An autonomous obstacle-avoiding underwater navigation seabed pipeline detection robot

Abstract

The application discloses an underwater navigation seabed pipeline detection robot capable of autonomously avoiding obstacles, which comprises a mounting frame, horizontal propellers, vertical propellers, obstacle-removing mechanisms, an equipment cabin assembly and a limiting mechanism, symmetrically arranged with illuminating lamps on the upper side of the mounting frame, and symmetrically arranged with vertical propellers below the left and right sides of the mounting frame, and horizontally arranged with propellers in the middle of the left and right sides of the mounting frame, and arranged with the limiting mechanism in the middle of the mounting frame, and arranged with the equipment cabin assembly on the limiting mechanism, and symmetrically arranged with the obstacle-removing mechanisms on the left and right sides of the mounting frame; when the robot encounters obstacles, the extrusion plate will be pressed by the obstacles, and when the extrusion plate moves, the obstacle-removing plate on the rotating frame will swing, which enables the robot to push away or bypass the encountered obstacles, and the obstacle-removing mechanisms can help the robot to identify and avoid obstacles, and ensure the smooth passing of the robot.

Description

Technical Field

[0001] This invention relates to the field of subsea pipeline inspection, and in particular to an underwater navigation subsea pipeline inspection robot that autonomously avoids obstacles. Background Technology

[0002] With the development of science and technology, people have increasingly higher demands for ocean exploration. Due to the special characteristics of the marine environment, many traditional exploration methods can no longer meet the needs. Therefore, underwater robots have emerged and become an important tool for ocean exploration; subsea pipelines are an important component of offshore oil and gas field production facilities and play a vital role in the offshore oil and gas industry. They must be inspected regularly or as needed to ensure their safe operation.

[0003] An underwater robot is a robot specifically designed to operate in underwater environments. It typically consists of components such as a controller, power system, propulsion system, sensors, and cameras. Underwater robots can perform a variety of tasks, such as seabed topography surveying, marine biological sampling, and marine resource exploration. ROVs, with their comprehensive advantages, have become an effective platform for inspecting underwater structures and are widely used in the inspection and maintenance of subsea pipelines. Autonomous obstacle avoidance underwater vehicles play a crucial role. Traditional subsea pipeline inspection and maintenance work requires manual intervention, which involves certain risks and difficulties; therefore, underwater robots are used for inspection.

[0004] Traditional underwater pipeline inspection robots may deviate due to the influence of seabed sand and gravel. The presence of seabed sand and gravel interferes with the robot's movement and positioning, potentially causing the robot's trajectory to deviate from the planned route. The presence of sand and gravel increases the friction between the robot and the seabed, making the robot's movement subject to resistance and potentially causing deviation during travel. Furthermore, seabed sediments may form unstable substrates, such as sand dunes or sediment deposits. These substrates may be irregular or unevenly distributed, causing the robot to encounter different resistances and interferences during travel, thus leading to deviation. Based on this, the present invention provides an autonomous obstacle avoidance underwater navigation underwater pipeline inspection robot to solve the problems mentioned in the background art. Summary of the Invention

[0005] The technical problem this invention aims to solve is that traditional subsea pipeline inspection robots may deviate due to the influence of seabed sand and gravel. The presence of seabed sand and gravel interferes with the robot's movement and positioning, potentially causing the robot's trajectory to deviate from the predetermined path. The presence of sand and gravel increases the friction between the robot and the seabed, making the robot's movement subject to resistance and potentially causing deviation during travel. Furthermore, seabed sediments may form unstable substrates, such as sand dunes or sediment deposits. These substrates may be irregularly or unevenly distributed, causing the robot to encounter different resistances and interferences during travel, thus leading to deviation.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an autonomous obstacle avoidance underwater navigation subsea pipeline inspection robot, which includes an installation frame, horizontal thrusters, vertical thrusters, obstacle removal mechanism, equipment compartment assembly, and limiting mechanism. The installation frame is symmetrically provided with lighting lamps on the upper side, and vertical thrusters are symmetrically provided on the lower left and right sides of the installation frame. Horizontal thrusters are provided in the middle of both sides of the installation frame. A limiting mechanism is provided in the middle of the installation frame, and an equipment compartment assembly is installed on the limiting mechanism. Obstacle removal mechanisms are symmetrically provided on both sides of the installation frame.

[0007] As a preferred embodiment of the autonomous obstacle avoidance underwater navigation subsea pipeline inspection robot of the present invention, the limiting mechanism includes a limiting frame, a positioning frame, mounting bolts, positioning nuts and limiting grooves. The mounting frame has a U-shaped structure, and a limiting frame is provided on the lower side of the mounting frame. A positioning frame is provided below the limiting frame. Through holes are provided on both sides of the positioning frame and the limiting frame. A mounting bolt is provided on the through hole between the positioning frame and the limiting frame, and a positioning nut is provided on the mounting bolt.

[0008] As a preferred embodiment of the autonomous obstacle avoidance underwater navigation subsea pipeline inspection robot of the present invention, wherein: the limiting frame and the positioning frame are provided with limiting slots, and the limiting slots are provided with equipment compartment components.

[0009] As a preferred embodiment of the autonomous obstacle avoidance underwater navigation subsea pipeline inspection robot of the present invention, the obstacle removal mechanism includes a fixed frame, a pressing plate, a fixed rod, a movable component, an obstacle removal plate, an L-shaped rod, a connecting component, a rotating frame, a limiting rod, a buffer spring, a limiting block, a movable shaft, and a transmission groove. Fixed frames are symmetrically arranged on both sides of the mounting frame, and a transmission groove is opened in the fixed frame. A rotating frame is arranged in the transmission groove, and an L-shaped rod is movably connected to the rotating frame. Limiting rods are movably connected to both sides of the fixed frame, and a pressing plate is arranged on one side of the limiting rod. A buffer spring is sleeved on the limiting rod between the pressing plate and the fixed frame.

[0010] As a preferred embodiment of the autonomous obstacle avoidance underwater navigation subsea pipeline inspection robot of the present invention, wherein: an L-shaped rod is movably connected to the side of the limiting rod away from the extrusion plate in the transmission groove, a limiting block is provided on the side of the limiting rod close to the L-shaped rod, fixed rods are provided on both sides below the fixed frame, a movable component is movably connected below the fixed rod, and an obstacle removal plate is provided on the side of the movable component away from the fixed rod.

[0011] As a preferred embodiment of the autonomous obstacle avoidance underwater navigation subsea pipeline inspection robot of the present invention, wherein: a connector is provided on one side of the obstacle removal plate, and the L-shaped rod is movably connected to the connector on the side away from the limiting rod.

[0012] As a preferred embodiment of the autonomous obstacle avoidance underwater navigation subsea pipeline inspection robot of the present invention, wherein: movable shafts are provided at the connection points between the two sides of the L-shaped rod and the limiting rod and the connecting piece.

[0013] As a preferred embodiment of the autonomous obstacle avoidance underwater navigation subsea pipeline inspection robot of the present invention, the equipment compartment component includes an equipment compartment, an infrared avoidance sensor, an ultrasonic sensor, a detection sensor, a lidar, a sensor interface, a microcontroller, a power module circuit, and an electric drive. The equipment compartment is equipped with a microcontroller, a power module circuit, an electric drive, a sensor interface, and status device buttons. The sensor interface connection is equipped with an infrared avoidance sensor, an ultrasonic sensor, a detection sensor, and a lidar.

[0014] As a preferred embodiment of the autonomous obstacle avoidance underwater navigation subsea pipeline inspection robot described in this invention, the electric drive is electrically connected to a vertical thruster, a lighting lamp, and a horizontal thruster. The microcontroller is electrically connected to the power module circuit, the electric drive, the sensor interface, and the status device buttons. The microcontroller is an STM32.

[0015] As a preferred embodiment of the autonomous obstacle avoidance underwater navigation subsea pipeline inspection robot described in this invention, a detection cover is provided on one side of the equipment cabin assembly, and the detection cover is made of transparent material.

[0016] The beneficial effects of this invention are:

[0017] 1. When the robot is in operation, the horizontal and vertical thrusters provide propulsion, enabling it to navigate underwater. The obstacle removal mechanism pushes or bypasses obstacles to ensure the robot can pass smoothly and avoid collisions. The lighting provides a light source to illuminate the surrounding environment to aid the robot in pipeline inspection. The design of the limiting mechanism ensures the accurate installation and positioning of the equipment compartment components. Through the combination of limiting and positioning brackets, and the fixing of mounting bolts and positioning nuts, the equipment compartment components can be precisely installed in specific positions on the robot. The design of the limiting groove ensures that the equipment compartment components are securely installed. Between the limit frame and the positioning frame, the equipment compartment assembly is the core component of the robot. It includes various sensors (such as infrared avoidance sensors, ultrasonic sensors, detection sensors, lidar, etc.) and control modules (such as microcontrollers, power module circuits, etc.). These sensors can detect the position, shape, and damage of seabed pipelines. The control module processes and analyzes the sensor data and makes corresponding control and judgments to achieve autonomous obstacle avoidance and pipeline inspection tasks. Through the coordinated work of various components, this autonomous obstacle avoidance underwater navigation seabed pipeline inspection robot can perform safe and efficient pipeline inspection in the underwater environment.

[0018] 2. When the robot encounters an obstacle, the squeezing plate is subjected to pressure from the obstacle. This pressure causes the squeezing plate to move towards the fixed frame. The movement of the squeezing plate is transmitted to the fixed frame through the limiting rod, causing the limiting rod and the fixed frame to move horizontally. When the squeezing plate moves, it is also connected to the rotating frame through the L-shaped rod, thereby causing the rotating frame to rotate. The rotation of the rotating frame causes the obstacle removal plate on the rotating frame to swing, which allows the robot to push away or bypass the encountered obstacle. In this way, through the coordinated action of the squeezing plate, the limiting rod, the L-shaped rod, and the rotating frame, the obstacle removal mechanism can help the robot identify and avoid obstacles, ensuring the robot's smooth passage.

[0019] 3. The equipment compartment is the outer shell of the equipment compartment assembly, used to protect the various internal components. Infrared avoidance sensors, ultrasonic sensors, detection sensors, and lidar are sensors used to perceive the surrounding environment. They can detect the position, distance, and attributes of objects such as obstacles and pipelines. Sensor interface connections are provided for these sensors, transmitting their data to other components for processing. The microcontroller is the control core of the equipment compartment assembly; it is responsible for receiving and processing sensor data and making decisions based on preset algorithms and logic. The microcontroller establishes electrical connections with the power module circuit, electric drive, sensor interfaces, and status device buttons. The power module circuit provides power to... Each component of the equipment cabin assembly is designed to ensure its normal operation. The electric drive is electrically connected to the vertical thrusters, lighting, and horizontal thrusters. The electric drive drives the movement of these components with electricity, controlling the robot's navigation attitude and lighting. A detection cover is installed on one side of the equipment cabin assembly. The detection cover is made of transparent material, which can protect the sensors while allowing ambient light to enter, ensuring the normal operation of the sensors. The equipment cabin assembly can sense the surrounding environment, acquire relevant data, and process and make decisions through a microcontroller. The electric drive is responsible for controlling the robot's navigation and lighting, while the detection cover protects the sensors without affecting their sensing capabilities. The equipment cabin assembly can perform pipeline inspection tasks and can autonomously avoid obstacles and navigate in underwater environments. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure in an embodiment of this disclosure.

[0021] Figure 2 This is a top view of the structure in an embodiment of this disclosure.

[0022] Figure 3 This is a schematic diagram of the installation frame in an embodiment of this disclosure.

[0023] Figure 4 This is a side view of the obstacle removal mechanism in an embodiment of this disclosure.

[0024] Figure 5 This is a schematic diagram of the obstacle removal mechanism in an embodiment of this disclosure.

[0025] Figure 6 This is a schematic diagram of the equipment compartment component structure in an embodiment of this disclosure.

[0026] Figure 7 This is a schematic diagram of the limiting mechanism structure in an embodiment of this disclosure.

[0027] Figure 8 This is a system block diagram of an embodiment of the present disclosure.

[0028] Reference numerals: 1. Mounting frame; 2. Lighting lamp; 3. Horizontal thruster; 4. Vertical thruster; 5. Obstacle removal mechanism; 501. Fixed frame; 502. Extrusion plate; 503. Fixed rod; 504. Moving part; 505. Obstacle removal plate; 506. L-shaped rod; 507. Connecting part; 508. Rotating frame; 509. Limiting rod; 510. Buffer spring; 511. Limiting block; 512. Movable shaft; 513. Transmission groove; 6. Equipment compartment assembly; 601. Equipment compartment; 602. Infrared avoidance sensor; 603. Ultrasonic sensor; 604. Detection sensor; 605. LiDAR; 606. Sensor interface; 607. Microcontroller; 608. Power module circuit; 609. Electric drive; 610. Status device button; 7. Limit mechanism; 701. Limit frame; 702. Positioning frame; 703. Mounting bolt; 704. Positioning nut; 705. Limit groove; 8. Detection cover. Detailed Implementation

[0029] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0030] Example 1

[0031] Reference Figure 1 , 2 According to embodiment 7, this embodiment provides an autonomous obstacle avoidance underwater navigation subsea pipeline inspection robot, including a mounting frame 1, horizontal thrusters 3, vertical thrusters 4, obstacle removal mechanism 5, equipment compartment assembly 6, and limiting mechanism 7. The mounting frame 1 is symmetrically provided with lighting lamps 2 on its upper side, and vertical thrusters 4 are symmetrically provided on the lower left and right sides of the mounting frame 1. Horizontal thrusters 3 are provided in the middle of both sides of the mounting frame 1. The limiting mechanism 7 is provided in the middle of the mounting frame 1, and the equipment compartment assembly 6 is installed on the limiting mechanism 7. The obstacle removal mechanism 5 is symmetrically provided on both sides of the mounting frame 1.

[0032] The limiting mechanism 7 includes a limiting frame 701, a positioning frame 702, a mounting bolt 703, a positioning nut 704, and a limiting groove 705. The mounting frame 1 has a U-shaped structure, and the limiting frame 701 is provided on the lower side of the mounting frame 1. The positioning frame 702 is provided below the limiting frame 701. The positioning frame 702 and the limiting frame 701 are provided with through holes on both sides. The mounting bolt 703 is provided on the through hole connecting the positioning frame 702 and the limiting frame 701, and the positioning nut 704 is provided on the mounting bolt 703.

[0033] The limiting frame 701 and positioning frame 702 have limiting grooves 705, on which the equipment compartment assembly 6 is mounted. When the robot is in operation, the horizontal thruster 3 and vertical thruster 4 provide propulsion, enabling the robot to navigate underwater. The obstacle removal mechanism 5 pushes or bypasses obstacles to ensure the robot can pass smoothly and avoid collisions. The lighting lamp 2 provides a light source to illuminate the surrounding environment to help the robot perform pipeline inspection. The design of the limiting mechanism 7 ensures the accurate installation and positioning of the equipment compartment assembly 6. Through the combination of the limiting frame 701 and positioning frame 702 and the fixing of the mounting bolts 703 and positioning nuts 704, the equipment compartment assembly 6 can be precisely installed in a specific position on the robot. The design of component 5 allows the equipment compartment component 6 to be securely installed between the limit frame 701 and the positioning frame 702. The equipment compartment component 6 is the core component of the robot, which includes various sensors (such as infrared avoidance sensor 602, ultrasonic sensor 603, detection sensor 604, lidar 605, etc.) and control modules (such as microcontroller 607, power module circuit 608, etc.). These sensors can detect the position, shape, and damage of the subsea pipeline. The control module processes and analyzes the sensor data and makes corresponding control and judgment to achieve autonomous obstacle avoidance and pipeline inspection tasks. Through the coordinated work of various components, this autonomous obstacle avoidance underwater navigation subsea pipeline inspection robot can perform safe and efficient pipeline inspection in the underwater environment.

[0034] Example 2

[0035] Reference Figures 3-5 This embodiment is based on the previous embodiment, but differs in that the obstacle removal mechanism 5 includes a fixed frame 501, a pressing plate 502, a fixed rod 503, a movable part 504, an obstacle removal plate 505, an L-shaped rod 506, a connecting part 507, a rotating frame 508, a limiting rod 509, a buffer spring 510, a limiting block 511, a movable shaft 512, and a transmission groove 513. Fixed frames 501 are symmetrically arranged on both sides of the mounting frame 1, and a transmission groove 513 is opened in the fixed frame 501. A rotating frame 508 is arranged in the transmission groove 513, and an L-shaped rod 506 is movably connected to the rotating frame 508. Limiting rods 509 are movably connected to both sides of the fixed frame 501. A pressing plate 502 is arranged on one side of the limiting rod 509, and a buffer spring 510 is sleeved on the limiting rod 509 between the pressing plate 502 and the fixed frame 501.

[0036] The limiting rod 509 is movably connected to an L-shaped rod 506 in the transmission groove 513 on the side away from the extrusion plate 502. A limiting block 511 is provided on the side of the limiting rod 509 near the L-shaped rod 506. Fixed rods 503 are provided on both sides below the fixed frame 501. A movable part 504 is movably connected below the fixed rods 503. A barrier plate 505 is provided on the side of the movable part 504 away from the fixed rods 503.

[0037] A connector 507 is provided on one side of the obstacle removal plate 505, and the connector 507 is movably connected to the side of the L-shaped rod 506 away from the limiting rod 509.

[0038] Movable shafts 512 are provided at the connection points between the L-shaped rod 506 and the limiting rod 509 and the connecting piece 507 on both sides. When the robot encounters an obstacle, the squeezing plate 502 will be subjected to the pressure of the obstacle. This pressure will cause the squeezing plate 502 to move towards the fixed frame 501. The movement of the squeezing plate 502 will be transmitted to the fixed frame 501 through the limiting rod 509, causing the limiting rod 509 and the fixed frame 501 to move horizontally. When the squeezing plate 502 moves, it will also be connected to the rotating frame 508 through the L-shaped rod 506, thereby causing the rotating frame 508 to rotate. The rotation of the rotating frame 508 will cause the obstacle removal plate 505 on the rotating frame 508 to swing. This allows the robot to push away or bypass the obstacles it encounters. In this way, through the coordinated action of the squeezing plate 502, the limiting rod 509, the L-shaped rod 506 and the rotating frame 508, the obstacle removal mechanism can help the robot identify and avoid obstacles, ensuring the smooth passage of the robot.

[0039] Example 3

[0040] Reference Figure 8 This embodiment is based on the previous embodiment, but differs in that the equipment compartment assembly 6 includes an equipment compartment 601, an infrared avoidance sensor 602, an ultrasonic sensor 603, a detection sensor 604, a lidar 605, a sensor interface 606, a microcontroller 607, a power module circuit 608, and an electric drive 609. The equipment compartment 601 is equipped with a microcontroller 607, a power module circuit 608, an electric drive 609, a sensor interface 606, and a status device button 610. The infrared avoidance sensor 602, the ultrasonic sensor 603, the detection sensor 604, and the lidar 605 are connected at the sensor interface 606.

[0041] The electric drive 609 is electrically connected to the vertical thruster 4, the lighting lamp 2, and the horizontal thruster 3. The microcontroller 607 is electrically connected to the power module circuit 608, the electric drive 609, the sensor interface 606, and the status device button 610. The microcontroller 607 is an STM32.

[0042] A detection cover 8, made of transparent material, is provided on one side of the equipment compartment assembly 6. The equipment compartment 601 is the outer shell of the equipment compartment assembly 6, used to protect the various internal components. The infrared avoidance sensor 602, ultrasonic sensor 603, detection sensor 604, and lidar 605 are sensors used to perceive the surrounding environment. They can detect the position, distance, and attributes of objects such as obstacles and pipelines. The sensor interface 606 is connected to the infrared avoidance sensor 602, ultrasonic sensor 603, detection sensor 604, and lidar 605, transmitting their data to other components for processing. The microcontroller 607 is the control core of the equipment compartment assembly 6. The microcontroller 607 is responsible for receiving and processing the sensor data and making decisions based on preset algorithms and logic. The microcontroller 607 is electrically connected to the power module circuit 608, electric drive 609, sensor interface 606, and status device button 610. The power module circuit 608 provides power to the various components of the equipment compartment assembly 6 to ensure their normal operation.

[0043] The electric drive 609 establishes an electrical connection with the vertical thruster 4, the lighting lamp 2, and the horizontal thruster 3. The electric drive 609 drives the movement of these components by electricity, controlling the robot's navigation attitude and lighting. A detection cover 8 is provided on one side of the equipment compartment assembly 6. The detection cover 8 is made of transparent material, which can protect the sensors while allowing ambient light to enter, ensuring the normal operation of the sensors. The equipment compartment assembly 6 can sense the surrounding environment, acquire relevant data, and process and make decisions through the microcontroller 607. The electric drive 609 is responsible for controlling the robot's navigation and lighting, while the detection cover 8 protects the sensors without affecting their sensing capabilities. The equipment compartment assembly 6 can perform pipeline inspection tasks and can autonomously avoid obstacles and navigate in underwater environments.

Claims

1. An autonomous obstacle-avoiding underwater navigation subsea pipeline inspection robot, characterized in that: The system includes an installation frame (1), a horizontal thruster (3), a vertical thruster (4), a clearance mechanism (5), an equipment compartment assembly (6), and a limiting mechanism (7). The installation frame (1) is symmetrically equipped with lighting lamps (2) on its upper side, and vertical thrusters (4) are symmetrically arranged on the lower left and right sides of the installation frame (1). Horizontal thrusters (3) are arranged in the middle of both sides of the installation frame (1). A limiting mechanism (7) is arranged in the middle of the installation frame (1). The equipment compartment assembly (6) is installed on the limiting mechanism (7). The clearance mechanism (5) is symmetrically arranged on both sides of the installation frame (1). The obstacle removal mechanism (5) includes a fixed frame (501), a pressing plate (502), a fixed rod (503), a movable part (504), an obstacle removal plate (505), an L-shaped rod (506), a connecting part (507), a rotating frame (508), a limiting rod (509), a buffer spring (510), a limiting block (511), a movable shaft (512), and a transmission groove (513). The mounting frame (1) is symmetrically provided with fixed frames (501) on both sides, and the fixed frame (501) is fixed. A transmission groove (513) is provided in the fixed frame (501), and a rotating frame (508) is provided in the transmission groove (513). An L-shaped rod (506) is movably connected to the rotating frame (508). Limiting rods (509) are movably connected to both sides of the fixed frame (501). A pressing plate (502) is provided on one side of the limiting rod (509). A buffer spring (510) is sleeved on the limiting rod (509) between the pressing plate (502) and the fixed frame (501). The limiting rod (509) is movably connected to an L-shaped rod (506) in the transmission groove (513) on the side away from the extrusion plate (502). A limiting block (511) is provided on the side of the limiting rod (509) close to the L-shaped rod (506). Fixed rods (503) are provided on both sides below the fixed frame (501). A movable part (504) is movably connected below the fixed rod (503). A barrier plate (505) is provided on the side of the movable part (504) away from the fixed rod (503).

2. The underwater navigation subsea pipeline inspection robot with autonomous obstacle avoidance as described in claim 1, characterized in that: The limiting mechanism (7) includes a limiting frame (701), a positioning frame (702), a mounting bolt (703), a positioning nut (704), and a limiting groove (705). The mounting frame (1) has a U-shaped structure, and a limiting frame (701) is provided on the lower side of the mounting frame (1). A positioning frame (702) is provided below the limiting frame (701). Both the positioning frame (702) and the limiting frame (701) have through holes on both sides. The connection between the positioning frame (702) and the limiting frame (701) is provided with a mounting bolt (703) on the through hole, and a positioning nut (704) is provided on the mounting bolt (703).

3. The underwater navigation subsea pipeline inspection robot with autonomous obstacle avoidance as described in claim 1, characterized in that: A connector (507) is provided on one side of the obstacle removal plate (505), and the connector (507) is movably connected to the side of the L-shaped rod (506) away from the limiting rod (509).

4. The underwater navigation subsea pipeline inspection robot with autonomous obstacle avoidance as described in claim 2, characterized in that: The limiting frame (701) and the positioning frame (702) have a limiting groove (705) and an equipment compartment assembly (6) is provided on the limiting groove (705).

5. The underwater navigation subsea pipeline inspection robot with autonomous obstacle avoidance as described in claim 1, characterized in that: The equipment compartment assembly (6) includes an equipment compartment (601), an infrared avoidance sensor (602), an ultrasonic sensor (603), a detection sensor (604), a lidar (605), a sensor interface (606), a microcontroller (607), a power module circuit (608), and an electric drive (609). The equipment compartment (601) is equipped with a microcontroller (607), a power module circuit (608), an electric drive (609), a sensor interface (606), and a status device button (610). The sensor interface (606) is connected to an infrared avoidance sensor (602), an ultrasonic sensor (603), a detection sensor (604), and a lidar (605).

6. The underwater navigation subsea pipeline inspection robot with autonomous obstacle avoidance as described in claim 5, characterized in that: The electric drive (609) is electrically connected to the vertical thruster (4), the lighting lamp (2) and the horizontal thruster (3). The microcontroller (607) is electrically connected to the power module circuit (608), the electric drive (609), the sensor interface (606) and the status device button (610). The microcontroller (607) is an STM32.

7. The underwater navigation subsea pipeline inspection robot with autonomous obstacle avoidance as described in claim 6, characterized in that: A detection cover (8) is provided on one side of the equipment compartment assembly (6), and the detection cover (8) is made of transparent material.

8. The underwater navigation subsea pipeline inspection robot with autonomous obstacle avoidance as described in claim 3, characterized in that: Movable shafts (512) are provided at the connection points between the L-shaped rod (506) and the limiting rod (509) and the connecting piece (507) on both sides.

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