An underwater inspection robot

Abstract

The present application relates to the technical field of inspection robot, more particularly, to an underwater inspection robot, which comprises a shell, a detection system and a driving system; further comprising a pushing assembly, the power output end of the pushing assembly is connected with a piston; the shell is provided with a water through hole and a water storage cavity communicated with the water through hole, the piston is at least partially attached to the inner wall of the water storage cavity and is slidingly connected with the water storage cavity along the axial direction of the water storage cavity. The present application overcomes the deficiency that the existing technology uses a jet pump to drive the robot to float and sink in seawater, which will interfere with the inspection of the robot, by setting the pushing assembly, the piston and the water storage cavity, using the pushing assembly to drive the piston to move in the water storage cavity to adjust the water storage capacity in the water storage cavity, thereby adjusting the weight of the robot, so that the robot realizes floating and diving, the present application can reduce the disturbance of the robot to the sediments and organisms in the sea, thereby reducing the interference of the sediments and organisms in the sea to the monitoring work.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, and more specifically, to an underwater inspection robot. Background Technology

[0002] Marine energy equipment, such as tidal energy conversion devices, wave energy conversion devices, and offshore oilfield platforms, is primarily located in shallow waters, while current energy conversion devices are mostly deployed in deep waters. The harsh environments in these areas pose challenges to equipment maintenance and inspection. Inspection robots can submerge in the sea to inspect these devices, which is of great significance for maintaining the stable operation of marine energy equipment.

[0003] Existing technology discloses an underwater microrobot jet propulsion system, which includes a microcontroller controller, a jet pump driver chip, a jet pump, a communication interface, a lithium battery, a magnetoelectric switch, and a power conversion module. Specifically, four jet pumps (two for forward propulsion and two for backward propulsion) are arranged in a horizontal vector direction on the underwater microrobot, and two jet pumps (one for upward propulsion and one for downward propulsion) are arranged in the vertical direction. This enables the robot to perform forward, backward, lateral, rotational, and heave movements.

[0004] However, in the aforementioned technical solutions, the robot's buoyancy and descent in seawater are driven by jet pumps, which generate propulsion by ejecting water. Firstly, the high-pressure water flow generated by the jet pumps disturbs underwater sediments and marine life. Sediments can easily enter the jet pumps, causing blockages or wear, thus increasing the difficulty and frequency of maintenance. Furthermore, the disturbed underwater sediments and marine life can interfere with the inspection robot's work. Secondly, the jet pumps generate significant noise during operation, which can have a considerable impact on the surrounding ecosystem and also affect environmental monitoring. Summary of the Invention

[0005] In view of the problem that the use of jet pumps to drive the robot to rise and sink in seawater in the above-mentioned prior art can interfere with the robot's inspection, the present invention provides an underwater inspection robot that can reduce disturbance to underwater sediments and marine life, thereby reducing the interference of underwater sediments and marine life on the inspection work.

[0006] To solve the above-mentioned technical problems, the technical solution provided by the present invention is as follows:

[0007] An underwater inspection robot includes a shell, a detection system, and a drive system, both of which are mounted on the shell. It also includes a push assembly with a piston connected to its power output end. The shell has a water passage and a water storage cavity communicating with the water passage. The piston has at least a portion that fits against the inner wall of the water storage cavity and is slidably connected to the water storage cavity along its axial direction.

[0008] In the above technical solution, initially, the piston is located at the end of the water storage chamber furthest from the water inlet. Seawater can enter the water storage chamber through the water inlet and fill it, increasing the robot's weight sufficiently to overcome the buoyancy of the seawater, thus enabling the robot to sink. When the robot needs to float, the push component drives the piston from one end of the water storage chamber to the other, thereby squeezing the seawater out of the chamber. The squeezed-out seawater is discharged from the shell through the water inlet, reducing the robot's weight and allowing it to float under the buoyancy of the seawater. It is understood that during the robot's ascent or descent, the drive system can drive the robot to move horizontally to the target position. The robot's ascent and descent do not require a jet pump or drive wheels, reducing disturbance to marine sediments and organisms, thus minimizing interference with monitoring work.

[0009] Preferably, the drive system includes a first rotary drive assembly, a second rotary drive assembly, a third rotary drive assembly, and a fourth rotary drive assembly disposed on the housing; the power output end of the first rotary drive assembly is connected to a first fan blade assembly, the power output end of the second rotary drive assembly is connected to a second fan blade assembly, the power output end of the third rotary drive assembly is connected to a third fan blade assembly, and the power output end of the fourth rotary drive assembly is connected to a fourth fan blade assembly; the first fan blade assembly and the second fan blade assembly are located on one side of the housing, and their rotation axes form an angle; the third fan blade assembly and the fourth fan blade assembly are located on the other side of the housing, and their rotation axes form an angle. When the first rotary drive assembly drives the first fan blade assembly to rotate, the blades of the first fan blade assembly push the seawater backward, and the backward-flowing seawater propels the robot forward along the rotation axis of the first fan blade assembly through a reaction force; the working process and function of the second, third, and fourth fan blade assemblies are the same as those of the first fan blade assembly, and therefore will not be described again. By selecting different drive blade assemblies and adjusting their rotational speeds, the robot's propulsion and direction can be precisely controlled, thereby adjusting its posture and enabling it to move flexibly in complex environments. It should be noted that although the blade assemblies also generate water currents in the seawater, their disturbance to marine sediments and organisms is far less than that of jet pumps, and the blade assemblies have a simpler structure and require less maintenance.

[0010] The first rotary drive assembly, the second rotary drive assembly, the third rotary drive assembly, and the fourth rotary drive assembly can be a motor, a rotary cylinder, etc.

[0011] Preferably, the shell has multiple magnetic parts, each with a groove. A magnetic ball is positioned within each groove, with a portion of the magnetic ball fitting into the groove and the other portion protruding beyond the groove and out of the shell surface. Multiple water reservoirs are located on the outer surface of the magnetic ball. The magnetic ball is held in place by the magnetic force of the magnetic parts, maintaining contact with the inner wall of the groove. The water reservoirs allow seawater to fill and lubricate the surface of the magnetic ball, enabling it to roll under external friction without detaching from the groove. This type of magnetic ball can replace casters, allowing the robot to move on inspection posts located in the sea. The structure of the magnetic ball is simpler than that of conventional casters. Furthermore, the magnetic ball can adhere to the legs of offshore platforms, allowing it to be positioned on the legs for monitoring work. Additionally, the robot can be quickly retrieved by attaching the magnetic ball.

[0012] Preferably, the rotation axes of the first, second, third, and fourth fan blade assemblies are located in the same plane, and the magnetic spheres are also located in the same plane, with the two planes being parallel to each other. This arrangement allows for more efficient robot movement and smoother movement when the robot moves on a plane.

[0013] Preferably, the shell is capsule-shaped, and the axis of the water storage cavity coincides with or is parallel to the axis of the shell. That is, the shell consists of hemispherical ends and a cylindrical middle section. The capsule-shaped shell has low surface water flow resistance, allowing the robot to move more efficiently in seawater and with greater flexibility. Furthermore, such a shell is less susceptible to disturbance from waves or currents, maintaining a relatively stable working state.

[0014] Preferably, the detection system includes a camera. The camera can monitor the underwater environment in real time and capture images of structural damage areas of underwater target equipment, thereby improving the efficiency and accuracy of inspections and helping to assess the condition of underwater target equipment.

[0015] Preferably, the housing has a transparent structure, and the camera is located inside the housing. Placing the camera inside the housing protects it from water and other substances, ensuring image quality is not affected by the external environment, thus enabling more effective monitoring and data collection.

[0016] Preferably, a light source is provided inside the housing, and the light source is located on one side of the camera. The light source enhances the clarity and detail of the captured images, helping to improve image quality and ensuring the robot can accurately detect objects.

[0017] Preferably, the detection system includes an ultrasonic detection module located inside the housing. The ultrasonic detection module can detect obstacles and measure distances, preventing collisions between the robot and external objects, while simultaneously measuring the distance between the robot and underwater target equipment. When the robot is inspecting the underwater target equipment, the ultrasonic detection module can detect surface defects to assess the extent of damage.

[0018] The pushing component can be a synchronous belt drive component, an electric actuator drive component, a cylinder drive component, a hydraulic cylinder drive component, a gear and rack drive component, etc.

[0019] Preferably, the actuating assembly includes a motor, a gear, and a rack disposed inside the housing. The gear is coaxially and fixedly connected to the output shaft of the motor, the rack meshes with the gear, and the piston is connected to the rack. In implementation, the motor drives the gear to rotate, and the rotation of the gear drives the rack to move, thereby pushing the piston to move. Such a actuating assembly has high durability and reliability, and can stably drive the piston to move even under heavy loads.

[0020] The beneficial effects of this invention are:

[0021] (1) By setting up a push component, a piston and a water storage chamber, the push component drives the piston to move in the water storage chamber to adjust the water volume in the water storage chamber, thereby adjusting the weight of the robot and enabling the robot to float and dive. Compared with robots driven by power sources such as jet pumps, the present invention can reduce the disturbance of the robot to marine sediments and organisms, thereby reducing the interference of marine sediments and organisms on monitoring work.

[0022] (2) Set up a first fan blade assembly, a second fan blade assembly, a third fan blade assembly and a fourth fan blade assembly. By selecting different fan blade assemblies and adjusting the rotation speed of different fan blade assemblies, the propulsion force and direction of the robot can be precisely controlled, thereby adjusting the robot's posture and enabling the robot to move flexibly in complex environments.

[0023] (3) Multiple magnetic balls are set on the outside of the shell, and multiple water tanks are set on the surface of the magnetic balls. Such magnetic balls can replace casters, enabling the robot to walk on the inspection column set in the sea; and the magnetic balls can be attached to the legs of the offshore platform, thereby positioning the robot on the legs of the offshore platform to perform monitoring work; in addition, the robot can be quickly retrieved by attaching the magnetic balls.

[0024] (4) The shell is capsule-shaped, which allows the robot to move more efficiently in seawater and move in the water with more flexible posture; in addition, the capsule-shaped shell is not easily disturbed when it is impacted by waves or water flow, and can maintain a relatively stable working state. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the external structure of an underwater inspection robot;

[0026] Figure 2 This is a cross-sectional schematic diagram of an underwater inspection robot;

[0027] Figure 3 This is a perspective structural diagram of an underwater inspection robot;

[0028] Figure 4 This is a schematic diagram showing the fit between the magnetic ball and the groove.

[0029] In the attached diagram: 1-Housing; 101-Water inlet; 102-Water storage chamber; 103-Groove; 104-Magnetic part; 2-Push assembly; 201-Motor; 202-Gear; 203-Rack; 3-Piston; 4-First rotary drive assembly; 5-Second rotary drive assembly; 6-Third rotary drive assembly; 7-Fourth rotary drive assembly; 8-First fan blade assembly; 9-Second fan blade assembly; 10-Third fan blade assembly; 11-Fourth fan blade assembly; 12-Magnetic ball; 13-Camera; 14-Light source; 15-Ultrasonic detection module; 16-Main control board. Detailed Implementation

[0030] The accompanying drawings are for illustrative purposes only and should not be construed as limiting this patent. To better illustrate this embodiment, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings. The positional relationships described in the drawings are for illustrative purposes only and should not be construed as limiting this patent.

[0031] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," "long," and "short" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, 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 orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0032] The technical solution of the present invention will be further described in detail below through specific embodiments and in conjunction with the accompanying drawings:

[0033] Example 1

[0034] Combination Figures 1 to 3 The underwater inspection robot shown includes a shell 1, a main control board 16, a detection system, and a drive system. The main control board 16, the detection system, and the drive system are all mounted on the shell 1, and the detection system and the drive system are electrically connected to the main control board 16. The robot also includes a push assembly 2, the power output end of which is connected to a piston 3. The shell 1 has a water passage hole 101 and a water storage cavity 102 communicating with the water passage hole 101. The outer circumferential surface of the piston 3 is in contact with the inner wall of the water storage cavity 102 and is slidably connected to the water storage cavity 102 along the axial direction of the water storage cavity 102.

[0035] Specifically, the actuating assembly 2 includes a motor 201, a gear 202, and a rack 203 disposed inside the housing 1. The motor 201 is electrically connected to the main control board 16, the gear 202 is coaxially and fixedly connected to the output shaft of the motor 201, the rack 203 meshes with the gear 202, and the piston 3 is connected to the rack 203. In implementation, the main control board 16 controls the motor 201 to work, the motor 201 drives the gear 202 to rotate, and the rotation of the gear 202 drives the rack 203 to move, thereby pushing the piston 3 to move. Such actuating assembly 2 has high durability and reliability, and can stably drive the piston 3 to move even under heavy loads.

[0036] The working principle or workflow of this embodiment is as follows: In the initial state, piston 3 is located at the end of the water storage chamber 102 away from the water inlet 101. Seawater can enter the water storage chamber 102 through the water inlet 101 and fill the water storage chamber 102, increasing the robot's weight to a level sufficient to overcome the buoyancy of the seawater, thereby enabling the robot to sink. When the robot needs to float, the push component 2 drives piston 3 to move from one end of the water storage chamber 102 to the other end, thereby squeezing the seawater out of the water storage chamber 102. The seawater squeezed out of the water storage chamber 102 is discharged outside the shell 1 through the water inlet 101, thus reducing the robot's weight and enabling it to float under the buoyancy of the seawater. During the robot's ascent or descent, the drive system can drive the robot to move horizontally, allowing the robot to move to the target position. It should be noted that the operation process and principle of the push component 2 have been explained in the foregoing section, and therefore will not be repeated here.

[0037] The beneficial effects of this embodiment are as follows: By setting up a pushing component, a piston, and a water storage chamber, the pushing component drives the piston to move in the water storage chamber to adjust the water volume in the water storage chamber, thereby adjusting the weight of the robot and enabling the robot to float and dive. Compared with robots driven by power sources such as jet pumps, this invention can reduce the disturbance of the robot to marine sediments and organisms, thereby reducing the interference of marine sediments and organisms on monitoring work.

[0038] Example 2

[0039] This embodiment is based on embodiment 1, combined with Figures 1 to 4As shown, the drive system includes a first rotary drive assembly 4, a second rotary drive assembly 5, a third rotary drive assembly 6, and a fourth rotary drive assembly 7, all mounted on the housing 1 and electrically connected to the main control board 16. Specifically, the structures of the first rotary drive assembly 4, the second rotary drive assembly 5, the third rotary drive assembly 6, and the fourth rotary drive assembly 7 are the same as those of the motor 201. The power output end of the first rotary drive assembly 4 is connected to the first fan blade assembly 8, the power output end of the second rotary drive assembly 5 is connected to the second fan blade assembly 9, the power output end of the third rotary drive assembly 6 is connected to the third fan blade assembly 10, and the power output end of the fourth rotary drive assembly 7 is connected to the fourth fan blade assembly 11. The first fan blade assembly 8 and the second fan blade assembly 9 are located on one side of the housing 1, and their rotation axes form a 90° angle. The third fan blade assembly 10 and the fourth fan blade assembly 11 are located on the other side of the housing 1, and their rotation axes form a 90° angle. During implementation, the main control board 16 controls the start / stop and output speed of the first rotary drive assembly 4, the second rotary drive assembly 5, the third rotary drive assembly 6, and the fourth rotary drive assembly 7. When the first rotary drive assembly 4 drives the first fan blade assembly 8 to rotate, the blades of the first fan blade assembly 8 push the seawater backward. The backward-flowing seawater propels the robot forward along the rotation axis of the first fan blade assembly 8 through a reaction force. The working process and function of the second fan blade assembly 9, the third fan blade assembly 10, and the fourth fan blade assembly 11 are the same as those of the first fan blade assembly 8, and therefore will not be described in detail. By selecting different fan blade assemblies and adjusting their rotation speeds, the robot's propulsion and direction can be precisely controlled, thereby adjusting the robot's posture and enabling it to move flexibly in complex environments. It should be noted that although the fan blade assemblies also generate water flow in the seawater, their disturbance to marine sediments and organisms is far less than that of jet pumps, and the structure of the fan blade assemblies is relatively simple, requiring less maintenance.

[0040] Furthermore, the housing 1 is provided with four magnetic parts 104, each with a groove 103. Magnetic balls 12 are mounted on the grooves 103, with some parts of the magnetic balls 12 fitting snugly against the grooves 103 and others protruding from the surface of the housing 1. Multiple small water reservoirs (not shown in the figure) are provided on the outer surface of the magnetic balls 12, giving them a rough surface. The magnetic balls 12 are held in contact with the inner wall of the grooves 103 by the magnetic force of the magnetic parts 104. Due to the water reservoirs, seawater can fill the reservoirs, lubricating the surface of the magnetic balls 12 and allowing them to roll under external friction without detaching from the grooves 103. The four magnetic balls 12 can replace casters, enabling the robot to move on inspection posts installed in the sea. The structure of the magnetic balls 12 is simpler than that of conventional casters. Furthermore, the magnetic ball 12 can also be attached to the legs of an offshore platform, allowing it to be positioned on the platform's legs to perform monitoring tasks. In addition, the robot can be quickly retrieved by attaching the magnetic ball 12.

[0041] Furthermore, the rotation axes of the first fan blade assembly 8, the second fan blade assembly 9, the third fan blade assembly 10, and the fourth fan blade assembly are located in the same plane, and the four magnetic balls 12 are located in the same plane, with the two planes being parallel to each other. When the robot moves on a certain plane, this arrangement can drive the robot to move more efficiently and make the robot move more smoothly.

[0042] Furthermore, the shell 1 is capsule-shaped, and the axis of the water storage cavity 102 coincides with or is parallel to the axis of the shell 1. That is, the shell 1 consists of hemispherical ends and a cylindrical middle section. The capsule-shaped shell 1 has low surface water flow resistance, allowing the robot to move more efficiently in seawater and move in the water with more flexible postures. In addition, such a shell 1 is not easily disturbed by waves or water currents and can maintain a relatively stable working state.

[0043] Other features, working principles, and beneficial effects of this embodiment are the same as those of Embodiment 1.

[0044] Example 3

[0045] This embodiment is based on embodiment 2, combined with Figure 2 and Figure 3 As shown, the detection system includes a camera 13. The camera 13 can monitor the underwater environment in real time and capture images of structural damage areas of underwater target equipment, thereby improving the efficiency and accuracy of inspections and helping to assess the condition of underwater target equipment.

[0046] Furthermore, the housing 1 adopts a transparent structure, and the camera 13 is located inside the housing 1. Placing the camera 13 inside the housing 1 can protect the camera 13 from water flow and other substances, ensuring that the image quality is not affected by the external environment, thus enabling more effective monitoring and data collection.

[0047] Furthermore, a light source 14 is provided inside the housing 1, located to one side of the camera 13. The light source 14 enhances the clarity and detail of the captured images, contributing to improved image quality and ensuring accurate detection by the robot.

[0048] Furthermore, the detection system includes an ultrasonic detection module 15, which is located inside the housing 1. The ultrasonic detection module 15 can detect obstacles and measure distances, preventing the robot from colliding with external objects, while simultaneously measuring the distance between the robot and the underwater target device. When the robot is inspecting the underwater target device, the ultrasonic detection module 15 can detect surface defects on the underwater target device to assess the extent of damage.

[0049] Other features, working principles, and beneficial effects of this embodiment are the same as those of Embodiment 2.

[0050] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will recognize that other variations or modifications can be made based on the above description, and it is neither necessary nor possible to exhaustively describe all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An underwater inspection robot, comprising a shell (1), a detection system, and a drive system, wherein the detection system and the drive system are both mounted on the shell (1), characterized in that, It also includes a push assembly (2), the power output end of which is connected to a piston (3); the housing (1) is provided with a water passage hole (101) and a water storage cavity (102) communicating with the water passage hole (101); the piston (3) is at least partially attached to the inner wall of the water storage cavity (102) and is slidably connected to the water storage cavity (102) along the axial direction of the water storage cavity (102); The drive system includes a first rotary drive assembly (4), a second rotary drive assembly (5), a third rotary drive assembly (6), and a fourth rotary drive assembly (7) disposed on the housing (1); the power output end of the first rotary drive assembly (4) is connected to a first fan blade assembly (8), the power output end of the second rotary drive assembly (5) is connected to a second fan blade assembly (9), the power output end of the third rotary drive assembly (6) is connected to a third fan blade assembly (10), and the power output end of the fourth rotary drive assembly (7) is connected to a fourth fan blade assembly (11); the first fan blade assembly (8) and the second fan blade assembly (9) are located on one side of the housing (1), and their rotation axes form an angle; the third fan blade assembly (10) and the fourth fan blade assembly (11) are located on the other side of the housing (1), and their rotation axes form an angle. The shell (1) is capsule-shaped, and the axis of the water storage cavity (102) coincides with or is parallel to the axis of the shell (1); The pushing assembly (2) includes a motor (201), a gear (202) and a rack (203) disposed inside the housing (1). The gear (202) is coaxially fixedly connected to the output shaft of the motor (201), the rack (203) meshes with the gear (202), and the piston (3) is connected to the rack (203).

2. The underwater inspection robot according to claim 1, characterized in that, The housing (1) is provided with a plurality of magnetic parts (104), the magnetic parts (104) are provided with grooves (103), the grooves (103) are provided with magnetic balls (12), a portion of the magnetic balls (12) is in contact with the grooves (103), and another portion is exposed outside the grooves (103) and protrudes from the surface of the housing (1); a plurality of water storage tanks are provided on the outer surface of the magnetic balls (12).

3. The underwater inspection robot according to claim 2, characterized in that, The rotation axes of the first fan blade assembly (8), the second fan blade assembly (9), the third fan blade assembly (10) and the fourth fan blade assembly are located in the same plane, and the magnetic ball (12) is located in the same plane, and the two planes are parallel to each other.

4. The underwater inspection robot according to claim 1, characterized in that, The detection system includes a camera (13).

5. An underwater inspection robot according to claim 4, characterized in that, The housing (1) has a transparent structure, and the camera (13) is located inside the housing (1).

6. An underwater inspection robot according to claim 5, characterized in that, The housing (1) is equipped with a light source (14) inside, and the light source (14) is located on one side of the camera (13).

7. An underwater inspection robot according to claim 1, characterized in that, The detection system includes an ultrasonic detection module (15), which is located inside the housing (1).

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