedly assembled on the top outer wall of one side of the steel frame body; an LED illuminator is fixedly assembled on the top outer wall of the other side of the steel frame body; a controller and a dual-lens camera are fixedly assembled on the bottom inner wall of the steel frame body respectively; and the bottom inner wall of the steel frame body... A signal transmitter is fixedly mounted on the main body of the steel frame. A chassis frame assembly is fixedly mounted on the bottom of the main body of the steel frame. Side plates are fixedly mounted on the bottom outer walls of both sides of the chassis frame assembly. Frame outer horizontal plates are fixedly mounted on the inner walls of the side plates. A slot is opened at the bottom center of the chassis frame assembly. A tracked walking mechanism is fixedly mounted on the outer walls of the side plates. A tracked drive mechanism is fixedly mounted on the bottom of the chassis frame assembly. A cavitation cleaning and shock absorption device is fixedly mounted on the top inner wall of the main body of the steel frame. A cavitation cleaning component is fixedly mounted on the bottom of the cavitation cleaning and shock absorption device. The dual-camera system is electrically connected to a screen display and a remote control.

[0006] Preferably, the controller and the underwater camera are positioned vertically corresponding, the LED illuminator and the dual-camera are positioned vertically corresponding, and the cavitation cleaning assembly is located in the inner wall of the trough.

[0007] Preferably, the tracked walking mechanism includes a road wheel connecting pipe, a road wheel mounting plate is fixedly mounted on the outer edge of the road wheel connecting pipe, a circular groove is formed on the outer wall of the road wheel mounting plate, road wheel axles are fixedly mounted on both outer walls of the road wheel mounting plate, a trailing wheel is rotatably connected to the outer edge of the road wheel axle, a track body is sleeved on the outer edge of the trailing wheel, a driven wheel body and a driving wheel are respectively sleeved on the inner walls of both sides of the track body, a driven wheel axle is rotatably connected to the outer edge of the driven wheel body, a driven wheel fixing seat is fixedly mounted on the outer edge of the driven wheel axle, a driven wheel tensioning seat is threadedly connected to the inner wall of the driven wheel fixing seat, the driven wheel tensioning seat and the driven wheel fixing seat are fixedly mounted to the side plate, and the road wheel connecting pipe is fixedly mounted to the side plate.

[0008] Preferably, the track drive mechanism includes a motor mounting plate, a motor mounting base is fixedly mounted on the bottom of the motor mounting plate, a drive motor is fixedly mounted on the inner wall of the motor mounting base, a synchronous belt is sleeved on the outer edge of the output shaft of the drive motor, the inner wall of the other side of the synchronous belt is sleeved with the input shaft of the drive wheel, and the motor mounting plate is fixedly mounted on the bottom of the chassis frame assembly.

[0009] Preferably, the cavitation cleaning assembly includes a cleaning housing, a cavitation support frame fixedly mounted on the top outer wall of the cleaning housing, a cavitation support wheel fixedly mounted on the end of the cavitation support frame away from the cleaning housing, a cavitation support shaft fixedly mounted on the top of the cleaning housing, a cavitation expansion joint fixedly mounted on one side of the outer wall of the cavitation support shaft, a cavitation bottom cover fixedly mounted on the bottom outer edge of the cleaning housing, a cavitation generator fixedly mounted at the center of the bottom inner wall of the cleaning housing, and cavitation conduits fixedly mounted on both sides of the cavitation generator.

[0010] Preferably, the cavitation cleaning vibration damping includes a vibration damping base plate, with a vibration damping bottom sliding shaft and a vibration damping bottom fixing seat fixedly mounted on the top of the vibration damping base plate, a vibration damping sliding rod slidably sleeved on the inner wall of the vibration damping base plate, a vibration damping top plate fixedly mounted on the top of the vibration damping sliding rod, a vibration damping top plate fixedly mounted on the bottom of the vibration damping top plate, a vibration damping top sliding shaft and a vibration damping top fixing seat fixedly mounted on the top of the vibration damping top fixing seat, a vibration damping spring fixedly mounted on the top of the vibration damping top sliding shaft and the vibration damping sliding rod, the two ends of the vibration damping spring fixedly mounted on the vibration damping top fixing seat and the vibration damping bottom fixing seat respectively, the top of the cavitation support shaft rotatably connected to the vibration damping base plate, and the end of the cavitation expansion joint away from the cavitation support shaft fixedly mounted on the bottom of the vibration damping base plate.

[0011] A method for controlling an underwater bridge pier inspection robot includes the following steps:

[0012] Step S1: By connecting the rope to the hook on the top of the equipment body, the equipment body can be slowly lowered into the water via the rope, allowing the equipment to quickly approach the location to be detected. After the equipment body is placed in the water, the rope is separated from the equipment body.

[0013] Step S2: Control the main body of the cavitation cleaning and vibration reduction control equipment, output execution commands through cavitation cleaning and vibration reduction, and receive commands through the controller. The controller sends execution commands to underwater thruster one, underwater thruster two, cavitation cleaning components, track drive mechanism, underwater camera and LED lighting, and dual-camera. The controller is electrically connected to the signal distributor, so that the output data of the underwater camera, LED lighting and dual-camera can be transmitted to the screen display through the signal distributor, so that personnel can observe the environment of the main body of the equipment in the water through the screen display.

[0014] Step S3: By observing the screen display, personnel can observe the underwater environment. By controlling the remote control, the controller receives instructions and controls the underwater thrusters 1 and 2 located at the four corners of the steel frame to operate. By controlling the four sets of underwater thrusters 1, the main body of the equipment can be raised and lowered by the operation of the underwater thrusters 1. By controlling the thruster fixing frame to drive the underwater thrusters 2, the angle relationship between the underwater thrusters 2 and the steel frame main body is changed, so that when the underwater thrusters 2 operate in the water, the thrust generated by the underwater thrusters 2 can change the direction of movement of the main body of the equipment in the water.

[0015] Step S4: Control the equipment operation via remote control. When the equipment moves to a suitable detection location, stop the operation of underwater thruster 2. The equipment can then sink via underwater thruster 1. When the equipment sinks to the water surface, the controller can be controlled via remote control to control the operation of the track drive mechanism. The track drive mechanism drives the track walking mechanism, allowing the equipment to move in the water. When encountering uneven environments in the water, two crossing methods can be used via remote control.

[0016] Step S5: Method 1: Control the controller via remote control, so that the controller controls the cavitation cleaning component and the cavitation generator to operate. The cavitation generator discharges cavitation jets through the cavitation bottom cover. The impact force of the cavitation cleaning component makes the water environment more suitable for equipment movement. At the same time, the controller controls the operation of the cavitation expansion joint to change the direction of the cavitation cleaning component, so that the cavitation cleaning component can better achieve environmental shaping.

[0017] Step S6: Method 2, control the controller via remote control, so that the controller controls underwater thruster one. The thrust generated by the operation of underwater thruster one changes the height of the equipment in the water, and then underwater thruster two moves the equipment.

[0018] Step S7: When the equipment moves on the ground in the water, the height of the cavitation cleaning component can be automatically changed through cavitation cleaning and shock absorption. The cavitation support wheel can prevent the cavitation cleaning component from directly contacting the ground in the water, thereby reducing the friction between the equipment and the mud and sand, and thus increasing the speed of the equipment in the water.

[0019] Step S8: When the underwater environment is dark, the underwater camera and LED lights can be controlled by the controller to increase the light source in the underwater environment.

[0020] The present invention has the following beneficial effects:

[0021] First, the underwater bridge pier inspection robot of the present invention has a load-bearing wheel mounting plate fixedly mounted on the outer edge of the load-bearing wheel connecting pipe, and the towing wheel is fixedly mounted on both sides of the load-bearing wheel mounting plate through the load-bearing wheel axle. The track body is directly connected to the driven wheel body, the driving wheel, and the towing wheel, so that the track body can expose the maximum area of ​​the track body to the water. As a result, when the equipment moves, the mud and sand in the water can fall off the surface of the track body as the track body moves, thus solving the problem of mud and sand blockage that occurs when the equipment moves in water using a traditional track walking mechanism.

[0022] Secondly, this invention enables the automatic adjustment of the height of the cavitation cleaning component through cavitation cleaning and shock absorption. The cavitation support wheels prevent the cavitation cleaning component from directly contacting the water surface, thereby reducing friction between the equipment and sediment and increasing the equipment's movement speed in water. The cavitation generator operates, discharging a cavitation jet through the cavitation bottom cover. The impact force generated by the cavitation cleaning component's operation makes the underwater environment more suitable for equipment movement. Simultaneously, the controller adjusts the operation of the cavitation expansion joint, changing the direction of the cavitation cleaning component and allowing it to better shape the environment. Attached Figure Description

[0023] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0024] Figure 2 This is a schematic diagram of the structure of the present invention from a bottom view;

[0025] Figure 3 This is a partial structural diagram of the present invention;

[0026] Figure 4 This is a schematic diagram of another partial structure of the present invention;

[0027] Figure 5 This is a schematic diagram of the cavitation cleaning and vibration reduction structure of the present invention;

[0028] Figure 6 For the present invention Figure 2 Schematic diagram of the structure at point A in the middle;

[0029] Figure 7 This is a schematic diagram of the tracked walking mechanism of the present invention;

[0030] Figure 8 For the present invention Figure 7 Schematic diagram of the structure at point B.

[0031] In the diagram: 1. Floating body; 2. Square groove; 3. Mounting groove; 4. Steel frame main body; 5. Thruster mounting bracket; 6. Underwater thruster one; 7. Underwater thruster two; 8. Underwater camera; 9. Controller; 10. LED illuminator; 11. Dual-lens camera; 12. Signal distributor; 13. Chassis frame assembly; 14. Side plate; 15. Outer cross plate of the frame; 16. Track walking mechanism; 1601. Road wheel connecting pipe; 1602. Road wheel mounting plate; 1603. Circular groove; 1604. Road wheel axle; 1605. Tractor wheel; 1606. Track main body; 1607. Driven wheel main body; 1608. Driven wheel axle; 1609. Driven wheel tensioner; 1610. Driven wheel mounting base; 1611. Drive sprocket; 17. Track drive mechanism ; 1701, Motor mounting plate; 1702, Motor mounting base; 1703, Drive motor; 1704, Synchronous belt; 18, Spacing; 19, Cavitation cleaning assembly; 1901, Cleaning housing; 1902, Cavitation support frame; 1903, Cavitation support wheel; 1904, Cavitation expansion joint; 1905, Cavitation support shaft; 1906, Cavitation bottom cover; 1907, Cavitation generator; 1908, Cavitation duct; 20, Cavitation cleaning shock absorber; 2001, Shock absorber base plate; 2002, Shock absorber slide rod; 2003, Shock absorber top plate; 2004, Shock absorber bottom slide shaft; 2005, Shock absorber top slide shaft; 2006, Shock absorber top mounting base; 2007, Shock absorber bottom mounting base; 2008, Shock absorber spring; 21, Display screen; 22, Remote control. Detailed Implementation

[0032] 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, and 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.

[0033] Please see Figure 1-8The underwater bridge pier inspection robot includes a floating body 1. The top of the floating body 1 has a square groove 2 and a mounting groove 3. A steel frame body 4 is fixedly mounted on the bottom of the floating body 1. Several thruster mounting brackets 5 are fixedly mounted on the inner wall of the steel frame body 4. Underwater thruster 1 6 and underwater thruster 2 7 are fixedly mounted on the end of each thruster mounting bracket 5 away from the steel frame body 4. An underwater camera 8 is fixedly mounted on the top outer wall of one side of the steel frame body 4. An LED light 10 is fixedly mounted on the top outer wall of the other side of the steel frame body 4. A controller 9 and a dual-lens camera 11 are fixedly mounted on the bottom inner wall of the steel frame body 4. A signal distributor 12 is fixedly mounted on the bottom inner wall of the steel frame body 4. The bottom of the steel frame body 4 is fixedly equipped with a chassis frame assembly 13. Side plates 14 are fixedly equipped on the bottom outer walls of both sides of the chassis frame assembly 13. Frame outer horizontal plates 15 are fixedly equipped on the inner walls of the side plates 14. A slot 18 is opened at the center of the bottom of the chassis frame assembly 13. A track walking mechanism 16 is fixedly equipped on the outer wall of the side plates 14. A track drive mechanism 17 is fixedly equipped on the bottom of the chassis frame assembly 13. A cavitation cleaning and shock absorption 20 is fixedly equipped on the top inner wall of the steel frame body 4. A cavitation cleaning component 19 is fixedly equipped on the bottom of the cavitation cleaning and shock absorption 20. The dual-camera 11 is electrically connected to a screen display 21. The dual-camera 11 is electrically connected to a remote control 22.

[0034] The controller 9 and the underwater camera 8 are positioned vertically, the LED illuminator 10 and the dual-camera 11 are positioned vertically, and the cavitation cleaning component 19 is located in the inner wall of the partition 18.

[0035] The tracked walking mechanism 16 includes a road wheel connecting pipe 1601, a road wheel mounting plate 1602 fixedly mounted on the outer edge of the road wheel connecting pipe 1601, a circular groove 1603 formed on the outer wall of the road wheel mounting plate 1602, and road wheel axles 1604 fixedly mounted on both outer walls of the road wheel mounting plate 1602. A track wheel 1605 is rotatably connected to the outer edge of the road wheel axle 1604, and a track body 1606 is sleeved on the outer edge of the track wheel 1605. The driven wheel body 1607 and the driving wheel 1611 are respectively sleeved on the inner walls of both sides. The driven wheel body 1607 is rotatably connected to the outer edge of the driven wheel shaft 1608. The driven wheel fixing seat 1610 is fixedly assembled on the outer edge of the driven wheel shaft 1608. The driven wheel tensioning seat 1609 is threadedly connected to the inner wall of the driven wheel fixing seat 1610. The driven wheel tensioning seat 1609 and the driven wheel fixing seat 1610 are fixedly assembled with the side plate 14. The load wheel connecting pipe 1601 is fixedly assembled with the side plate 14.

[0036] The track drive mechanism 17 includes a motor mounting plate 1701, a motor mounting base 1702 is fixedly mounted on the bottom of the motor mounting plate 1701, a drive motor 1703 is fixedly mounted on the inner wall of the motor mounting base 1702, a synchronous belt 1704 is sleeved on the outer edge of the output shaft of the drive motor 1703, and the inner wall of the other side of the synchronous belt 1704 is sleeved with the input shaft of the drive wheel 1611. The motor mounting plate 1701 is fixedly mounted on the bottom of the chassis frame assembly 13.

[0037] The cavitation cleaning assembly 19 includes a cleaning housing 1901, a cavitation support frame 1902 fixedly mounted on the top outer wall of the cleaning housing 1901, a cavitation support wheel 1903 fixedly mounted on the end of the cavitation support frame 1902 away from the cleaning housing 1901, a cavitation support shaft 1905 fixedly mounted on the top of the cleaning housing 1901, a cavitation expansion joint 1904 fixedly mounted on one side outer wall of the cavitation support shaft 1905, a cavitation bottom cover 1906 fixedly mounted on the bottom outer edge of the cleaning housing 1901, a cavitation generator 1907 fixedly mounted at the center of the bottom inner wall of the cleaning housing 1901, and cavitation ducts 1908 fixedly mounted on both sides of the cavitation generator 1907.

[0038] The cavitation cleaning vibration damping device 20 includes a vibration damping base plate 2001. A vibration damping bottom sliding shaft 2004 and a vibration damping bottom fixing seat 2007 are fixedly mounted on the top of the vibration damping base plate 2001. A vibration damping sliding rod 2002 is slidably sleeved on the inner wall of the vibration damping base plate 2001. A vibration damping top plate 2003 is fixedly mounted on the top of the vibration damping sliding rod 2002. A vibration damping top sliding shaft 2005 and a vibration damping top fixing seat 2006 are fixedly mounted on the bottom of the vibration damping top plate 2003. A damping spring 2008 is fixedly mounted on the top of the top fixed seat 2006. The damping top sliding shaft 2005 is slidably connected to the damping sliding rod 2002. The two ends of the damping spring 2008 are fixedly mounted to the damping top fixed seat 2006 and the damping bottom fixed seat 2007, respectively. The top of the cavitation support shaft 1905 is rotatably connected to the damping base plate 2001. The end of the cavitation expansion joint 1904 away from the cavitation support shaft 1905 is fixedly mounted to the bottom of the damping base plate 2001.

[0039] A method for controlling an underwater bridge pier inspection robot includes the following steps:

[0040] Step S1: By connecting the rope to the hook on the top of the equipment body, the equipment body can be slowly lowered into the water via the rope, allowing the equipment to quickly approach the location to be detected. After the equipment body is placed in the water, the rope is separated from the equipment body.

[0041] Step S2: The main body of the equipment is controlled by the cavitation cleaning and vibration damping 20. The cavitation cleaning and vibration damping 20 outputs execution commands and the controller 9 receives the commands. The controller 9 sends execution commands to the underwater thruster 1 6, underwater thruster 2 7, cavitation cleaning assembly 19, track drive mechanism 17, underwater camera 8, LED lighting 10, and dual-lens camera 11 respectively. The controller 9 is electrically connected to the signal distributor 12 so that the image output data of the underwater camera 8, LED lighting 10 and dual-lens camera 11 can be transmitted to the screen display 21 through the signal distributor 12, so that the personnel can observe the environment of the main body of the equipment in the water through the screen display 21.

[0042] Step S3: By observing the screen display 21, personnel can observe the underwater environment. By controlling the remote control 22, the controller 9 receives instructions and controls the underwater thrusters 6 and 7 located at the four corners of the steel frame 4 to operate. By controlling the four sets of underwater thrusters 6, the main body of the equipment can be raised and lowered by the operation of the underwater thrusters 6. By controlling the thruster fixing frame 5 to drive the underwater thrusters 7, the angle relationship between the underwater thrusters 7 and the steel frame 4 is changed, so that when the underwater thrusters 7 operate in the water, the thrust generated by the underwater thrusters 7 can change the direction of movement of the main body of the equipment in the water.

[0043] Step S4: Control the equipment operation via remote controller 22. When the equipment moves to a suitable detection location, stop the operation of underwater thruster 2 7. The equipment can then sink via underwater thruster 1 6. When the equipment sinks to the water surface, remote controller 22 can control controller 9, which in turn controls the operation of track drive mechanism 17. Track drive mechanism 17 drives track walking mechanism 16, allowing the equipment to move in the water. When encountering uneven environments in the water, two crossing methods can be used via remote controller 22.

[0044] Step S5: Method 1, control the controller 9 via remote control 22, so that the controller 9 controls the cavitation cleaning component 19, and the cavitation generator 1907 operates, so that the cavitation generator 1907 discharges cavitation jets through the cavitation bottom cover 1906, and then the impact force of the cavitation cleaning component 19 makes the underwater environment more suitable for equipment movement. At the same time, the controller 9 controls the operation of the cavitation expansion joint 1904, which can change the direction of the cavitation cleaning component 19, so that the cavitation cleaning component 19 can better achieve environmental shaping.

[0045] Step S6: Method 2, control the controller 9 through the remote controller 22, so that the controller 9 controls the underwater thruster 6. The thrust generated by the operation of the underwater thruster 6 changes the height of the equipment in the water, and then the underwater thruster 7 moves the equipment.

[0046] Step S7: When the equipment moves on the ground in the water, the height of the cavitation cleaning component 19 can be automatically changed by the cavitation cleaning shock absorber 20, and the cavitation support wheel 1903 can prevent the cavitation cleaning component 19 from directly contacting the ground in the water, thereby reducing the friction between the equipment and the mud and sand, and thus increasing the speed of the equipment in the water.

[0047] Step S8: When the underwater environment is dark, the underwater camera 8 and LED light 10 can be controlled by the controller 9 to increase the light source in the underwater environment.

[0048] A mobile medium for an underwater bridge pier inspection robot includes a thruster mounting frame 5, an underwater thruster one 6, an underwater thruster two 7, an LED illuminator 10, a dual-lens camera 11, a tracked walking mechanism 16, a tracked drive mechanism 17, a cavitation cleaning assembly 19, and a cavitation cleaning shock absorber 20.

[0049] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0050] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An underwater bridge pier inspection robot, characterized in that, It includes a floating body (1), a steel frame body (4), an underwater thruster one (6), and an underwater thruster two (7), wherein: The top of the floating body (1) is provided with a square groove (2) and a mounting groove (3), and the bottom is fixedly equipped with a steel frame body (4); the inner wall of the steel frame body (4) is fixedly equipped with several thruster fixing frames (5), and the ends of the several thruster fixing frames (5) away from the steel frame body (4) are fixedly equipped with underwater thruster one (6) and underwater thruster two (7). An underwater camera (8) is fixedly mounted on the top outer wall of one side of the steel frame body (4), and an LED illuminator (10) is fixedly mounted on the top outer wall of the other side of the steel frame body (4). A controller (9) and a dual-lens camera (11) are fixedly mounted on the bottom of the inner wall of the steel frame body (4). A signal distributor (12) is fixedly mounted on the bottom of the inner wall of the steel frame body (4). A chassis frame assembly (13) is fixedly mounted on the bottom of the steel frame body (4). Side plates (14) are fixedly mounted on the bottom outer walls of both sides of the chassis frame assembly (13). Frame outer horizontal plates (15) are fixedly mounted on the inner walls of the side plates (14). A partition groove (18) is opened at the bottom center of the chassis frame assembly (13). The outer wall of the side plate (14) is fixedly equipped with a track walking mechanism (16), the bottom of the chassis frame assembly (13) is fixedly equipped with a track drive mechanism (17), the top inner wall of the steel frame body (4) is fixedly equipped with a cavitation cleaning shock absorber (20), and the bottom of the cavitation cleaning shock absorber (20) is fixedly equipped with a cavitation cleaning component (19). The dual-camera (11) is electrically connected to a screen display (21), and the dual-camera (11) is electrically connected to a remote control (22). The tracked walking mechanism (16) includes a road wheel connecting pipe (1601), a road wheel mounting plate (1602) is fixedly mounted on the outer edge of the road wheel connecting pipe (1601), a circular groove (1603) is formed on the outer wall of the road wheel mounting plate (1602), road wheel axles (1604) are fixedly mounted on both outer walls of the road wheel mounting plate (1602), a towing wheel (1605) is rotatably connected to the outer edge of the road wheel axle (1604), and a track body (1606) is sleeved on the outer edge of the towing wheel (1605). The inner walls of both sides are respectively fitted with a driven wheel body (1607) and a driving wheel (1611). The outer edge of the driven wheel body (1607) is rotatably connected to a driven wheel shaft (1608). The outer edge of the driven wheel shaft (1608) is fixedly fitted with a driven wheel fixing seat (1610). The inner wall of the driven wheel fixing seat (1610) is threadedly connected to a driven wheel tensioning seat (1609). The driven wheel tensioning seat (1609) and the driven wheel fixing seat (1610) are fixedly assembled with the side plate (14). The load wheel connecting pipe (1601) is fixedly assembled with the side plate (14). The cavitation cleaning assembly (19) includes a cleaning housing (1901), a cavitation support frame (1902) is fixedly mounted on the top outer wall of the cleaning housing (1901), a cavitation support wheel (1903) is fixedly mounted on the end of the cavitation support frame (1902) away from the cleaning housing (1901), a cavitation support shaft (1905) is fixedly mounted on the top of the cleaning housing (1901), a cavitation expansion joint (1904) is fixedly mounted on one side outer wall of the cavitation support shaft (1905), a cavitation bottom cover (1906) is fixedly mounted on the bottom outer edge of the cleaning housing (1901), a cavitation generator (1907) is fixedly mounted at the center of the bottom inner wall of the cleaning housing (1901), and cavitation conduits (1908) are fixedly mounted on both sides of the cavitation generator (1907). The cavitation cleaning vibration damping (20) includes a vibration damping base plate (2001). A vibration damping base slide shaft (2004) and a vibration damping base fixing seat (2007) are fixedly mounted on the top of the vibration damping base plate (2001). A vibration damping slide rod (2002) is slidably sleeved on the inner wall of the vibration damping base plate (2001). A vibration damping top plate (2003) is fixedly mounted on the top of the vibration damping slide rod (2002). A vibration damping top slide shaft (2005) and a vibration damping top fixing seat (2006) are fixedly mounted on the bottom of the vibration damping top plate (2003). A shock-absorbing spring (2008) is fixedly mounted on the top of the top fixed seat (2006). The shock-absorbing top sliding shaft (2005) is slidably sleeved with the shock-absorbing sliding rod (2002). The two ends of the shock-absorbing spring (2008) are fixedly mounted to the shock-absorbing top fixed seat (2006) and the shock-absorbing bottom fixed seat (2007) respectively. The top of the cavitation support shaft (1905) is rotatably connected to the shock-absorbing base plate (2001). The end of the cavitation expansion joint (1904) away from the cavitation support shaft (1905) is fixedly mounted to the bottom of the shock-absorbing base plate (2001).

2. The underwater bridge pier inspection robot equipment according to claim 1, characterized in that: The controller (9) and the underwater camera (8) are positioned vertically, the LED illuminator (10) and the dual-camera (11) are positioned vertically, and the cavitation cleaning component (19) is located in the inner wall of the partition (18).

3. The underwater bridge pier inspection robot equipment according to claim 1, characterized in that: The track drive mechanism (17) includes a motor mounting plate (1701), a motor mounting base (1702) is fixedly mounted on the bottom of the motor mounting plate (1701), a drive motor (1703) is fixedly mounted on the inner wall of the motor mounting base (1702), a synchronous belt (1704) is sleeved on the outer edge of the output shaft of the drive motor (1703), the inner wall of the other side of the synchronous belt (1704) is sleeved with the input shaft of the drive wheel (1611), and the motor mounting plate (1701) is fixedly mounted on the bottom of the chassis frame assembly (13).

4. A method for controlling the underwater bridge pier inspection robot equipment as described in any one of claims 1-3, characterized in that: Includes the following steps: Step S1: By connecting the rope to the hook on the top of the equipment body, the equipment body can be slowly lowered into the water via the rope, allowing the equipment to quickly approach the location to be detected. After the equipment body is placed in the water, the rope is separated from the equipment body. Step S2: Control the main body of the equipment through cavitation cleaning and vibration reduction (20), output execution commands through cavitation cleaning and vibration reduction (20), and receive commands through the controller (9). The controller (9) sends execution commands to underwater thruster one (6), underwater thruster two (7), cavitation cleaning component (19), track drive mechanism (17), underwater camera (8), LED lighting (10), and dual-shot camera (11). The controller (9) is electrically connected to the signal distributor (12), so that the image output data of underwater camera (8), LED lighting (10) and dual-shot camera (11) can be transmitted to the screen display (21) through the signal distributor (12), so that personnel can observe the environment of the main body of the equipment in the water through the screen display (21). Step S3: By observing the screen display (21), the personnel can observe the underwater environment. By controlling the remote control (22), the controller (9) receives the instruction. The controller (9) controls the underwater thrusters 1 (6) and 2 (7) located at the four corners of the steel frame body (4) to operate. By controlling the four sets of underwater thrusters 1 (6), the equipment body can move up and down through the operation of the underwater thrusters 1 (6). By controlling the thruster fixing frame (5) to drive the underwater thrusters 2 (7), the angle relationship between the underwater thrusters 2 (7) and the steel frame body (4) is changed. When the underwater thrusters 2 (7) are operating in the water, the thrust generated by the underwater thrusters 2 (7) can change the direction of movement of the equipment body in the water. Step S4: Control the operation of the equipment by remote control (22) and move the equipment to a suitable detection location. Stop the operation of underwater thruster 2 (7) and the equipment can sink by underwater thruster 1 (6). When the equipment sinks to the ground in the water, the controller (9) can be controlled by remote control (22) to control the operation of track drive mechanism (17). The track drive mechanism (17) drives the track walking mechanism (16) so that the equipment can move in the water by track walking mechanism (16). When encountering uneven environment in the water, two crossing methods can be performed by remote control (22). Step S5: Method 1, control the controller (9) through the remote controller (22), so that the controller (9) controls the cavitation cleaning component (19), and the cavitation generator (1907) operates, so that the cavitation generator (1907) discharges cavitation jets through the cavitation bottom cover (1906), and then the impact force of the cavitation cleaning component (19) makes the water environment more suitable for equipment movement. At the same time, control the operation of the cavitation expansion joint (1904) through the controller (9), which can change the direction of the cavitation cleaning component (19), so that the cavitation cleaning component (19) can better achieve environmental shaping. Step S6: Method 2, control the controller (9) through the remote controller (22), so that the controller (9) controls the underwater thruster one (6), and the thrust driven by the operation of the underwater thruster one (6) changes the height of the equipment in the water, and then moves the equipment through the underwater thruster two (7); Step S7: When the equipment moves on the ground in the water, the height of the cavitation cleaning component (19) can be automatically changed by the cavitation cleaning shock absorption (20), and the cavitation support wheel (1903) can prevent the cavitation cleaning component (19) from directly contacting the ground in the water, thereby reducing the friction between the equipment and the mud and sand, and thus increasing the speed of the equipment in the water. Step S8: When the underwater environment is dark, the underwater camera (8) and LED lights (10) can be controlled by the controller (9) to increase the light source in the underwater environment.

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