An intelligent inspection unmanned boat for hydropower stations

Abstract

An intelligent inspection unmanned boat for a hydropower station comprises: a water quality detection mechanism, a bacterial agent mixing mechanism, a surface salvage mechanism, a sewage interception outlet cleaning mechanism and a high-precision mapping device; by setting the water quality detection mechanism, the bacterial agent mixing mechanism, the surface salvage mechanism, the sewage interception outlet cleaning mechanism and the high-precision mapping device, the functions of water quality detection, bacterial agent mixing, garbage cleaning and the like are integrated; in terms of autonomous positioning: after fusing and Kalman filtering the signals of a three-dimensional laser radar, a GNSS and an IMU, the position and attitude of the hull are obtained; in terms of target recognition: the unmanned boat adopts the YOLOv5 (YouOnlyLookOnceVersion5) algorithm, and fuses the laser radar and the camera for target detection, and can better identify targets in harsh environments and at night; in terms of path planning: the unmanned boat adopts the A* (A‑Star) algorithm and the DWA (DynamicWindowApproach) algorithm for global planning and local planning respectively; through the fusion of the high-precision mapping device and the hardware equipment, the unmanned boat can better realize the above functions and meet the expected requirements.

Description

Technical Field

[0001] The present invention relates to the field of environmental monitoring, and in particular to an intelligent inspection unmanned boat for a hydropower station. Background Art

[0002] Hydropower stations store water through dams and use the drop in water to obtain water energy. The water flow of the turbine impacts the huge blades of the turbine, which are connected to the generator above through the transmission shaft to drive the generator to generate electricity. Therefore, the equipment safety of the turbine generator set, turbine governor oil pressure device, transformer, power distribution room, GIS room and the environmental safety of the upstream and downstream of the dam area are the core concerns of the hydropower station. The comprehensive intelligent inspection system of the hydropower station is a comprehensive inspection management system specially developed for the intelligent inspection needs of hydropower stations. The system realizes heterogeneous access of multiple inspection equipment through a unified access protocol. The modular function set can quickly customize inspection tasks for scenarios such as turbine generator sets, power distribution rooms, and GIS rooms in hydropower stations. Templated task management can realize rapid deployment and high reuse of configurations, solving the problem of long deployment cycles of inspection systems and robots. The edge analysis capability improves the real-time and reliability of AI analysis.

[0003] For example, the Chinese invention patent with the publication number: 201910921738.4 provides an unmanned boat device for automatic water quality sampling, including an unmanned boat body, a navigation locator, a navigation positioning processing circuit board, a high-definition camera, and a central processing circuit board. The top middle part of the unmanned boat body is fixedly connected with the navigation locator, and the bottom outer side of the navigation locator is connected to the inner side of the top middle part of the unmanned boat body. The outer middle part of the unmanned boat body is fixedly connected with an airbag ring, and the inner side of the airbag ring is connected to the outer middle part of the unmanned boat body. The unmanned boat needs to go to the lake or river to collect water quality. When collecting water quality, the unmanned boat needs to travel steadily or stay in place to ensure the efficiency of water quality collection. The airbag ring can increase the buoyancy on both sides of the unmanned boat to ensure the balance of the unmanned boat, avoid the unmanned boat from capsizing when collecting water quality, and overturn the water quality samples collected in the unmanned boat, which effectively ensures the quality of water quality collection.

[0004] Through the study of the above-mentioned unmanned boat device for automatic water quality sampling, it is found that the patent can only collect water quality, but cannot automatically detect water quality, clean up bacteria in the water, or collect garbage in the water flow;

[0005] Therefore, we urgently need to invent an intelligent inspection unmanned boat for hydropower stations, and solve the above problems by adding bacterial pumps, water quality pumps and garbage collection networks to the unmanned boat to achieve multifunctional integration. Summary of the invention

[0006] In view of the above problems, the present invention provides an intelligent inspection unmanned boat for a hydropower station, which integrates functions such as water quality detection, bacterial agent mixing, and garbage cleaning by setting a water quality detection mechanism, a bacterial agent mixing mechanism, a surface salvage mechanism, a sewage interception outlet cleaning mechanism, and a high-precision mapping device. In terms of autonomous positioning: the signals of the three-dimensional laser radar, GNSS, and IMU are fused and Kalman filtered to obtain the position and posture of the hull. In terms of target recognition: the unmanned boat adopts the YOLOv5 (You Only Look Once Version 5) algorithm, which integrates the laser radar and the camera for target detection, and can better identify targets in harsh environments and at night. In terms of path planning: the unmanned boat adopts the A* (A-Star) algorithm and the DWA (Dynamic Window Approach) algorithm for global planning and local planning respectively. Through the integration of the high-precision mapping device and the hardware equipment, the unmanned boat can better realize the above functions and meet the expected requirements.

[0007] The technical solution used in the present invention is: an intelligent inspection unmanned boat for a hydropower station includes: a water quality detection mechanism, a bacterial agent mixing mechanism, a surface salvage mechanism, a sewage interception port cleaning mechanism and a high-precision mapping device;

[0008] The water quality detection mechanism fixes the turntable and the reel on the upper surface of the unmanned boat through a bracket. The bacterial agent mixing mechanism and the high-precision mapping device are also fixed on the upper surface of the unmanned boat. The sewage cleaning and interception outlet mechanism is installed on the protruding plate at the front end of the upper surface of the unmanned boat. The water surface salvage mechanism is installed on the rotating plate support frame at the rear side of the upper surface of the unmanned boat.

[0009] The water quality detection mechanism lowers the water quality pump by reeling in and out the line reel. When the water quality pump is lowered to different areas and different heights, the water quality pump draws up water sources from different areas and different heights, and flows into the collection bucket through the pipeline to detect the water quality. The bacterial agent mixing mechanism mixes the bacterial agent in the mixing bucket, and then uses the internal bacterial agent pump to spray the bacterial agent into the water to purify the water quality. The surface salvage mechanism and the sewage cleaning and interception port mechanism can collect and clean garbage in the water. The high-precision mapping device can obtain the position and posture of the hull through the fusion of algorithms and the use of sensors, and can better identify targets in harsh environments and at night.

[0010] Furthermore, the line clamping mechanism comprises: a wire insertion hole, a control sleeve, a threaded sleeve, a wire insertion sleeve, a clamping control block and a clamping block;

[0011] One end of the control sleeve is connected to the threaded sleeve, the other end of the control sleeve is the wire insertion hole, the other end of the threaded sleeve is connected to the wire insertion sleeve, and the wire insertion sleeve is inserted into the threaded sleeve and passes through the middle of the control sleeve to be connected to the clamping control block, the other end of the clamping control block is connected to the clamping block, and the clamping control block and the clamping block are both inside the control sleeve.

[0012] Further, the water quality detection mechanism includes: a turntable, a collection bucket, a cam, a detector, a water quality pump, a reel, a ring A, a ring B, a motor A and a water reservoir;

[0013] The back of the turntable is fixedly connected to the upper surface of the unmanned boat through two brackets, and the motor A is installed at the center of the back of the turntable, and the motor A can drive the turntable to rotate. The motor A is connected to the top cam through a belt, and the detector that contacts the cam through rotation is installed on a fixed plate, and the fixed plate is installed on a vertical bracket fixed on the upper surface of the unmanned boat. The ring A and the ring B are installed on the turntable, and there is a ruler on the inner side of the ring A, and there is a ruler on the outer side of the ring B. The collecting bucket is equipped with gears, which are evenly installed between the rings A and B by gear meshing. The water reservoir is placed directly below the collecting bucket, and the reel is installed on the shelf on the upper surface of the unmanned boat. The extended line of the reel is tied to the water quality pump, and the water quality pump draws water into the collecting bucket along the outlet pipe.

[0014] Furthermore, the bacterial agent mixing mechanism includes: a storage barrel, a rotating disk, a fixed disk, a switch door, a mixing barrel, a bracket, a swing rod A, a swing rod B, a shaking rod, a motor B and a motor C;

[0015] The storage bucket is fixedly connected to the rotating disk below it, and the rotating disk is rotatably connected to the fixed disk below it. A motor B is installed at the edge of the lower surface of the fixed disk. The mixing barrel is arranged below the fixed disk. The top of the mixing barrel is rotatably connected to the switch door, the lower surface of the mixing barrel is connected to the rod of the bracket, the shaking rod is sleeved on the rod, the swing rod B is rotatably connected to the shaking rod, the swing rod B is also rotatably connected to the swing rod A, the swing rod A is installed on the motor C, and a water outlet pipe is also arranged below the mixing barrel.

[0016] Furthermore, there are three storage buckets, and the motor B and the motor C are stepper motors.

[0017] Furthermore, the surface salvage mechanism comprises: a salvage net, a movable clamping mechanism, a movable lead screw mechanism A, a collection box A and a motor D;

[0018] The collecting box A is installed on the rotating plate support frame on the unmanned ship, the moving screw mechanism A is installed on the symmetrically distributed two side support frames, the moving clamping mechanism is installed on the moving screw mechanism A, the collecting box A is arranged below the moving clamping mechanism, and the motor D is arranged on the rotating rod of the collecting box A.

[0019] Furthermore, the sewage interception port cleaning mechanism includes: a movable screw mechanism B, a telescopic frame, a salvage fork, a collection box B and a motor E;

[0020] The collecting box B is mounted on the extension plate at the front end of the upper surface of the unmanned boat, the movable screw mechanism B is fixed to the top of the extension rod of the unmanned boat, the extension plate in the middle of the movable screw mechanism B is connected to the telescopic frame, the telescopic frames are symmetrically distributed at both ends of the collecting box B, the bottoms of the two telescopic frames are connected with salvaging forks, and the motor E is mounted on the rotating shaft of the salvaging fork.

[0021] Furthermore, the high-precision mapping device optimizes the FLOAM algorithm (Fast LiDAR Odometry and Mapping) and realizes high-precision mapping based on it, and adopts the "Frontier_Exploration" algorithm to realize autonomous mapping.

[0022] Since the present invention adopts the above technical solution, the present invention has the following advantages:

[0023] 1) In terms of autonomous positioning: After fusing and Kalman filtering the signals of 3D LiDAR, GNSS and IMU, the position and attitude of the ship are obtained;

[0024] 2) In terms of target recognition: the unmanned ship uses the YOLOv5 (You Only Look Once Version 5) algorithm, which integrates lidar and camera for target detection, and can better identify targets in harsh environments and at night;

[0025] 3) In terms of path planning: the unmanned ship uses the A* (A-Star) algorithm and the DWA (Dynamic Window Approach) algorithm for global planning and local planning respectively;

[0026] 4) In terms of hardware equipment: the unmanned boat is equipped with a bacterial pump, a water quality pump and a garbage collection network to achieve multifunctional integration. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0028] Figure 2-3 It is a schematic diagram of the water quality detection mechanism of the present invention.

[0029] Figure 4-5It is a schematic diagram of the bacterial agent mixing mechanism of the present invention.

[0030] Figure 6 It is a schematic diagram of water surface salvage of the present invention.

[0031] Figure 7 It is a schematic diagram of the structure of the sewage interception outlet for cleaning of the present invention.

[0032] Figure numbers: 1-water quality detection mechanism; 2-microorganism mixing mechanism; 3-water surface salvage mechanism; 4-cleaning interception port mechanism; 5-high-precision mapping device; 101-turntable; 102-collection bucket; 103-cam; 104-detector; 105-water quality pump; 106-retracting and releasing wire reel; 107-ring A; 108-ring B; 109-motor A; 110-water reservoir; 201-storage bucket; 202-rotating disk; 203-fixed disk; 2 04-opening and closing door; 205-mixing barrel; 206-bracket; 207-swinging rod A; 208-swinging rod B; 209-shaking rod; 210-motor B; 211-motor C; 301-salvage net; 302-movable clamping mechanism; 303-movable screw mechanism A; 304-collection box A; 305-motor D; 401-movable screw mechanism B; 402-telescopic frame; 403-salvage fork; 404-collection box B; 405-motor E. DETAILED DESCRIPTION

[0033] The technical solution of the present invention is further specifically described below by way of embodiments and in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0034] In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "front", "back", "left", "right", etc. are based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0035] Examples, such as Figure 1-7 As shown, an intelligent inspection unmanned boat for a hydropower station includes: a water quality detection mechanism 1, a bacterial agent mixing mechanism 2, a surface salvage mechanism 3, a sewage interception port cleaning mechanism 4 and a high-precision mapping device 5;

[0036] The water quality detection mechanism 1 fixes the turntable 101 and the reel 106 on the upper surface of the unmanned boat through a bracket. The bacterial agent mixing mechanism 2 and the high-precision mapping device 5 are also fixed on the upper surface of the unmanned boat. The sewage cleaning and interception outlet mechanism 4 is installed on the protruding plate at the front end of the upper surface of the unmanned boat, and the water surface salvage mechanism 3 is installed on the rotating plate support frame at the rear side of the upper surface of the unmanned boat.

[0037] The water quality detection mechanism 1 lowers the water quality pump 105 by reeling in and out the line reel 106. When the water quality pump 105 is lowered to different areas and different heights, the water quality pump 105 draws up water sources from different areas and different heights, and flows into the collection barrel 102 through a pipeline to detect the water quality. The bacterial agent mixing mechanism 2 mixes the bacterial agent in the mixing barrel 205, and then uses the internal bacterial agent pump to spray the bacterial agent into the water to purify the water quality. The surface salvage mechanism 3 and the sewage cleaning and interception outlet mechanism 4 can collect and clean garbage in the water. The high-precision mapping device 5 can obtain the position and posture of the hull through the fusion of algorithms and the use of sensors, and can better identify targets in harsh environments and at night.

[0038] In an optional implementation manner of the embodiment of the present invention, Figure 2-3 As shown, the water quality detection mechanism 1 includes: a rotating disk 101, a collecting bucket 102, a cam 103, a detector 104, a water quality pump 105, a reel 106, a ring A 107, a ring B 108, a motor A 109 and a water reservoir 110;

[0039] The back of the turntable 101 is fixedly connected to two brackets fixed to the upper surface of the unmanned ship. A motor A109 is installed at the center of the back of the turntable 101. The motor A109 can drive the turntable 101 to rotate. The motor A109 is connected to the top cam 103 through a belt. The detector 104 that contacts the cam 103 through rotation is installed on the fixed plate. The fixed plate is installed on the vertical bracket fixed to the upper surface of the unmanned ship. The ring A107 and the ring B108 are installed on the turntable. 101, the inner side of the circular ring A107 is provided with a ruler, the outer side of the circular ring B108 is provided with a ruler, the collecting bucket 102 is provided with a gear, which is evenly installed between the circular ring A107 and the circular ring B108 by means of gear meshing, the water reservoir 110 is placed directly below the collecting bucket 102, the reel 106 is installed on a shelf on the upper surface of the unmanned boat, the extended line of the reel 106 is tied to the water quality pump 105, and the water quality pump 105 pumps water into the collecting bucket 102 along the outlet pipe;

[0040] When testing the water quality, the water quality pump 105 is lowered by reeling in and out the wire reel 106. When the water quality pump 105 is lowered to different areas and different heights, the water quality pump 105 draws water from different areas and different heights and flows into the collection barrel 102 through the pipeline. The motor A109 drives the turntable 101 to rotate, thereby driving the multiple collection barrels 102 to move, so that different water sources are stored in different collection barrels 102, and at the same time drives the cam 103 to rotate, thereby driving the detector 104 to descend and insert into the collection barrel 102, and the collection barrel 102 is tested. 02 is used to detect the water quality inside. When the cam 103 rotates one circle, it disengages from the detector 104, and the detector 104 rebounds under the action of the spring. When the collecting bucket 102 moves and engages with the teeth of the ring B108, the collecting bucket 102 flips over, and the water inside the collecting bucket 102 is poured into the water reservoir 110 below. The collecting bucket 102 continues to move and engages with the teeth on the inner side of the ring A107, and then flips back to its original position, which is convenient for continued use next time. An electric valve is provided at the water outlet of the water reservoir 110, which can control the water in the water reservoir 110 to flow out.

[0041] In an optional implementation manner of the embodiment of the present invention, as Figure 4-5 As shown, the bacterial agent mixing mechanism 2 includes: a storage barrel 201, a rotating disk 202, a fixed disk 203, a switch door 204, a mixing barrel 205, a bracket 206, a swing rod A207, a swing rod B208, a shaking rod 209, a motor B210 and a motor C211;

[0042] The storage bucket 201 is fixedly connected to the rotating disk 202 below it, the rotating disk 202 is rotatably connected to the fixed disk 203 below it, a motor B210 is installed at the edge of the lower surface of the fixed disk 203, a mixing bucket 205 is arranged below the fixed disk 203, the upper part of the mixing bucket 205 is rotatably connected to the switch door 204, the lower surface of the mixing bucket 205 is connected to the rod of the bracket 206, the shaking rod 209 is sleeved on the rod, the swing rod B208 is rotatably connected to the shaking rod 209, the swing rod B208 is also rotatably connected to the swing rod A207, the swing rod A207 is installed on the motor C211, and a water outlet pipe is also arranged below the mixing bucket 205;

[0043] The three storage barrels 201 are filled with various bacterial agents. The rotating disk 202 is driven by the motor B210 to rotate, and then the storage barrels 201 are driven to rotate, so that the outlet at the lower end of the storage barrel 201 cooperates with the hole of the fixed disk 203, so that the substances in the storage barrel 201 can flow from the fixed disk 203 into the mixing barrel 205. After all the substances have flowed into the mixing barrel 205, the switch door 204 is closed to keep the inside of the mixing barrel 205 in a closed state, and then the swing rod A207 is driven by the motor C211 to rotate, and then the swing rod B208 is driven to swing, thereby driving the shaking rod 209 to swing, so that the substances in the mixing barrel 205 are mixed. After mixing, the bacterial agent is sprayed into the water flow through the bacterial agent pump inside the mixing barrel 205.

[0044] In an optional implementation manner of the embodiment of the present invention, Figure 6 As shown, the surface salvage mechanism 3 includes: a salvage net 301, a mobile clamping mechanism 302, a mobile screw mechanism A303, a collection box A304 and a motor D305;

[0045] The collection box A304 is installed on the rotating plate support frame on the unmanned ship, the moving screw mechanism A303 is installed on the symmetrically distributed two side support frames, the moving clamping mechanism 302 is installed on the moving screw mechanism A303, the collection box A304 is arranged below the moving clamping mechanism 302, and the motor D305 is arranged on the rotating rod of the collection box A304;

[0046] The motor D305 on the side of the salvage net 301 is used to make the salvage net 301 stand upright, so that when the unmanned boat moves, floating objects on the water surface will be caught by the salvage net 301, and then the salvage net 301 will be flipped into a horizontal state, and the mobile clamping mechanism 302 is driven by the moving screw mechanism A303 to move to the inside of the salvage net 301, and the garbage inside the salvage net 301 is clamped by the mobile clamping mechanism 302, and then the mobile clamping mechanism 302 is driven by the moving screw mechanism A303 to move to the inside of the collection box A304, and the garbage is placed inside the collection box A304 by the mobile clamping mechanism 302, so that the garbage is collected.

[0047] In an optional implementation manner of the embodiment of the present invention, Figure 7 As shown, the sewage interception port cleaning mechanism 4 includes: a moving screw mechanism B401, a telescopic frame 402, a salvage fork 403, a collection box B404 and a motor E405;

[0048] The collection box B404 is installed on the extension plate at the front end of the upper surface of the unmanned boat, the moving screw mechanism B401 is fixed to the top of the extension rod of the unmanned boat, the extension plate in the middle of the moving screw mechanism B401 is connected to the telescopic frame 402, the telescopic frames 402 are symmetrically distributed at both ends of the collection box B404, the bottoms of the two telescopic frames 402 are connected to the salvage forks 403, and the motor E405 is installed on the rotating shaft of the salvage forks 403;

[0049] The unmanned boat drives the mechanism to move to the vicinity of the area that needs to be cleaned, and the moving screw mechanism B401 drives the salvage fork 403 to move forward and insert into the trash rack, and then the telescopic frame 402 drives the salvage fork 403 to rise, and the garbage is cleaned out from the gap of the trash rack, and then the moving screw mechanism B401 drives the salvage fork 403 to move to the top of the collection box B404, and the motor E405 on the side of the salvage fork 403 drives the salvage fork 403 to flip, so as to pour the garbage into the collection box B404.

[0050] In an optional implementation of an embodiment of the present invention, the high-precision mapping device 5 optimizes the FLOAM algorithm (Fast LiDAR Odometry and Mapping) and realizes high-precision mapping based on it, and adopts the "Frontier_Exploration" algorithm to realize autonomous mapping. In terms of autonomous positioning: we fuse and Kalman filter the signals of the three-dimensional laser radar, GNSS and IMU to obtain the position and posture of the hull; in terms of target recognition: the unmanned ship adopts the YOLOv5 (You Only Look Once Version 5) algorithm, which integrates the laser radar and the camera for target detection, and can better identify targets in harsh environments and at night.

Claims

1. An intelligent inspection unmanned boat for hydropower stations, It is characterized in that include: A water quality detection mechanism (1), a bacterial agent mixing mechanism (2), a water surface salvage mechanism (3), a sewage interception port cleaning mechanism (4) and a high-precision mapping device (5); The water quality detection mechanism (1) fixes the turntable (101) and the reel (106) on the upper surface of the unmanned boat through a bracket, and the bacterial agent mixing mechanism (2) and the high-precision mapping device (5) are also fixed on the upper surface of the unmanned boat. The sewage cleaning and interception outlet mechanism (4) is installed on the protruding plate at the front end of the upper surface of the unmanned boat, and the water surface salvage mechanism (3) is installed on the rotating plate support frame at the rear side of the upper surface of the unmanned boat; The water quality detection mechanism (1) lowers the water quality pump (105) by retracting and releasing the line reel (106). When the water quality pump (105) is lowered to different areas and different heights, the water quality pump (105) draws up water sources from different areas and different heights, and flows into the collection bucket (102) through a pipeline to detect the water quality. The bacterial agent mixing mechanism (2) mixes the bacterial agent in the mixing bucket (205), and then uses the bacterial agent pump inside the mixing bucket to spray the bacterial agent into the water to purify the water quality. The water surface salvage mechanism (3) and the sewage cleaning and interception port mechanism (4) can collect and clean garbage in the water. The high-precision mapping device (5) can obtain the position and posture of the hull through the fusion of algorithms and the use of sensors, and can better identify targets in harsh environments and at night. The water quality detection mechanism (1) comprises: a rotating disk (101), a collecting bucket (102), a cam (103), a detector (104), a water quality pump (105), a reel (106), a ring A (107), a ring B (108), a motor A (109) and a water reservoir (110); The back of the turntable (101) is fixedly connected to two brackets fixed to the upper surface of the unmanned ship. The motor A (109) is installed at the center of the back of the turntable (101). The motor A (109) can drive the turntable (101) to rotate. The motor A (109) is connected to the top cam (103) through a belt. The detector (104) that is in contact with the cam (103) through rotation is installed on a fixed plate. The fixed plate is installed on a vertical bracket fixed to the upper surface of the unmanned ship. The ring A (107) and the ring B (108) are installed on the turntable ( 101), the inner side of the circular ring A (107) has teeth, the outer side of the circular ring B (108) has teeth, the collecting bucket (102) is equipped with gears, which are evenly installed between the circular ring A (107) and the circular ring B (108) by means of gear meshing, the water reservoir (110) is placed directly below the collecting bucket (102), the reel (106) is installed on a shelf on the upper surface of the unmanned boat, the extended line of the reel (106) is tied to the water quality pump (105), and the water quality pump (105) pumps water into the collecting bucket (102) along the outlet pipe.

2. According to claim 1, a hydropower station intelligent inspection unmanned boat, It is characterized in that The bacterial agent mixing mechanism (2) comprises: a storage barrel (201), a rotating disk (202), a fixed disk (203), a switch door (204), a mixing barrel (205), a bracket (206), a swing rod A (207), a swing rod B (208), a shaking rod (209), a motor B (210) and a motor C (211); The storage bucket (201) is fixedly connected to a rotating disk (202) below it, and the rotating disk (202) is rotationally connected to a fixed disk (203) below it. A motor B (210) is installed at the edge of the lower surface of the fixed disk (203). The mixing bucket (205) is arranged below the fixed disk (203). The upper part of the mixing bucket (205) is rotationally connected to a switch door (204). The lower surface of the mixing bucket (205) is connected to a rod of a bracket (206). The shaking rod (209) is sleeved on the rod. The swing rod B (208) is rotationally connected to the shaking rod (209). The swing rod B (208) is also rotationally connected to a swing rod A (207). The swing rod A (207) is installed on a motor C (211). A water outlet pipe is also arranged below the mixing bucket (205).

3. According to claim 2, a hydropower station intelligent inspection unmanned boat, It is characterized in that There are three storage barrels (201), and the motor B (210) and the motor C (211) are stepping motors.

4. A hydropower station intelligent inspection unmanned boat according to any one of claims 1 to 3, It is characterized in that The surface salvaging mechanism (3) comprises: a salvaging net (301), a movable clamping mechanism (302), a movable screw mechanism A (303), a collection box A (304) and a motor D (305); The collecting box A (304) is installed on the rotating plate support frame on the unmanned ship, the moving screw mechanism A (303) is installed on the symmetrically distributed two side support frames, the moving clamping mechanism (302) is installed on the moving screw mechanism A (303), the collecting box A (304) is arranged below the moving clamping mechanism (302), and the motor D (305) is arranged on the rotating rod of the collecting box A (304).

5. According to claim 4, a hydropower station intelligent inspection unmanned boat, It is characterized in that The sewage interception port cleaning mechanism (4) comprises: a movable screw mechanism B (401), a telescopic frame (402), a salvaging fork (403), a collection box B (404) and a motor E (405); The collection box B (404) is mounted on a protruding plate at the front end of the upper surface of the unmanned boat, the movable screw mechanism B (401) is fixed to the top of the protruding rod of the unmanned boat, the protruding plate in the middle of the movable screw mechanism B (401) is connected to the telescopic frame (402), the telescopic frames (402) are symmetrically distributed at both ends of the collection box B (404), the bottoms of the two telescopic frames (402) are connected to salvage forks (403), and the motor E (405) is mounted on the rotating shaft of the salvage fork (403).

6. According to claim 5, a hydropower station intelligent inspection unmanned boat, It is characterized in that The high-precision mapping device (5) optimizes the FLOAM algorithm (Fast LiDAR Odometry and Mapping) and realizes high-precision mapping based on it, and at the same time adopts the "Frontier_Exploration" algorithm to realize autonomous mapping.

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